Fluid conveying method for dragging long-distance cable

Abstract

The invention relates to the technical field of cable installation, and discloses a fluid conveying method for long-distance cable dragging, which comprises the following steps: deploying a first speed sensor group, a second pressure sensor group, a third speed sensor group and a fluid supplementing device; acquiring the axis curvature of the protective tube and the minimum bending radius, and determining a fluid conveying mode according to the minimum bending radius; when it is judged that the fluid is supplemented and conveyed, a third speed data set is collected to judge whether fluid conveying is uniform or not; when the judgment result is non-uniform, the current feature array is collected to determine an adjustment coefficient to adjust the fluid supplementing speed of the supplementing device; and a second pressure data set is collected to determine maximum pressure data, the maximum pressure data is compared with a pressure safety threshold value to judge whether the adjusted fluid supplementing speed is corrected or not, and the final fluid supplementing speed is obtained. According to the invention, the intelligent level, the safety, the stability and the environment adaptability in the long-distance cable laying process are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cable installation, and in particular to a fluid conveying method for long-distance cable dragging. Background Art

[0002] During cable laying, the need for additional conduits is common. Cables are installed in the conduits by dragging them. However, due to the cable's tensile strength, friction between the cable and the conduit often compromises cable safety during the dragging process. To ensure cable safety during the dragging process, drag reduction measures are necessary. For short-distance crossings, roller brackets are often installed to reduce friction between the cable and the conduit. This method requires significantly increasing the conduit diameter to accommodate the drag-reducing roller brackets. This not only increases the conduit diameter, but also significantly impacts the roller's stability, impacting cable safety.

[0003] Another approach is to fill the conduit with a high-density fluid to increase the cable's buoyancy and reduce friction. However, existing methods often inject fluid into the conduit at a uniform flow rate, failing to dynamically adjust the fluid supply based on the conduit's structural characteristics (such as curvature) and the cable's position. This can easily lead to fluid stagnation or insufficient propulsion in areas of high curvature or bends, resulting in a sharp increase in cable drag. The lack of real-time fluid velocity and pressure sensing, especially in bends, makes it impossible to accurately determine whether the fluid is flowing evenly, making it difficult to detect local blockages or fluid imbalances in a timely manner, impacting cable drag efficiency and safety.

[0004] Therefore, it is necessary to design a long-distance cable-dragging fluid delivery method to solve the problems existing in the current technology. Summary of the Invention

[0005] In view of this, the present invention proposes a long-distance cable-dragging fluid transportation method, aiming to solve the problems of the current single fluid transportation mode, lack of working condition adaptive mechanism, insufficient fluid transportation status monitoring, and regulation lag.

[0006] The present invention proposes a long-distance cable-dragging fluid transportation method, comprising: A first velocity sensor group is deployed at the fluid outlet of the fluid supply device, a second pressure sensor group is deployed at the fluid inlet of the fluid recovery device, and a third velocity sensor group and a fluid replenishing device are provided at the bend position of the protective tube. The first velocity sensor group and the third velocity sensor group include a plurality of velocity sensors, and the second pressure sensor group includes a plurality of pressure sensors. The velocity sensors and pressure sensors are evenly distributed in a circular shape along the protective tube. The protective pipe model is collected by the drone to obtain the curvature of the protective pipe axis, the minimum bending radius is obtained according to the curvature of the protective pipe axis, and the fluid conveying mode is determined according to the minimum bending radius, wherein the fluid conveying mode includes uniform fluid conveying and fluid supplementary conveying; When it is determined that the fluid delivery mode is fluid replenishment delivery, a third velocity data set of the third velocity sensor group is collected, and whether the fluid delivery is uniform is determined based on the third velocity data set; when it is determined that the fluid delivery is uneven, the curvature of the bending position and the viscosity of the fluid medium are collected to establish a current feature array, and an adjustment coefficient is determined based on the current feature array to adjust the fluid replenishment speed of the replenishment device, and the adjusted fluid replenishment speed is determined; A second pressure data set of the second pressure sensor group is collected, the maximum pressure data is determined and compared with the pressure safety threshold, and based on the comparison result, it is determined whether to correct the adjusted fluid replenishment rate, a final fluid replenishment rate is obtained, and operation is continued at the final fluid replenishment rate.

