Threading method and threading equipment for optical fiber pipeline

Abstract

The invention relates to the technical field of optical fiber pipeline threading, in particular to a threading method and device for an optical fiber pipeline, and the method comprises the steps: judging whether a threading robot is located in a threading obstacle region or not based on a contour image through responding to a triggering signal that the threading robot runs along the pipeline; the method comprises the following steps: collecting sound generated when power wheels of a threading robot in a threading obstacle area roll along a pipeline, so as to draw a sound wave change curve of the sound of each power wheel along with time change, and determining a threading obstacle influence coefficient based on the sound wave change curve, so as to judge the threading obstacle influence type of the threading robot for performing optical fiber pipeline threading on the pipeline. According to the method, the operation adjustment mode of the threading robot is selected according to the threading obstacle influence category, so that the smooth degree of the pipeline inner wall at the pipeline turning position is rapidly detected, the threading mode of the optical fiber pipeline is adaptively adjusted, and the threading efficiency of the optical fiber pipeline is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of optical fiber pipeline threading, and in particular to a threading method and a threading device for an optical fiber pipeline. Background Art

[0002] With the development of society, some confidentiality agencies, banks and other important places have higher and higher requirements for security precautions. Fiber optic fences are widely used due to their reliability, concealment and strong anti-interference ability. Traditional fiber optic fences rely on manual threading and often face many problems in the threading process. On the one hand, due to the material characteristics of the pipeline itself and the limitations of the existing optical fiber materials, during the threading of the optical fiber pipeline, the optical fiber is easily disturbed by the internal environment of the pipeline, affecting the stability of the optical fiber transmission performance. On the other hand, the current optical fiber pipeline threading method lacks fast and effective detection and solution means for whether the inner wall of the pipeline is smooth at the turning point of the pipeline and whether there is a bulge. It can often only rely on experience for adjustment, which is not only inefficient, but also difficult to ensure that the optical fiber is not damaged during the threading of the optical fiber pipeline. Therefore, there is an urgent need for a new optical fiber pipeline threading equipment and threading method, which can effectively detect and solve the problem of the uneven inner wall of the pipeline at the turning point of the pipeline during the threading of the optical fiber pipeline, and improve the threading efficiency of the optical fiber pipeline and the stability of the transmission performance of the optical fiber.

[0003] For example, Chinese Patent Publication No.: CN114859495A, the invention discloses an anti-breakage through-hole threading tool based on optical fiber transmission, which relates to the technical field of cable auxiliary equipment, including: an outer wall component; the outer wall of the outer wall component is provided with a guide component, a protective component is sleeved inside the outer wall component, the left side of the protective component is connected to an external component, the upper and lower ends of the protective component are provided with installation components, the installation component can connect the optical fiber line, and after the optical fiber line is stably connected to the installation component, the protective component at the outer end of the installation component is used to protect the optical fiber line, so that the device can not only transmit the optical fiber installation head, but also directly connect the optical fiber line for transmission, the outermost end of the device is sleeved with an outer wall component, and the outer wall component with a guide component has the function of assisting the device as a whole to better realize the threading operation.

[0004] The prior art still has the following problems:

[0005] The prior art does not consider the influence of the protrusions on the inner wall of the pipeline at the bend of the pipeline on the threading of the optical fiber pipeline during the threading process of the optical fiber pipeline. The prior art cannot quickly detect the smoothness of the inner wall of the pipeline at the bend of the pipeline during the threading process of the optical fiber pipeline, and cannot adaptively adjust the threading method of the optical fiber pipeline, which affects the threading efficiency of the optical fiber pipeline. Summary of the invention

[0006] To this end, the present invention provides a threading method and threading equipment for optical fiber pipelines, so as to overcome the problems in the prior art of quickly detecting the smoothness of the inner wall of the pipeline at the pipeline bend during the threading process of the optical fiber pipeline, and being unable to adaptively adjust the threading method of the optical fiber pipeline.

