Cable opening method, device and equipment and storage medium

Abstract

The invention discloses a cable splitting method, device and equipment and a storage medium, the initial distance between a tool bit and a to-be-cut layer is set according to the set cutting thickness, the real-time distance between the tool bit and the to-be-cut layer measured by a laser ranging probe is obtained in real time in the cutting process, the feed amount of the tool bit is adjusted in real time based on the real-time distance, and the cutting thickness of the to-be-cut layer is adjusted. The distance between the tool bit and the to-be-cut layer is always equal to the initial distance, and the rotating speed of the tool bit is adjusted in real time through magnetic field orientation control in the cutting process. The laser ranging probe monitors the peeling depth in real time and adjusts the feed amount in real time, it is ensured that the cutting amount of each circle of the tool bit is constant, the torque and speed of the stepping motor are accurately adjusted through magnetic field orientation control, it is ensured that any error in the peeling process can be adjusted in time, the cable opening quality and the cable operation safety are improved, and the labor cost is reduced.

Description

Technical Field

[0001] The invention relates to a cable opening technology, and in particular to a cable opening method, device, equipment and storage medium. Background Art

[0002] The reason for the failure of the 10kV power supply system is to a certain extent caused by the fault grounding of the 10kV cable intermediate joint. When making the 10kV cable intermediate joint, it is necessary to pay attention to the coordination of the field strength component perpendicular to the dielectric layer and the field strength component parallel to the dielectric layer. The opening of the 10kV cable is the key link in making the cable terminal head and the intermediate head.

[0003] At present, most technicians use tools such as electric saws and electrician's knives to strip the outer sheath, steel armor, inner sheath, copper shielding layer, semi-conductive layer, and insulating layer of 10kV cables, which may damage the inner sheath and even the copper shielding layer. The semi-conductive layer may not have a rounded fracture, and the main insulating layer may not be smooth enough, which may easily cause tip discharge and other phenomena, affecting the safe operation of the cable. In addition, the line opening work is inefficient and labor-intensive. Summary of the invention

[0004] The present invention provides a cable opening method, device, equipment and storage medium to improve the opening quality and cable operation safety and reduce labor costs.

[0005] In a first aspect, the present invention provides a cable opening method, comprising:

[0006] Set the initial distance between the cutter head and the layer to be cut according to the set cutting thickness;

[0007] During the cutting process, the real-time distance between the cutter head and the layer to be cut is obtained by the laser distance measuring probe;

[0008] Adjusting the cutting amount of the cutter head in real time based on the real-time distance to maintain the distance between the cutter head and the layer to be cut equal to the initial distance at all times;

[0009] During the cutting process, magnetic field oriented control is used to adjust the rotation speed of the cutter head in real time.

[0010] Optionally, the feed amount of the cutter head is nonlinear.

[0011] Optionally, the cable opening method further includes:

[0012] Determining whether the layer to be cut has been cut;

[0013] If the layer to be cut is completely cut, determining whether the layer to be cut is the last layer;

[0014] If the layer to be cut is the last layer, the cutter head is controlled to stop rotating and feeding;

[0015] If the layer to be cut is not the last layer, the next layer is used as the layer to be cut, and the process returns to the step of setting the initial distance between the cutter head and the layer to be cut according to the set cutting thickness.

[0016] Optionally, the cutter head is driven to rotate by a stepper motor, and magnetic field oriented control is used to adjust the rotation speed of the cutter head in real time during the cutting process, including:

[0017] Obtaining the real-time load of the stepper motor;

[0018] Based on the real-time load, the torque of the stepper motor is adaptively adjusted.

[0019] Optionally, the torque of the stepper motor is positively correlated with the real-time load.