[0007] Furthermore, obtaining a minimum bending radius according to the curvature of the protective tube axis and determining a fluid conveying mode according to the minimum bending radius include: comparing the minimum bending radius with a minimum bending radius threshold, and determining a fluid delivery mode according to the comparison result; When the minimum bending radius is less than or equal to a minimum bending radius threshold, the fluid conveying mode is determined to be fluid supplementary conveying; when the minimum bending radius is greater than the minimum bending radius threshold, the fluid conveying mode is determined to be fluid uniform conveying.

[0008] Further, including: Collect the operating speed of the cable conveyor and the tensile strength of the cable; When the fluid delivery mode is uniform fluid delivery, the fluid supply device and the fluid recovery device are turned on, and the fluid supply speed of the fluid supply device is determined according to the operating speed and the tensile strength limit of the cable, wherein the fluid supply speed is greater than the operating speed, and the tensile force generated by the speed difference between the fluid supply speed and the operating speed is less than the tensile strength limit of the cable; When the fluid delivery method is the fluid replenishment delivery, the fluid supply device, the fluid recovery device and the fluid replenishment device are turned on, the fluid supply speed is greater than the operating speed, and the tensile force formed by the sum of the fluid supply speed and the fluid replenishment speed and the speed difference of the operating speed is less than the tensile limit of the cable.

[0009] Furthermore, collecting a third velocity data set from the third velocity sensor group and determining whether the fluid delivery is uniform based on the third velocity data set includes: Obtain the variance between every two data in the third velocity data set. When the ratio of the maximum variance to the minimum variance is greater than 1.1, determine that the fluid delivery is uneven. When the ratio of the maximum variance to the minimum variance is less than or equal to 1.1, determine that the fluid delivery is uniform and do not adjust the fluid replenishment speed.

[0010] Furthermore, when it is determined that the fluid delivery is uneven, the adjustment coefficient is determined according to the current characteristic array to adjust the fluid replenishment speed of the replenishment device, including: Comparing the current feature array with a historical feature data set in a historical adjustment scheme, wherein the historical adjustment scheme includes a plurality of historical feature data sets and a plurality of adjusted historical fluid replenishment rates, and each historical feature data set corresponds to an adjusted historical fluid replenishment rate; The similarity between the current feature array and each historical feature data group is obtained, and an adjustment coefficient is determined according to the similarity to adjust the fluid replenishment speed of the replenishment device.

[0011] Furthermore, when adjusting the fluid replenishing speed of the replenishing device by determining an adjustment coefficient based on the similarity, the method includes: When there is data in the historical adjustment scheme whose similarity with the current feature array is greater than or equal to the similarity threshold, the adjustment coefficient is obtained according to the adjusted historical fluid replenishment speed corresponding to the historical feature data group and the current fluid replenishment speed; When the similarity between the historical feature data group in the historical adjustment scheme and the current feature array is less than the similarity threshold, a first ratio of the historical feature data group corresponding to the maximum similarity to the current feature array is obtained, and a first ratio of the adjusted historical fluid replenishment speed corresponding to the maximum similarity to the current fluid replenishment speed is obtained, and the product of the first ratio and the second ratio is obtained, and the product is used as the adjustment coefficient.

[0012] Furthermore, determining the maximum pressure data and comparing it with the pressure safety threshold, and judging whether to correct the adjusted fluid replenishment speed according to the comparison result, includes: When the maximum pressure data is greater than the pressure safety threshold, determining and correcting the adjusted fluid replenishment speed; When the maximum pressure data is less than or equal to the pressure safety threshold, it is determined that the adjusted fluid replenishing speed is not to be corrected, and the adjusted fluid replenishing speed is used as the final fluid replenishing speed.

[0013] Furthermore, determining and correcting the adjusted fluid replenishment speed includes: A pressure difference is obtained based on the maximum pressure data and a pressure safety threshold, and a correction coefficient is determined based on the pressure difference to correct the adjusted fluid replenishment speed. The correction coefficient is inversely proportional to the pressure difference, and a value range of the correction coefficient is (0.8, 1).