[0007] To achieve the above object, the present invention provides a method for threading an optical fiber pipeline, comprising:

[0008] In response to a trigger signal of the threading robot running along the pipeline, a contour image of the pipeline is acquired, and based on the contour image, it is determined whether the threading robot is in a threading obstacle area;

[0009] The sound of the power wheels of the threading robot rolling along the pipeline in the threading obstacle area is collected to draw a sound wave change curve of the sound of each power wheel changing with time, and the threading obstacle influence coefficient is determined based on the sound wave change curve to determine the threading obstacle influence category of the threading robot performing optical fiber pipeline threading on the pipeline;

[0010] The operation adjustment method of the threading robot is selected according to the threading obstacle impact category, including:

[0011] Adjusting the motor power of the power wheel of the threading robot based on the curvature of the pipeline profile of the pipeline;

[0012] Alternatively, a characteristic power wheel is selected according to the amplitude of the sound wave change curve of each power wheel, and the telescopic amount of the telescopic cylinder connected to the characteristic power wheel is adjusted.

[0013] Furthermore, the process of acquiring the contour image also includes:

[0014] Performing image preprocessing on the collected contour image;

[0015] A number of contour points are extracted from the contour image after preprocessing to calculate the curvature of the pipeline contour.

[0016] Furthermore, the process of determining whether the threading robot is in a threading obstacle area includes:

[0017] Comparing the pipeline profile curvature with a preset pipeline profile curvature threshold;

[0018] If the pipe contour curvature is greater than the pipe contour curvature threshold, it is determined that the threading robot is in a threading obstacle area.

[0019] Furthermore, the process of determining the threading obstacle influence coefficient based on the sound wave variation curve includes:

[0020] Obtaining the sound wave change curve corresponding to each power wheel;

[0021] Calculating the degree of overlap between the sound wave variation curve corresponding to each power wheel and the sound wave variation curves corresponding to the remaining power wheels;

[0022] The average value of the curve overlap is determined as the threading obstacle influence coefficient.

[0023] Furthermore, the process of determining the threading obstacle impact category of the threading robot threading the optical fiber pipeline includes:

[0024] Comparing the threading obstacle influence coefficient with a preset threading obstacle influence coefficient reference value;

[0025] If the threading obstacle influence coefficient is greater than the threading obstacle influence coefficient reference value, the threading obstacle influence category is determined to be a threading obstacle weak influence category;

[0026] If the threading obstacle influence coefficient is less than or equal to the threading obstacle influence coefficient reference value, the threading obstacle influence category is determined to be a threading obstacle strong influence category.

[0027] Furthermore, the process of selecting the operation adjustment mode of the threading robot includes:

[0028] If the threading obstacle impact category is a threading obstacle weak impact category, the operation adjustment mode of the threading robot is selected to adjust the motor power of the power wheel of the threading robot based on the pipeline profile curvature of the pipeline;

[0029] If the threading obstacle impact category is the threading obstacle strong impact category, the operation adjustment method of the threading robot is selected to select a characteristic power wheel according to the amplitude of the sound wave change curve of each power wheel, and adjust the telescopic amount of the telescopic cylinder connected to the characteristic power wheel.

[0030] Furthermore, the motor power is positively correlated with the curvature of the pipeline profile.

[0031] Furthermore, the process of selecting the characteristic power wheel also includes:

[0032] Determine the maximum sound wave amplitude and the minimum sound wave amplitude of the sound wave change curve corresponding to each power wheel, calculate the amplitude difference between the maximum sound wave amplitude and the minimum sound wave amplitude, and determine the power wheel corresponding to the sound wave change curve with the maximum amplitude difference as the characteristic power wheel.

[0033] Furthermore, the elongation of the telescopic cylinder connected to the characteristic power wheel is positively correlated with the amplitude difference of the characteristic power wheel.