[0020] Optionally, based on the real-time load, adaptively adjusting the torque of the stepper motor includes:

[0021] Get the three-phase current collected by the Hall sensor;

[0022] Clarke transformation is used to convert the three-phase current into current components in a two-phase stationary coordinate system;

[0023] The Park transformation is used to convert the current components in the two-phase stationary coordinate system into the current components in the synchronous rotating coordinate system;

[0024] The current component in the synchronously rotating coordinate system is adjusted so that the current component in the synchronously rotating coordinate system is equal to the target value.

[0025] Optionally, adjusting the current component in the synchronously rotating coordinate system so that the current component in the synchronously rotating coordinate system is equal to a target value includes:

[0026] Calculate the error between the current component and the target value in the synchronous rotating coordinate system;

[0027] Based on the error, a proportional-integral control algorithm is used to calculate the voltage component in the synchronous rotating coordinate system;

[0028] The voltage components in the synchronous rotating coordinate system are converted into the voltage components in the two-phase stationary coordinate system by using the anti-Park transformation;

[0029] Space vector pulse width modulation is used to convert the voltage component in the two-phase stationary coordinate system into a pulse width modulation signal, and the pulse width modulation signal is used to drive the switch of the inverter of the stepping motor.

[0030] In a second aspect, the present invention further provides a cable opening device, comprising:

[0031] An initial distance setting module is used to set the initial distance between the cutter head and the layer to be cut according to the set cutting thickness;

[0032] A real-time distance acquisition module is used to acquire the real-time distance between the cutter head and the layer to be cut measured by the laser distance measuring probe during the cutting process;

[0033] A feed amount adjustment module, used for adjusting the feed amount of the cutter head in real time based on the real-time distance, so as to maintain the distance between the cutter head and the layer to be cut equal to the initial distance at all times;

[0034] The cutter head speed adjustment module is used to adjust the speed of the cutter head in real time by using magnetic field oriented control during the cutting process.

[0035] In a third aspect, the present invention further provides an electronic device, comprising:

[0036] one or more processors;

[0037] A storage device for storing one or more programs;

[0038] When the one or more programs are executed by the one or more processors, the one or more processors implement the cable opening method provided in the first aspect of the present invention.

[0039] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the cable opening method provided in the first aspect of the present invention.

[0040] The cable opening method provided by the present invention sets the initial distance between the cutter head and the layer to be cut according to the set cutting thickness, obtains the real-time distance between the cutter head and the layer to be cut measured by the laser distance measuring probe in real time during the cutting process, adjusts the cutting amount of the cutter head in real time based on the real-time distance, maintains the distance between the cutter head and the layer to be cut equal to the initial distance at all times, and uses magnetic field oriented control to adjust the rotation speed of the cutter head in real time during the cutting process. The laser distance measuring probe monitors the stripping depth in real time and adjusts the cutting amount in real time to ensure that the cutting amount of the cutter head per week is constant. The torque and speed of the stepper motor are accurately adjusted through magnetic field oriented control to ensure that any error in the stripping process can be adjusted in time, thereby improving the opening quality and cable operation safety and reducing labor costs.

[0041] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 A flow chart of a cable opening method provided by the present invention;

[0044] Figure 2 A schematic structural diagram of a cable opening device provided by the present invention;

[0045] Figure 3 The present invention provides a schematic structural diagram of an electronic device.

[0046] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0048] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0049] The cable opening method of the present invention is performed by the cable opening device provided by the present invention, and the cable opening device is composed of a turntable mechanical structure and a cutter head mechanical structure. The turntable mechanical structure is composed of a cylinder module, a reduction turntable, a turntable platform, a turntable drive motor, a cylinder fixing module, a screen control module, a turntable embedded module, a Bluetooth module, and a power module. The cutter head mechanical structure is composed of a cutter head height control motor, a laser ranging probe, a cutter head blade module, a Bluetooth module, a cutter head embedded module, and a battery module.