[0014] Furthermore, it also includes: When operating at the final fluid replenishment speed, the operating speed of the cable conveyor and the real-time dragging speed of the cable are collected. When the real-time dragging speed is less than or equal to the operating speed, echo data in the protective tube is obtained based on the ultrasonic detection equipment. The contact ratio between the protective tube and the cable is obtained based on the echo data, and an early warning is issued based on the contact ratio.

[0015] Furthermore, obtaining the contact ratio between the protective tube and the cable according to the echo data and issuing an early warning according to the contact ratio includes: When the contact ratio is greater than 30% and less than or equal to 50%, a level 1 prompt is triggered, with a low-intensity beep and an orange prompt on the interface; When the contact point ratio is greater than 50% and less than or equal to 70%, a secondary warning is triggered, fluid replenishment is stopped, and the cable conveying speed is reduced; When the number of contact points exceeds 70%, a level 3 serious alarm is triggered, the fluid supply and cable delivery device are disconnected, a red flash is emitted, and a remote notification is issued.

[0016] Compared with existing technologies, the present invention offers the following advantages: By deploying multiple sets of velocity and pressure sensors within the protective pipe system and integrating them with a three-dimensional curvature model of the protective pipe collected by drones, a fluid delivery control system is constructed that integrates real-time perception, intelligent judgment, and dynamic adjustment. This overcomes the limitations of traditional uniform injection methods, which are limited in their adaptability to complex pipeline structures. By analyzing fluid velocity differences within curved sections, the system identifies whether fluid delivery is uniform. Furthermore, based on a comparison of current characteristic parameters (such as pipe curvature and fluid viscosity) with historical adjustment data, the system dynamically adjusts the fluid injection rate, achieving a directional, balanced, and propulsion-assisted effect within the curved section. Dynamic pressure monitoring ensures that the injection rate does not overpressurize the protective pipe, thereby ensuring the safety of the cable structure. This system addresses the existing issues of increased drag resistance and construction risks caused by fluid retention and unbalanced propulsion, thereby enhancing the intelligence, safety, stability, and environmental adaptability of long-distance cable laying. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings: Figure 1 A flow chart of a fluid transport method for long-distance cable dragging provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, unless there is a conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0019] In conventional cable pulling processes, high-density fluids within the conduit are typically delivered at a uniform flow rate, without considering the impact of the dynamic curvature of the conduit's axis on fluid distribution. This results in increased flow resistance in areas of high curvature and uneven localized flow rates, which in turn fails to effectively reduce frictional resistance between the cable and the conduit. The lack of real-time fluid velocity monitoring at bends makes it difficult to determine whether the fluid is evenly distributed across the conduit's cross-section. This can easily lead to fluid stagnation or insufficient propulsion force in bends, further exacerbating tensile loads during cable pulling.

[0020] For example, in a three-kilometer-long conduit installation scenario, the conduit's axis contains multiple sections with bend radii less than a preset threshold. When the cable passes through at a constant speed, the fluid supply device injects a high-viscosity fluid into the conduit at a fixed flow rate. However, the fluid flow path at the bend creates a centrifugal effect due to the sudden change in curvature, causing the fluid medium to accumulate on the outside of the conduit's inner wall. In this case, the velocity sensor group is not deployed in the bend, making it impossible to obtain real-time velocity differences in the circumferential distribution of the fluid. This causes the local flow velocity to fall below the critical value, increasing the friction coefficient between the cable surface and the conduit's inner wall, and significantly increasing the risk of the drag force exceeding the cable's tensile strength limit.

[0021] If these issues are not addressed, cables passing through high-curvature conduit sections may experience tensile deformation due to increased local frictional resistance, potentially leading to cable breakage. Furthermore, the uneven distribution of the fluid within the conduit can cause pressure fluctuations, accelerating fatigue damage to the conduit structure and shortening its service life. Furthermore, the lack of a closed-loop control mechanism for fluid flow directly limits the efficiency and safety of long-distance cable hauling operations, making it impossible to meet the reliability requirements of engineering deployments in complex terrain.