[0034] Furthermore, the present invention also provides a threading device for an optical fiber pipeline, comprising:

[0035] The threading robot body comprises an arc-shaped support frame and a telescopic connecting belt connected to the end of the arc-shaped support frame, wherein a hollow area surrounding the pipeline is formed between the telescopic connecting belt and the arc-shaped support frame;

[0036] A traveling assembly, used to drive the threading robot body to move along the pipeline, comprising a telescopic cylinder arranged on the arc-shaped support frame, a power wheel connected to the telescopic cylinder, and a motor connected to the power wheel;

[0037] A magnetic module, comprising a magnetic optical fiber chuck disposed at the end of the optical fiber and a strong magnet connected to the traveling assembly, so that the strong magnet generates a magnetic force on the magnetic optical fiber chuck;

[0038] A collection and analysis module, comprising an image unit disposed on the threading robot body for acquiring a contour image and determining the curvature of the pipeline contour, and a sound wave processing unit disposed at the power wheel for collecting the sound emitted by each power wheel moving along the pipeline, the sound wave processing unit is also used to draw a sound wave change curve of each power wheel and determine the threading obstacle influence category of the threading robot;

[0039] A controller, which is arranged on the arc-shaped support frame and is used to control the telescopic cylinder to extend and retract;

[0040] A battery pack is arranged on the arc-shaped support frame to supply energy to the power wheel.

[0041] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention responds to the trigger signal of the threading robot running along the pipeline, determines whether the threading robot is in the threading obstacle area based on the contour image, collects the sound of the power wheels of the threading robot in the threading obstacle area rolling along the pipeline, draws a sound wave change curve of the sound of each power wheel changing with time, determines the threading obstacle influence coefficient based on the sound wave change curve, determines the threading obstacle influence category of the threading robot performing optical fiber pipeline threading on the pipeline, selects the operation adjustment mode of the threading robot according to the threading obstacle influence category, and further realizes the rapid detection of the smoothness of the inner wall of the pipeline at the turning point of the pipeline, and adaptively adjusts the threading method of the optical fiber pipeline, thereby improving the threading efficiency of the optical fiber pipeline.

[0042] In particular, the present invention determines whether the threading robot is in a threading obstacle area through the contour image of the pipeline. Those skilled in the art can understand that the contour image can characterize the shape characteristics of the pipeline. When the optical fiber passes through a bend, the contact area with the inner wall of the pipeline increases, resulting in a significant increase in friction. This requires the threading robot to overcome greater resistance when driving the optical fiber through the bend. At the same time, the optical fiber will be affected by bending stress at the bend, making it more likely to have problems such as rupture of the optical fiber sheath and breakage of the optical fiber core. The present invention obtains the curvature of the pipeline contour through the contour image of the pipeline. The larger the curvature of the pipeline contour, the greater the impact on the threading robot's optical fiber pipeline threading, thereby achieving the screening of threading obstacle areas.

[0043] In particular, the present invention obtains a sound wave variation curve of the sound of each power wheel changing with time. Those skilled in the art can understand that when the threading robot drives the optical fiber clamp to move, the sound of the power wheel of the threading robot rolling on the pipe will be different depending on whether there are protrusions on the inner wall of the pipe. When the inner wall of the pipe is smooth, the friction between the optical fiber clamp and the inner wall of the pipe is relatively small, and the waveform of the generated sound wave is relatively stable. When the inner wall of the pipe is not smooth and there are protrusions, burrs or impurities, the power wheel of the threading robot drives the optical fiber clamp to move, and the optical fiber clamp will produce greater friction and collision with these uneven places, thereby emitting a noisy sound. Different conditions of the inner wall of the pipe will result in sounds with different characteristics. The present invention characterizes the smoothness of different positions of the inner wall of the pipe by obtaining the sound wave variation curve of the sound of each power wheel changing with time, thereby achieving a quantitative characterization of the smoothness of the inner wall of the pipe, and improving the data characterization of the threading obstacle phenomenon during the threading process.

[0044] In particular, the present invention adjusts the motor power of the power wheel of the threading robot by the curvature of the pipeline contour of the pipeline under the condition of weak influence of threading obstacles. Those skilled in the art will understand that when the threading robot is at a bend in the pipeline, the contact area between the optical fiber and the inner wall of the pipeline at the bend increases, resulting in a significant increase in friction, which requires the optical fiber clamp to overcome greater resistance when pulling the optical fiber through the bend, and the power wheel of the threading robot that drives the optical fiber clamp to move also requires greater rotational power, thereby achieving adaptive adjustment of the threading method of the optical fiber pipeline and improving the threading efficiency of the optical fiber pipeline.