[0050] Mechanical design ideas: (1) The rotating body is driven by an 86 stepper motor + worm gear, and the speed is adjustable. The appropriate rotary cutting speed is found through experiments. The power supply and control of the stepper motor do not rotate with the rotating disk, but are controlled by a fixed control box. (2) The feed part uses a micro linear module, driven by a 28 stepper motor. The cutter is fixed on the slider of the linear module, and the motion positioning accuracy of the slider is ≤0.1mm. The stepper motor of the linear module is powered by a battery. The battery and the controller are installed on the turntable of the rotating body and rotate with the linear module. (3) The cable is clamped at the center of the rotating body by two left and right double-axis cylinders. Despite this, there is still a large eccentricity between the cable center and the rotation center. Therefore, the feed cannot be linear. The distance between the cutter head and the cable sheath must be measured in real time. The feed amount is adjusted in real time according to this distance. Feedback to the cutter is that the cutting amount per week is constant. The most intuitive performance is that the cable sheath under cutting is a layer of uniform thickness. Therefore, a laser distance measuring probe must be installed on or beside the linear module to measure the distance between the cutter and the cable sheath in real time, and then the linear module feed amount and the detection distance must be kept fixed through programming. (4) After the outer semiconductor layer is cut off, the linear module must quickly retract the cutter, and all actions are completed.

[0051] The control logic is as follows: (1) Through the laser distance measuring probe, the real-time distance between the cutter head and the layer to be cut is sent to the cutter head embedded module. The cutter head embedded module will determine whether the current distance will damage the inner layer, and control the cutting knife to perform fine cutting on the part to be cut without damaging the inner layer, control the cutting depth and speed, and perform fine cutting through external input depth. (2) The turntable embedded module can control the turntable speed to achieve the fine rotary cutting part to achieve a better cutting speed. In addition, the turntable embedded module and the cutter head embedded module use Bluetooth connection, and the data transmission is mutually used. The data information of the laser distance measuring probe is transmitted to the turntable embedded module, and the turntable embedded module transmits the data to the screen, which more intuitively displays the current cutting status. (3) The turntable embedded module is connected to the screen control module, and the screen displays real-time parameters, such as cutting depth and current number of cutting circles, which more intuitively displays the current cutting status. It can also directly operate the mechanical part such as cylinder control, cutter head entry depth control, and turntable rotation control.

[0052] Electronic control design: (1) Turntable control system: Solenoid valve, powered by 24V, the embedded module provides a relay control switch. 86 stepper motor driver, powered by 48V, the driver directly drives the stepper motor, and no additional power is required for the stepper motor. Serial port screen, using serial communication, 5V power supply. Embedded module, powered by 24V. Bluetooth module, powered by the embedded module, communicates with the cutter head control system. (2) Cutter head control system: 28 stepper motor driver, powered by 24V battery, the driver directly drives the stepper motor, and no additional power is required for the stepper motor. Laser ranging probe, powered by 24V battery, converts analog signals to RS485, and then transmits them to the embedded module. (3) The difference in electronic control between the three-core cable opening device and the single-core cable opening device: The three-core cable opening device has an additional circular blade motor at the cutter head control system. (4) Description of each component of the turntable control system: Relay controls the solenoid valve to close; Driver controls the 86 stepper motor, with functions such as sending pulses, direction selection, and motor enable; communicates with the cutter control system via the Bluetooth module; Buzzer voice prompt; Power switch, cylinder switch, emergency stop switch mechanical buttons; Serial port screen, displays distance, total number of cutting circles, cutting depth per circle, and current cutting depth. (5) Description of each component of the cutter control system: Laser distance measurement analog quantity to serial port RS485; Driver controls the 28 stepper motor, with functions such as sending pulses, direction selection, and motor enable; communicates with the turntable control system via the Bluetooth module.

[0053] Figure 1 The present invention provides a flow chart of a cable opening method. This embodiment is applicable to the case of automatically opening a cable. The method can be performed by a cable opening device provided by an embodiment of the present invention. The device can be implemented by software and / or hardware and is usually configured in an electronic device, such as Figure 1 As shown, the cable opening method includes the following steps:

[0054] S101, setting an initial distance between the cutter head and the layer to be cut according to the set cutting thickness.