[0022] Faced with the aforementioned challenges, the present applicant first considered how to achieve dynamic fluid control within the bends of the protective tube. Traditional methods, lacking real-time awareness of fluid distribution within the bends, are unable to adjust fluid supply strategies in a timely manner, resulting in a surge in cable drag resistance. To address this, the present applicant analyzed the relationship between the curvature of the protective tube axis and fluid flow characteristics, realizing the need to deploy multi-dimensional sensors at the bends to capture velocity and pressure variations, while also introducing a fluid injection device to balance flow rate differences. Furthermore, by incorporating drone modeling technology to obtain the precise curvature parameters of the protective tube structure, this curvature data was dynamically linked to the fluid delivery method, forming a fluid control mechanism based on the actual protective tube configuration. By comparing different sensor layout schemes, the applicant ultimately determined the placement of velocity and pressure sensor groups at the outlet, inlet, and bends, ensuring comprehensive coverage of key fluid flow monitoring points. Furthermore, to address the problem of fluid stagnation in bends, a model was established to coordinate the fluid injection velocity with curvature and viscosity, and a pressure feedback mechanism was introduced to achieve closed-loop control, thereby reducing frictional resistance while avoiding the risk of pressure overruns.

[0023] In some embodiments of this application, see Figure 1 As shown, a long-distance cable-dragging fluid delivery method comprises: S100: deploying a first velocity sensor group at the fluid outlet of the fluid supply device, deploying a second pressure sensor group at the fluid inlet of the fluid recovery device, and setting a third velocity sensor group and a fluid replenishing device at a bend in the protective tube. The first velocity sensor group and the third velocity sensor group include a plurality of velocity sensors, and the second pressure sensor group includes a plurality of pressure sensors. The velocity sensors and pressure sensors are evenly distributed in a circular shape along the protective tube. S200: The protective pipe model is collected using a drone and the curvature of the protective pipe axis is obtained. The minimum bending radius is obtained based on the curvature of the protective pipe axis. The fluid delivery method is determined based on the minimum bending radius. The fluid delivery method includes uniform fluid delivery and fluid supplementary delivery. S300: When it is determined that the fluid delivery mode is fluid replenishment delivery, a third velocity data set of the third velocity sensor group is collected, and whether the fluid delivery is uniform is determined based on the third velocity data set; when it is determined that the fluid delivery is uneven, the curvature of the bending position and the viscosity of the fluid medium are collected to establish a current feature array, and an adjustment coefficient is determined based on the current feature array to adjust the fluid replenishment speed of the replenishment device, and the adjusted fluid replenishment speed is determined; S400: Collect a second pressure data set of the second pressure sensor group, determine the maximum pressure data and compare it with the pressure safety threshold, determine whether to correct the adjusted fluid replenishment speed based on the comparison result, obtain the final fluid replenishment speed, and continue operation at the final fluid replenishment speed.

[0024] Among them, the first velocity sensor group refers to a plurality of velocity sensors arranged at the fluid outlet of the fluid supply device, which can be implemented by electromagnetic or ultrasonic velocity sensors, and is used to monitor the flow velocity distribution at the fluid outlet in real time to ensure that the initial fluid delivery velocity is uniform. Among them, the second pressure sensor group refers to a plurality of pressure sensors arranged at the fluid inlet of the fluid recovery device, which can be implemented by piezoelectric or capacitive pressure sensors, and is used to monitor the pressure distribution at the fluid inlet in real time to determine whether there is a local pressure anomaly during the fluid recovery process. Among them, the third velocity sensor group refers to a plurality of velocity sensors arranged at the bend of the protective tube, which can be implemented by optical fiber or thermal velocity sensors, and is used to monitor the fluid flow velocity in the bend area in real time to identify uneven flow velocity or retention caused by the bend. Among them, the fluid replenishment device refers to a fluid injection device arranged at the bend of the protective tube, which can be implemented by an electric pump or a pneumatic pump, and is used to dynamically adjust the amount of replenished fluid according to the flow velocity monitoring results of the bend area to compensate for the flow resistance caused by the bend of the protective tube. The curvature of the protective tube axis refers to a geometric parameter calculated by capturing a three-dimensional model of the protective tube using a drone. This can be obtained using laser scanning or image recognition technology. It is used to quantify the degree of curvature of the protective tube and calculate the minimum bend radius, providing a basis for selecting a fluid delivery method. Uniform fluid delivery refers to the injection of fluid medium into the protective tube at a constant rate by a fluid supply device. This can be achieved through closed-loop control of the pump speed. It is suitable for low-curvature or straight protective tube sections and ensures uniform buoyancy support for the cable. Fluid injection delivery refers to the addition of fluid medium to the bends of the protective tube, in addition to uniform fluid delivery. This can be achieved by adjusting the flow valve of the injection device. This is used to offset the uneven fluid distribution in the bend area caused by centrifugal force and maintain the overall buoyancy balance of the cable. The pressure safety threshold refers to a preset limit pressure value based on the strength of the protective tube material and the characteristics of the fluid medium. This can be determined through experimental testing or finite element simulation. It is used to constrain the inlet pressure of the fluid recovery device to prevent damage to the protective tube structure.