[0045] In particular, under the condition of strong influence of threading obstacles, the present invention selects a characteristic power wheel by the amplitude of the sound wave change curve of each power wheel, and adjusts the telescopic amount of the telescopic cylinder connected to the characteristic power wheel. Those skilled in the art can understand that the sound waves generated by each power wheel will be different due to different conditions of the inner wall of the pipeline. The difference between the maximum amplitude and the minimum amplitude of the sound wave change curve of each power wheel can reflect the smoothness of the inner wall of the pipeline corresponding to each power wheel. The smaller the difference between the maximum amplitude and the minimum amplitude of the sound wave change curve of the power wheel, the smoother the inner wall of the pipeline in the area where the power wheel is located, and the greater the difference between the maximum amplitude and the minimum amplitude of the sound wave change curve of the power wheel. The larger the difference between the small and large values ​​is, the more obvious the roughness of the inner wall of the pipeline in the area where the power wheel is located is, and there are abnormal protruding inner wall obstacles. By increasing the elongation of the telescopic rod connected to the power wheel, the distance between the strong magnet at the current power wheel position and the optical fiber chuck is increased, so that the magnetic force of the strong magnet at the current power wheel position on the optical fiber chuck is weakened, and the optical fiber chuck drives the optical fiber relatively away from the inner wall of the pipeline in the area where the current power wheel is located, so as to avoid the optical fiber being damaged by the abnormal protruding inner wall obstacles when threading inside the pipeline, thereby realizing the adaptive adjustment of the threading method of the optical fiber pipeline, and improving the threading efficiency of the optical fiber pipeline and the stability of the threading quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A step diagram of a method for threading an optical fiber pipeline according to an embodiment of the present invention;

[0047] Figure 2 A logic flow chart for determining whether a threading robot is in a threading obstacle area according to an embodiment of the present invention;

[0048] Figure 3 A logic flow chart for determining the impact category of threading obstacles according to an embodiment of the present invention;

[0049] Figure 4 A schematic diagram of a threading device for an optical fiber pipeline according to an embodiment of the present invention;

[0050] In the figure, there are a telescopic connecting belt 1, a controller 2, a battery pack 3, an image unit 4, a power wheel 5, an acoustic wave processing unit 6, a telescopic cylinder 7, a motor 8, a strong magnet 9, a counterweight 10, and a spring group 11. DETAILED DESCRIPTION

[0051] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0052] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0053] It should be noted that, in the description of the present invention, terms such as "upper", "lower", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0054] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] See also Figure 1 As shown, it is a step diagram of a threading method for an optical fiber pipeline according to an embodiment of the present invention. A threading method for an optical fiber pipeline according to the present invention comprises:

[0056] Step S100, in response to a trigger signal of the threading robot running along the pipeline, acquiring a contour image of the pipeline, and determining whether the threading robot is in a threading obstacle area based on the contour image;

[0057] Step S200, collecting the sound of the power wheels of the threading robot in the threading obstacle area rolling along the pipeline to draw a sound wave change curve of the sound of each power wheel changing with time, and determining the threading obstacle influence coefficient based on the sound wave change curve to determine the threading obstacle influence category of the threading robot performing optical fiber pipeline threading on the pipeline;

[0058] Step S300, selecting an operation adjustment mode of the threading robot according to the threading obstacle impact category, including:

[0059] Adjusting the motor power of the power wheel of the threading robot based on the curvature of the pipeline profile of the pipeline;

[0060] Alternatively, a characteristic power wheel is selected according to the amplitude of the sound wave change curve of each power wheel, and the telescopic amount of the telescopic cylinder connected to the characteristic power wheel is adjusted.

[0061] Specifically, the process of obtaining the contour image further includes:

[0062] Performing image preprocessing on the collected contour image;

[0063] A number of contour points are extracted from the contour image after preprocessing to calculate the curvature of the pipeline contour.