[0055] In the embodiment of the present invention, the initial distance between the cutter head and the layer to be cut is set according to the set cutting thickness, so that the thickness of the cut material meets the cutting thickness.

[0056] S102, obtaining in real time during the cutting process the real-time distance between the cutter head and the layer to be cut measured by the laser distance measuring probe.

[0057] During the cutting process, the real-time distance between the cutter head and the layer to be cut is obtained in real time by the laser distance measuring probe.

[0058] S103, adjusting the feed amount of the cutter head in real time based on the real-time distance, so as to maintain the distance between the cutter head and the layer to be cut equal to the initial distance at all times.

[0059] As mentioned above, the cable is clamped at the center of the rotating body by two left and right dual-axis cylinders. Despite this, there is still a large eccentricity between the cable center and the rotation center. Therefore, the feed amount of the cutter head is nonlinear and needs to be adjusted in real time based on the real-time distance to maintain the distance between the cutter head and the layer to be cut equal to the initial distance. Feedback to the cutter is that the weekly cutting amount is constant. The most intuitive manifestation is that the cable skin under cutting is a layer of uniform thickness.

[0060] The application of laser ranging technology has greatly improved the accuracy of the stripping operation. Traditional cable stripping relies on manual or simple mechanical operations, which often makes it difficult to achieve accurate and consistent stripping. Laser ranging can obtain real-time position data of different layers of the cable by accurately measuring the distance of the outer layer of the cable, and feed this data back to the control system. Under the action of the closed-loop control system, the stripping motor will adjust the operating parameters according to the real-time feedback data to ensure that the stripping of each layer meets the predetermined standards.

[0061] S104, using magnetic field oriented control to adjust the rotation speed of the cutter head in real time during the cutting process.

[0062] In an embodiment of the present invention, Field Oriented Control (FOC) is used to adjust the rotation speed of the cutter head in real time during the cutting process. In cable stripping, the high-precision positioning capability of the stepper motor is crucial. FOC technology not only retains the precise stepping characteristics of the stepper motor, but also can achieve smoother speed regulation through current control, avoiding vibration or step loss common in stripping operations. Through the precise adjustment of the torque and speed of the stepper motor by FOC, the consistency of force and depth during the stripping process is ensured, and cable damage caused by mechanical jitter or positioning errors is avoided. The FOC-controlled stepper motor can not only ensure the smoothness of the contact between the stripping tool and the cable surface when achieving precise stripping, reducing the problem of uneven stripping.

[0063] For example, FOC technology obtains the real-time load of the stepper motor during the cutting process, and adaptively adjusts the torque of the stepper motor based on the real-time load to achieve real-time adjustment of the speed of the cutter head. The torque of the stepper motor is positively correlated with the real-time load. The greater the real-time load, the greater the torque of the stepper motor.

[0064] FOC uses vector control to convert three-phase current into DC for control, so that the motor can maintain stable speed and torque output under various load conditions. Specifically, in FOC control, the three-phase current (Ia, Ib, Ic) collected by the Hall sensor is obtained; the three-phase current is converted into the current component (Iα, Iβ) in the two-phase stationary coordinate system by Clarke transformation; the current component (Iα, Iβ) in the two-phase stationary coordinate system is converted into the current component (Id, Iq) in the synchronous rotating coordinate system by Park transformation, where Id is used to control the magnetic field of the motor and Iq is used to control the torque of the motor; the current component (Id, Iq) in the synchronous rotating coordinate system is adjusted so that the current component (Id, Iq) in the synchronous rotating coordinate system is equal to the target value.