[0025] It's clear that the coordinated monitoring of a multi-dimensional sensor group and a dynamic fluid replenishment mechanism enable precise control of fluid delivery in curved areas of the sheath. Specifically, this includes dynamically selecting the delivery mode based on the curvature of the sheath's axis, providing real-time feedback on the flow velocity distribution in the curved area via a third velocity sensor group, automatically adjusting the replenishment speed based on viscosity and curvature parameters, and simultaneously verifying pressure safety via a second pressure sensor group. This creates a closed-loop control logic that effectively addresses fluid retention and insufficient propulsion in areas of high curvature, ensuring resistance balance and structural safety during cable pulling.

[0026] Specifically, a first velocity sensor group is deployed at the fluid outlet of the fluid supply device, a second pressure sensor group is deployed at the fluid inlet of the fluid recovery device, and a third velocity sensor group and a fluid replenishment device are positioned at the bend in the protective tube. The first and third velocity sensor groups include multiple velocity sensors, while the second pressure sensor group includes multiple pressure sensors, all evenly distributed in a circular pattern along the protective tube.

[0027] First, a drone is used to capture the protective pipe model and obtain the curvature of the protective pipe axis. The minimum bending radius is calculated based on the curvature of the protective pipe axis, and the fluid delivery method is determined, including uniform fluid delivery and fluid replenishment delivery.

[0028] If the fluid delivery method is determined to be fluid replenishment, the third velocity data set from the third velocity sensor group is collected and used to determine whether the fluid delivery is uniform. If the fluid delivery is determined to be uneven, the curvature of the bend and the viscosity of the fluid medium are collected to establish a current feature array. Based on the current feature array, an adjustment coefficient is determined to adjust the fluid replenishment speed of the replenishment device, resulting in an adjusted fluid replenishment speed.

[0029] The second pressure data set of the second pressure sensor group is collected, the maximum pressure data is determined, and the data is compared with the pressure safety threshold. Based on the comparison result, it is determined whether the adjusted fluid injection rate needs to be corrected. Finally, the final fluid injection rate is obtained and the operation continues at this rate.

[0030] By real-time monitoring and dynamic adjustment of fluid delivery, the problem of uneven fluid distribution in the curved area of the protective tube can be effectively addressed, ensuring the safety and efficiency of the cable pulling process.

[0031] As a preferred embodiment, the solution of this application is specifically implemented as follows: During a long-distance cable pulling operation, a first velocity sensor assembly consisting of eight sensors evenly distributed around the circumference is installed at the outlet of the fluid supply system. A second pressure sensor assembly, also consisting of eight sensors evenly distributed around the circumference, is installed at the inlet of the fluid recovery system. A third velocity sensor assembly, also consisting of eight sensors evenly distributed around the circumference, is installed at the bend of the protective tube, along with the fluid replenishment system.

[0032] A drone equipped with a high-resolution camera creates a 3D model of the entire protective pipe, acquiring precise axial curvature data. Based on this data, the pipe's minimum bend radius is calculated. If the calculated minimum bend radius falls below a preset threshold, fluid injection is considered necessary.

[0033] After fluid delivery begins, velocity data from the third velocity sensor group is continuously collected. Analysis of this data reveals uneven velocity distribution at the bend. Real-time curvature and fluid viscosity data are then collected at this location to form the current feature array.

[0034] The current feature array is compared with the cases in the historical database, and the most similar historical case is selected as a reference to calculate the appropriate adjustment coefficient. Based on this adjustment coefficient, the replenishment speed of the fluid replenishment device is adjusted.