[0064] Specifically, the image can be denoised by using a Gaussian filter to remove noise interference in the image, perform image preprocessing, determine the position of the pipeline contour, extract pixel points on the pipeline contour, fit the curve using the least squares method, and calculate the curvature of the pipeline contour. This is existing technology and will not be described in detail here.

[0065] Specifically, see Figure 2 , which is a logic flow chart of determining whether the threading robot is in a threading obstacle area according to an embodiment of the present invention. The process of determining whether the threading robot is in a threading obstacle area includes:

[0066] Comparing the pipeline profile curvature with a preset pipeline profile curvature threshold;

[0067] If the pipe contour curvature is greater than the pipe contour curvature threshold, it is determined that the threading robot is in a threading obstacle area.

[0068] If the pipe contour curvature is less than or equal to the pipe contour curvature threshold, the area where the threading robot is located is not screened.

[0069] Preferably, the value range of the pipeline profile curvature threshold can be [3, 5], and the interval unit is m. -1 .

[0070] Specifically, the present invention determines whether the threading robot is in a threading obstacle area through a contour image of the pipeline. Those skilled in the art will understand that the contour image can characterize the shape characteristics of the pipeline. When the optical fiber passes through a bend, the contact area with the inner wall of the pipeline increases, resulting in a significant increase in friction. This requires the threading robot to overcome greater resistance when driving the optical fiber through the bend. At the same time, the optical fiber will be affected by bending stress at the bend, making it more likely for the optical fiber sheath to rupture and the optical fiber core to break. The present invention obtains the curvature of the pipeline contour through the contour image of the pipeline. The larger the curvature of the pipeline contour, the greater the impact on the threading robot's optical fiber pipeline threading, thereby achieving the screening of threading obstacle areas.

[0071] Specifically, the process of determining the threading obstacle influence coefficient based on the sound wave variation curve includes:

[0072] Obtaining the sound wave variation curve corresponding to each power wheel 5;

[0073] Calculating the degree of overlap between the sound wave variation curve corresponding to each power wheel and the sound wave variation curves corresponding to the remaining power wheels;

[0074] The average value of the curve overlap is determined as the threading obstacle influence coefficient.

[0075] Specifically, the present invention does not limit the method for calculating the curve overlap. The correlation coefficient of the values ​​of corresponding points on the two curves can be calculated by a correlation algorithm. The closer the correlation coefficient is to 1, the higher the curve overlap of the two curves; the closer the correlation coefficient is to 0, the greater the difference between the two curves. It will not be repeated here.

[0076] Specifically, the present invention obtains a sound wave change curve of the sound of each power wheel changing with time. Those skilled in the art can understand that when the threading robot drives the optical fiber clamp to move, the sound of the power wheel of the threading robot rolling on the pipe will be different depending on whether there are protrusions on the inner wall of the pipe. When the inner wall of the pipe is smooth, the friction between the optical fiber clamp and the inner wall of the pipe is relatively small, and the waveform of the generated sound wave is relatively stable. When the inner wall of the pipe is not smooth and there are protrusions, burrs or impurities, the power wheel of the threading robot drives the optical fiber clamp to move, and the optical fiber clamp will produce greater friction and collision with these uneven places, thereby emitting a noisy sound. Different conditions of the inner wall of the pipe will result in sounds with different characteristics. The present invention characterizes the smoothness of different positions of the inner wall of the pipe by obtaining the sound wave change curve of the sound of each power wheel changing with time, thereby achieving a quantitative characterization of the smoothness of the inner wall of the pipe, and improving the data characterization of the threading obstacle phenomenon during the threading process.

[0077] Specifically, see Figure 3 As shown, it is a logic flow chart of determining the threading obstacle impact category of an embodiment of the present invention. The process of determining the threading obstacle impact category of the optical fiber pipeline threading by the threading robot includes:

[0078] Comparing the threading obstacle influence coefficient with a preset threading obstacle influence coefficient reference value;

[0079] If the threading obstacle influence coefficient is greater than the threading obstacle influence coefficient reference value, the threading obstacle influence category is determined to be a threading obstacle weak influence category;

[0080] If the threading obstacle influence coefficient is less than or equal to the threading obstacle influence coefficient reference value, the threading obstacle influence category is determined to be a threading obstacle strong influence category.