[0065] Specifically, the error between the current component (Id, Iq) in the synchronous rotating coordinate system and the target value (Id-ref, Iq-ref) is calculated; based on the error, the proportional integral control algorithm (PID) is used to calculate the voltage component (Vd, Vq) in the synchronous rotating coordinate system; the inverse Park transformation is used to convert the voltage component in the synchronous rotating coordinate system into the voltage component (Vα, Vβ) in the two-phase stationary coordinate system; the space vector pulse width modulation (SVPWM) is used to convert the voltage component (Vα, Vβ) in the two-phase stationary coordinate system into a pulse width modulation signal PWM, and the pulse width modulation signal PWM is used to drive the switch of the inverter of the stepper motor to realize the torque regulation of the stepper motor.

[0066] When the load changes, the system will adjust the target values ​​of Id and Iq in real time to ensure that the motor can operate stably. For example, when cutting hard materials, the system will increase the Iq value to increase the cutting force. In the no-load state, the system will reduce Iq to reduce current consumption and heat generation, and improve the efficiency and durability of the system.

[0067] In order to adapt to different opening conditions, the FOC control system can also dynamically switch between high-speed and low-speed modes. For example, a low-speed and high-torque mode may be required at the beginning of cutting, while a high-speed mode is required to improve efficiency when the cutting is completed. By dynamically adjusting the target Iq and control frequency, the system can achieve seamless switching between different control modes, thereby optimizing the overall cutting effect.

[0068] In the embodiment of the present invention, the stepper motor is combined with a closed-loop control system to make the feedback during the peeling process more accurate. The laser ranging system monitors the peeling depth in real time and feeds back to the controller. The torque and speed of the stepper motor are accurately adjusted through FOC to ensure that any errors in the peeling process can be adjusted in time. Real-time error correction: FOC technology is combined with closed-loop control. The system can dynamically adjust the operating status of the stepper motor according to real-time feedback to maintain the consistency and accuracy of peeling. Reduce vibration and step loss: FOC can effectively reduce the vibration and step loss problems of traditional stepper motors under high loads and improve the stability of the peeling process.

[0069] During the stripping operation, the unevenness of the cable material and environmental changes will interfere with the stable operation of the motor. Through FOC technology, the stepper motor can better resist these external interferences, keep the motor running smoothly, and improve the robustness of the stripping process. Anti-external interference: FOC's dynamic control of the stepper motor can quickly adjust the motor's operating state to ensure that external disturbances will not affect the stripping quality. Avoid jamming: During the stripping process, if the cable surface material or thickness suddenly changes, FOC can quickly adjust the motor torque to avoid jamming or step loss of the stepper motor.

[0070] In an embodiment of the present invention, the cable opening method further includes:

[0071] 1. Determine whether the layer to be cut has been cut.

[0072] Exemplarily, the total cutting thickness can be calculated by the total number of rotations of the cutter head and the cutting thickness of each rotation. When the total cutting thickness reaches the total thickness of the layer to be cut, it is determined that the layer to be cut has been completely cut. Otherwise, it is not completely cut and needs to be continued.

[0073] 2. If the layer to be cut is finished, determine whether the layer to be cut is the last layer.

[0074] As mentioned above, the outer protective layer, steel armor layer, inner protective layer, copper shielding layer, semi-conductive layer and insulating layer of the current need to be cut. Therefore, when the cutting of the layer to be cut is completed, it is determined whether the layer to be cut is the last layer.

[0075] 3. If the layer to be cut is the last layer, control the cutter head to stop rotating and stop feeding.

[0076] 4. If the layer to be cut is not the last layer, the next layer is used as the layer to be cut, and the process returns to the step of setting the initial distance between the cutter head and the layer to be cut according to the set cutting thickness.