[0035] After the adjustment is complete, pressure data from the second pressure sensor group is collected to determine the maximum pressure value and compare it with the preset safety threshold. If the maximum pressure value does not exceed the safety threshold, operation continues at the adjusted fluid injection rate. If it exceeds the safety threshold, the fluid injection rate is further adjusted until the final fluid injection rate is achieved, ensuring uniform fluid distribution without exceeding the pressure safety limit.

[0036] The system continues to operate at the final determined fluid replenishment rate and repeats the above monitoring and adjustment process to adapt to various complex situations that may occur in the protective pipe.

[0037] Through the above scheme, the present application can achieve precise control of fluid delivery during long-distance cable dragging. By deploying multiple sets of sensors at key locations, the velocity and pressure distribution of the fluid can be monitored in real time, and problems with uneven fluid delivery can be discovered in a timely manner. Combined with the curvature data of the protective tube collected by the drone, the fluid delivery strategy is dynamically adjusted according to the actual shape of the protective tube. Especially at the bending position of the protective tube, by introducing a fluid replenishment device and adjusting the replenishment speed according to real-time data, the problem of fluid retention or insufficient propulsion force in the bending area in the traditional method is effectively solved. At the same time, through the pressure feedback mechanism, the risk of pressure overrun can be avoided while ensuring uniform distribution of the fluid, further improving the safety of the cable dragging process. The dynamic, closed-loop control method improves the efficiency and reliability of long-distance cable dragging, and is particularly suitable for cable laying projects under complex terrain conditions.

[0038] In some of the above-mentioned solutions of the present application, it is proposed to obtain a minimum bending radius based on the curvature of the protective tube axis to determine the fluid delivery method. However, in the implementation process, there is a lack of clear judgment criteria, and it is impossible to accurately determine when to start fluid replenishment and delivery to avoid the problem of insufficient fluid supply at the bend of the protective tube.

[0039] The present application further proposes comparing the minimum bending radius with the minimum bending radius threshold, and determining the fluid delivery mode based on the comparison result; when the minimum bending radius is less than or equal to the minimum bending radius threshold, the fluid delivery mode is determined to be fluid replenishment delivery; when the minimum bending radius is greater than the minimum bending radius threshold, the fluid delivery mode is determined to be fluid uniform delivery.

[0040] The minimum bend radius threshold is pre-set based on the strength parameters of the protective tube material and the flow characteristics of the fluid medium. This threshold can be dynamically adjusted based on experimental data or fluid dynamics simulation results. The curvature of the protective tube axis is obtained through 3D drone modeling, and the minimum bend radius is calculated using a curve integration algorithm. During the comparison process, the calculated value is compared with the threshold in real time, and the result triggers the switching command of different fluid delivery modes.

[0041] Specifically, when the bending radius of the protective tube is too small, the flow resistance of the fluid at the bend increases significantly, which can easily lead to local stagnation. By setting a threshold, high-risk bending areas can be quickly identified, and the replenishment device can be activated in time to increase the fluid supply. For example, when the protective tube is made of polyethylene material and the fluid medium is high-density lubricating oil, the threshold is set to 12 times the diameter of the protective tube. If the actual minimum bending radius is calculated to be 10 times the diameter, it will automatically switch to the replenishment delivery mode. The activation of the replenishment device increases the fluid flow rate at the bend and reduces the friction coefficient between the cable and the protective tube. The dynamic adjustment function of the threshold can be adaptively modified according to different protective tube materials or fluid viscosities to ensure the accuracy of the judgment logic under different working conditions.

[0042] As a preferred embodiment, the solution of this application is specifically implemented as follows: The minimum bend radius is compared with the minimum bend radius threshold, and the fluid delivery mode is determined based on the comparison result. Specifically, when the minimum bend radius is less than or equal to the minimum bend radius threshold, the fluid delivery mode is determined to be fluid replenishment delivery; when the minimum bend radius is greater than the minimum bend radius threshold, the fluid delivery mode is determined to be fluid uniform delivery.

[0043] For example, in practical applications, the minimum bend radius threshold can be set to 5 meters. If the minimum bend radius calculated from the pipe model data collected by the drone is 4.5 meters, the fluid delivery method is determined to be fluid replenishment because 4.5 meters is less than the threshold of 5 meters. Conversely, if the calculated minimum bend radius is 5.5 meters, which is greater than the threshold of 5 meters, the fluid delivery method is determined to be uniform fluid delivery.