[0081] Preferably, the reference value of the threading obstacle influence coefficient may be in the range of [0.6, 0.75].

[0082] Specifically, the process of selecting the operation adjustment method of the threading robot includes:

[0083] If the threading obstacle impact category is a threading obstacle weak impact category, the operation adjustment mode of the threading robot is selected to adjust the motor power of the power wheel 5 of the threading robot based on the pipeline profile curvature of the pipeline;

[0084] If the threading obstacle impact category is the threading obstacle strong impact category, the operation adjustment method of the threading robot is selected to select a characteristic power wheel according to the amplitude of the sound wave change curve of each power wheel 5, and adjust the telescopic amount of the telescopic cylinder 7 connected to the characteristic power wheel.

[0085] Specifically, the motor power is positively correlated with the curvature of the pipeline profile.

[0086] Specifically, the present invention adjusts the motor power of the power wheel of the threading robot by the curvature of the pipeline contour of the pipeline under the condition of weak influence of threading obstacles. Those skilled in the art will understand that when the threading robot is at a bend in the pipeline, the contact area between the optical fiber and the inner wall of the pipeline at the bend increases, resulting in a significant increase in friction, which requires the optical fiber clamp to overcome greater resistance when pulling the optical fiber through the bend, and the power wheel of the threading robot that drives the optical fiber clamp to move also requires greater rotational power, thereby achieving adaptive adjustment of the threading method of the optical fiber pipeline and improving the threading efficiency of the optical fiber pipeline.

[0087] Specifically, the process of selecting a characteristic power wheel also includes:

[0088] Determine the maximum sound wave amplitude and the minimum sound wave amplitude of the sound wave change curve corresponding to each power wheel, calculate the amplitude difference between the maximum sound wave amplitude and the minimum sound wave amplitude, and determine the power wheel corresponding to the sound wave change curve with the maximum amplitude difference as the characteristic power wheel.

[0089] Specifically, the elongation of the telescopic cylinder 7 connected to the characteristic power wheel is positively correlated with the amplitude difference of the characteristic power wheel.

[0090] Specifically, under the condition of strong influence of threading obstacles, the present invention selects a characteristic power wheel by the amplitude of the sound wave change curve of each power wheel, and adjusts the telescopic amount of the telescopic cylinder connected to the characteristic power wheel. Those skilled in the art can understand that the sound waves generated by each power wheel will be different due to different conditions of the inner wall of the pipeline. The difference between the maximum amplitude and the minimum amplitude of the sound wave change curve of each power wheel can reflect the smoothness of the inner wall of the pipeline corresponding to each power wheel. The smaller the difference between the maximum amplitude and the minimum amplitude of the sound wave change curve of the power wheel, the smoother the inner wall of the pipeline in the area where the power wheel is located, and the greater the difference between the maximum amplitude and the minimum amplitude of the sound wave change curve of the power wheel. The larger the difference between the minimum and minimum values, the more obvious the unevenness of the inner wall of the pipeline in the area where the power wheel is located, and the presence of abnormally protruding inner wall obstacles. By increasing the elongation of the telescopic rod connected to the power wheel, the distance between the strong magnet at the current power wheel position and the optical fiber chuck is increased, so that the magnetic force of the strong magnet at the current power wheel position on the optical fiber chuck is weakened, and the optical fiber chuck drives the optical fiber relatively away from the inner wall of the pipeline in the area where the current power wheel is located, so as to avoid the optical fiber being damaged by the abnormally protruding inner wall obstacles when threading inside the pipeline, thereby realizing the adaptive adjustment of the threading method of the optical fiber pipeline, and improving the threading efficiency of the optical fiber pipeline and the stability of the threading quality.