[0077] The cable opening method provided by the present invention sets the initial distance between the cutter head and the layer to be cut according to the set cutting thickness, obtains the real-time distance between the cutter head and the layer to be cut measured by the laser distance measuring probe in real time during the cutting process, adjusts the cutting amount of the cutter head in real time based on the real-time distance, maintains the distance between the cutter head and the layer to be cut equal to the initial distance at all times, and uses magnetic field oriented control to adjust the rotation speed of the cutter head in real time during the cutting process. The laser distance measuring probe monitors the stripping depth in real time and adjusts the cutting amount in real time to ensure that the cutting amount of the cutter head per week is constant. The torque and speed of the stepper motor are accurately adjusted through magnetic field oriented control to ensure that any error in the stripping process can be adjusted in time, thereby improving the opening quality and cable operation safety and reducing labor costs.

[0078] Figure 2 A schematic diagram of the structure of a cable opening device provided by the present invention, such as Figure 2 As shown, the cable opening device includes:

[0079] An initial distance setting module 201 is used to set an initial distance between the cutter head and the layer to be cut according to a set cutting thickness;

[0080] A real-time distance acquisition module 202 is used to acquire the real-time distance between the cutter head and the layer to be cut measured by the laser distance measuring probe in real time during the cutting process;

[0081] A feed amount adjustment module 203 is used to adjust the feed amount of the cutter head in real time based on the real-time distance, so as to maintain the distance between the cutter head and the layer to be cut equal to the initial distance at all times;

[0082] The cutter head speed adjustment module 204 is used to adjust the speed of the cutter head in real time by using magnetic field oriented control during the cutting process.

[0083] In some embodiments of the present invention, the feed amount of the tool head is non-linear.

[0084] In some embodiments of the present invention, the cable opening method further includes:

[0085] A first judging module is used to judge whether the layer to be cut has been cut;

[0086] A second judgment module is used to judge whether the layer to be cut is the last layer when the layer to be cut is cut completely;

[0087] A stop module, used for controlling the cutter head to stop rotating and stopping the cutting when the layer to be cut is the last layer;

[0088] The return execution module is used to take the next layer as the layer to be cut when the layer to be cut is not the last layer, and return to execute the step of setting the initial distance between the cutter head and the layer to be cut according to the set cutting thickness.

[0089] In some embodiments of the present invention, the cutter head is driven to rotate by a stepper motor, and the cutter head speed adjustment module 204 includes:

[0090] A real-time load acquisition submodule, used to acquire the real-time load of the stepper motor;

[0091] The torque adjustment submodule is used to adaptively adjust the torque of the stepper motor based on the real-time load.

[0092] In some embodiments of the present invention, the torque of the stepper motor is positively correlated with the real-time load.

[0093] In some embodiments of the present invention, the torque adjustment submodule includes:

[0094] A three-phase current acquisition unit, used to acquire the three-phase current collected by the Hall sensor;

[0095] A Clarke transformation unit, used for converting the three-phase current into current components in a two-phase stationary coordinate system by using Clarke transformation;

[0096] A Park transformation unit, used for converting the current components in the two-phase stationary coordinate system into the current components in the synchronous rotating coordinate system by using Park transformation;

[0097] The current adjustment unit is used to adjust the current component in the synchronous rotating coordinate system so that the current component in the synchronous rotating coordinate system is equal to the target value.

[0098] In some embodiments of the present invention, the current adjustment unit includes:

[0099] An error calculation subunit, used for calculating the error between the current component and the target value in the synchronous rotating coordinate system;

[0100] A proportional-integral subunit, configured to calculate a voltage component in a synchronously rotating coordinate system using a proportional-integral control algorithm based on the error;

[0101] An anti-Peake transformation subunit, used for converting a voltage component in a synchronous rotating coordinate system into a voltage component in a two-phase stationary coordinate system by using an anti-Peake transformation;

[0102] The space vector pulse width modulation subunit is used to convert the voltage component in the two-phase stationary coordinate system into a pulse width modulation signal by using space vector pulse width modulation, and the pulse width modulation signal is used to drive the switch of the inverter of the stepper motor.

[0103] The above-mentioned cable opening device can execute the cable opening method provided by the above-mentioned embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the cable opening method.