[0091] See also Figure 4 As shown, it is a schematic diagram of a threading device for an optical fiber pipeline according to an embodiment of the present invention. The present invention also provides a threading device for an optical fiber pipeline, comprising:

[0092] The threading robot body comprises an arc-shaped support frame and a telescopic connecting belt connected to the end of the arc-shaped support frame, wherein a hollow area surrounding the pipeline is formed between the telescopic connecting belt and the arc-shaped support frame;

[0093] A traveling assembly, used to drive the threading robot body to move along the pipeline, comprising a telescopic cylinder arranged on the arc-shaped support frame, a power wheel connected to the telescopic cylinder, and a motor connected to the power wheel;

[0094] A magnetic module, comprising a magnetic optical fiber chuck disposed at the end of the optical fiber and a strong magnet connected to the traveling assembly, so that the strong magnet generates a magnetic force on the magnetic optical fiber chuck;

[0095] A collection and analysis module, comprising an image unit disposed on the threading robot body for acquiring a contour image and determining the curvature of the pipeline contour, and a sound wave processing unit disposed at the power wheel for collecting the sound emitted by each power wheel moving along the pipeline, the sound wave processing unit is also used to draw a sound wave change curve of each power wheel and determine the threading obstacle influence category of the threading robot;

[0096] A controller, which is arranged on the arc-shaped support frame and is used to control the telescopic cylinder to extend and retract;

[0097] A battery pack is arranged on the arc-shaped support frame to supply energy to the power wheel.

[0098] During implementation, the head end or tail end of the telescopic connecting belt connected to the arc-shaped support frame is opened to form an opening in the hollow area, and the pipeline is passed through the hollow area through the opening in the hollow area. Finally, the telescopic connecting belt is connected to the arc-shaped support frame at the head and tail to complete the embrace of the pipeline by the threading robot body.

[0099] Specifically, the threading robot body also includes a counterweight block, which is arranged on the arc-shaped support frame to keep the threading robot body in a balanced state.

[0100] Specifically, the threading robot body also includes a spring group, which is arranged on the arc-shaped support frame to tightly fit the threading robot body to the pipeline.

[0101] Specifically, the present invention does not limit the specific structure of the control system. Preferably, the control system can be constructed using logic components, which can be microprocessors, processors used in computers, etc., which will not be described in detail here.

[0102] Specifically, the present invention does not limit the specific structure of the image unit. Preferably, it includes a high-definition camera for capturing images of the pipeline and an image processor connected to the high-definition camera for determining contour points of the captured contour image and calculating the pipeline contour, which will not be repeated here.

[0103] Specifically, the present invention does not limit the specific structure of the sound wave processing unit. Preferably, it includes a piezoelectric acoustic sensor for collecting the rolling sound of the power wheel and a data processor connected to the piezoelectric acoustic sensor for drawing a sound wave curve for the collected sound, which will not be repeated here.

[0104] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0105] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for threading an optical fiber pipeline, characterized in that: include: In response to a trigger signal of the threading robot running along the pipeline, a contour image of the pipeline is acquired, and based on the contour image, it is determined whether the threading robot is in a threading obstacle area; The sound of the power wheels of the threading robot rolling along the pipeline in the threading obstacle area is collected to draw a sound wave change curve of the sound of each power wheel changing with time, and the threading obstacle influence coefficient is determined based on the sound wave change curve to determine the threading obstacle influence category of the threading robot performing optical fiber pipeline threading on the pipeline; The operation adjustment method of the threading robot is selected according to the threading obstacle impact category, including: Adjusting the motor power of the power wheel of the threading robot based on the curvature of the pipeline profile of the pipeline; Alternatively, a characteristic power wheel is selected according to the amplitude of the sound wave change curve of each power wheel, and the telescopic amount of the telescopic cylinder connected to the characteristic power wheel is adjusted.

2. The method for threading an optical fiber pipeline according to claim 1, characterized in that: The process of acquiring the contour image further includes: Performing image preprocessing on the collected contour image; A number of contour points are extracted from the contour image after preprocessing to calculate the curvature of the pipeline contour.

3. The method for threading an optical fiber pipeline according to claim 2, characterized in that: The process of determining whether the threading robot is in a threading obstacle area includes: Comparing the pipeline profile curvature with a preset pipeline profile curvature threshold; If the pipe contour curvature is greater than the pipe contour curvature threshold, it is determined that the threading robot is in a threading obstacle area.

4. The method for threading an optical fiber pipeline according to claim 3, characterized in that: The process of determining the threading obstacle influence coefficient based on the sound wave variation curve includes: Obtaining the sound wave change curve corresponding to each power wheel; Calculating the degree of overlap between the sound wave variation curve corresponding to each power wheel and the sound wave variation curves corresponding to the remaining power wheels; The average value of the curve overlap is determined as the threading obstacle influence coefficient.

5. The method for threading an optical fiber pipeline according to claim 4, characterized in that: The process of determining the impact category of threading obstacles for the threading robot to thread the optical fiber pipeline includes: Comparing the threading obstacle influence coefficient with a preset threading obstacle influence coefficient reference value; If the threading obstacle influence coefficient is greater than the threading obstacle influence coefficient reference value, the threading obstacle influence category is determined to be a threading obstacle weak influence category; If the threading obstacle influence coefficient is less than or equal to the threading obstacle influence coefficient reference value, the threading obstacle influence category is determined to be a threading obstacle strong influence category.

6. The method for threading an optical fiber pipeline according to claim 5, characterized in that: The process of selecting the operation adjustment method of the threading robot includes: If the threading obstacle impact category is a threading obstacle weak impact category, the operation adjustment mode of the threading robot is selected to adjust the motor power of the power wheel of the threading robot based on the pipeline profile curvature of the pipeline; If the threading obstacle impact category is the threading obstacle strong impact category, the operation adjustment method of the threading robot is selected to select a characteristic power wheel according to the amplitude of the sound wave change curve of each power wheel, and adjust the telescopic amount of the telescopic cylinder connected to the characteristic power wheel.

7. The method for threading an optical fiber pipeline according to claim 6, characterized in that: The motor power is positively correlated with the curvature of the pipeline profile.

8. The method for threading an optical fiber pipeline according to claim 6, characterized in that: The process of selecting a characteristic power wheel also includes: Determine the maximum sound wave amplitude and the minimum sound wave amplitude of the sound wave change curve corresponding to each power wheel, calculate the amplitude difference between the maximum sound wave amplitude and the minimum sound wave amplitude, and determine the power wheel corresponding to the sound wave change curve with the maximum amplitude difference as the characteristic power wheel.

9. The method for threading an optical fiber pipeline according to claim 6, characterized in that: The elongation of the telescopic cylinder connected to the characteristic power wheel is positively correlated with the amplitude difference of the characteristic power wheel.

10. A threading device for an optical fiber pipeline, used to perform the threading method for an optical fiber pipeline according to any one of claims 1 to 9, characterized in that: include: The threading robot body comprises an arc-shaped support frame and a telescopic connecting belt connected to the end of the arc-shaped support frame, wherein a hollow area surrounding the pipeline is formed between the telescopic connecting belt and the arc-shaped support frame; A traveling assembly, used to drive the threading robot body to move along the pipeline, comprising a telescopic cylinder arranged on the arc-shaped support frame, a power wheel connected to the telescopic cylinder, and a motor connected to the power wheel; A magnetic module, comprising a magnetic optical fiber chuck disposed at the end of the optical fiber and a strong magnet connected to the traveling assembly, so that the strong magnet generates a magnetic force on the magnetic optical fiber chuck; A collection and analysis module, comprising an image unit disposed on the threading robot body for acquiring a contour image and determining the curvature of the pipeline contour, and a sound wave processing unit disposed at the power wheel for collecting the sound emitted by each power wheel moving along the pipeline, the sound wave processing unit is also used to draw a sound wave change curve of each power wheel and determine the threading obstacle influence category of the threading robot; A controller, which is arranged on the arc-shaped support frame and is used to control the telescopic cylinder to extend and retract; A battery pack is arranged on the arc-shaped support frame to supply energy to the power wheel.

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