[0104] Figure 3A schematic diagram of the structure of an electronic device provided by the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0105] like Figure 3 As shown, the electronic device includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0106] A number of components in the electronic device are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0107] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the cable opening method.

[0108] In some embodiments, the cable opening method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the cable opening method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the cable opening method in any other suitable manner (for example, by means of firmware).

[0109] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0110] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0111] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0112] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0113] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0114] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0115] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the cable opening method provided in any embodiment of the present application.

[0116] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0117] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0118] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cable opening method, characterized in that: include: Set the initial distance between the cutter head and the layer to be cut according to the set cutting thickness; During the cutting process, the real-time distance between the cutter head and the layer to be cut is obtained by the laser distance measuring probe; Adjusting the cutting amount of the cutter head in real time based on the real-time distance to maintain the distance between the cutter head and the layer to be cut equal to the initial distance at all times; During the cutting process, magnetic field oriented control is used to adjust the rotation speed of the cutter head in real time.

2. The cable opening method according to claim 1, characterized in that: The cutting amount of the cutter head is nonlinear.

3. The cable opening method according to claim 1, characterized in that: Also includes: Determining whether the layer to be cut has been cut; If the layer to be cut is completely cut, determining whether the layer to be cut is the last layer; If the layer to be cut is the last layer, the cutter head is controlled to stop rotating and feeding; If the layer to be cut is not the last layer, the next layer is used as the layer to be cut, and the process returns to the step of setting the initial distance between the cutter head and the layer to be cut according to the set cutting thickness.

4. The cable opening method according to claim 1, characterized in that: The cutter head is driven to rotate by a stepper motor, and the rotation speed of the cutter head is adjusted in real time by magnetic field oriented control during the cutting process, including: Obtaining the real-time load of the stepper motor; Based on the real-time load, the torque of the stepper motor is adaptively adjusted.

5. The cable opening method according to claim 4, characterized in that: The torque of the stepper motor is positively correlated with the real-time load.

6. The cable opening method according to claim 4, characterized in that: Based on the real-time load, adaptively adjusting the torque of the stepper motor includes: Get the three-phase current collected by the Hall sensor; Clarke transformation is used to convert the three-phase current into current components in a two-phase stationary coordinate system; The Park transformation is used to convert the current components in the two-phase stationary coordinate system into the current components in the synchronous rotating coordinate system; The current component in the synchronously rotating coordinate system is adjusted so that the current component in the synchronously rotating coordinate system is equal to the target value.

7. The cable opening method according to claim 6, characterized in that: Adjusting the current component in the synchronous rotating coordinate system so that the current component in the synchronous rotating coordinate system is equal to the target value includes: Calculate the error between the current component and the target value in the synchronous rotating coordinate system; Based on the error, a proportional-integral control algorithm is used to calculate the voltage component in the synchronous rotating coordinate system; The voltage components in the synchronous rotating coordinate system are converted into the voltage components in the two-phase stationary coordinate system by using the anti-Park transformation; Space vector pulse width modulation is used to convert the voltage component in the two-phase stationary coordinate system into a pulse width modulation signal, and the pulse width modulation signal is used to drive the switch of the inverter of the stepping motor.

8. A cable opening device, characterized in that: include: An initial distance setting module is used to set the initial distance between the cutter head and the layer to be cut according to the set cutting thickness; A real-time distance acquisition module is used to acquire the real-time distance between the cutter head and the layer to be cut measured by the laser distance measuring probe during the cutting process; A feed amount adjustment module, used for adjusting the feed amount of the cutter head in real time based on the real-time distance, so as to maintain the distance between the cutter head and the layer to be cut equal to the initial distance at all times; The cutter head speed adjustment module is used to adjust the speed of the cutter head in real time by using magnetic field oriented control during the cutting process.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the cable opening method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the cable opening method as described in any one of claims 1-7 is implemented.

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