[0044] Furthermore, the minimum bending radius threshold can be dynamically adjusted based on different protective tube materials, diameters, and other parameters. For example, for more flexible protective tube materials, the threshold can be appropriately lowered; while for more rigid protective tubes, the threshold needs to be increased to ensure safety.

[0045] Through the above technical solution, the present application can automatically select the appropriate fluid delivery method based on the actual curvature of the protective tube, avoiding the problem of fluid retention or insufficient propulsion force in high-curvature areas. When the protective tube is more curved, the use of fluid replenishment delivery can add additional fluid at the bend to ensure the buoyancy and lubrication of the cable at that location. When the protective tube is relatively straight, the use of uniform fluid delivery can simplify operation and save resources. This intelligent delivery method selection mechanism improves the safety and efficiency of the cable dragging process and reduces the risk of a sharp increase in dragging resistance due to the bending of the protective tube.

[0046] In some of the above-mentioned schemes of the present application, after determining the fluid conveying method based on the bending condition of the protective tube, how to combine the cable conveying speed and the cable tensile limit to control the fluid supply speed to avoid the difference between the fluid supply speed and the cable running speed causing the tensile force to exceed the cable's bearing capacity, resulting in cable damage.

[0047] The present application further proposes to collect the operating speed of the cable conveyor and the tensile limit of the cable; when the fluid conveying mode is uniform fluid conveying, the fluid supply device and the fluid recovery device are turned on, and the fluid supply speed of the fluid supply device is determined according to the operating speed and the tensile limit of the cable, the fluid supply speed is greater than the operating speed, and the tensile force formed by the speed difference between the fluid supply speed and the operating speed is less than the tensile limit of the cable; when the fluid conveying mode is fluid replenishment conveying, the fluid supply device, the fluid recovery device and the fluid replenishment device are turned on, the fluid supply speed is greater than the operating speed, and the tensile force formed by the sum of the fluid supply speed and the fluid replenishment speed and the speed difference between the operating speed is less than the tensile limit of the cable.

[0048] Among them, the collection of operating speed and tensile strength limit is realized through sensors or preset parameters; the difference between the sum of the fluid supply speed and the fluid replenishment speed and the operating speed is converted into tensile force through a mechanical model, and the mechanical model takes into account the viscosity of the fluid medium and the friction coefficient of the protective tube; the comparison between the tensile force and the tensile strength limit is completed through real-time calculation to ensure that the tension on the cable is always within a safe range; when the fluid replenishment device is turned on, the superposition effect of the fluid supply speed and the replenishment speed is monitored in real time by the flow meter and fed back to the control system.

[0049] Specifically, in the uniform fluid delivery mode, only the fluid supply device and the fluid recovery device are turned on, and the fluid supply speed is dynamically adjusted based on the operating speed and the tensile strength limit. For example, if the operating speed is 0.5 meters per second and the tensile strength limit is 500N, the fluid supply speed is controlled below 0.6 meters per second, so that the tensile force corresponding to the speed difference does not exceed 500N. In the fluid replenishment delivery mode, the fluid replenishment device is turned on so that the sum of the fluid supply speed and the replenishment speed is limited. For example, if the fluid supply speed is 0.7 meters per second, the replenishment speed is 0.1 meters per second, and the operating speed is 0.8 meters per second, the total speed difference is 0.8 meters per second. The corresponding tensile force needs to be calculated and verified by the viscosity parameters and the friction coefficient of the protective tube to see if it is lower than the tensile strength limit. By collecting the operating parameters in real time and dynamically adjusting the fluid speed, the tensile force on the cable is always limited to the safety threshold, avoiding cable breakage or protective tube damage due to excessive fluid propulsion force.

[0050] As a preferred embodiment, the solution of this application is specifically implemented as follows: Collect the operating speed of the cable conveyor and the tensile strength of the cable. For example, the operating speed of the cable conveyor is 5 meters per minute and the tensile strength of the cable is 10 kN.

[0051] When the fluid delivery mode is uniform fluid delivery, the fluid supply device and fluid recovery device are turned on. The fluid supply speed of the fluid supply device is determined based on the operating speed and the cable's tensile strength. Specifically, the fluid supply speed is set to 6 m / min, which is 5 m / min higher than the operating speed. The difference between the fluid supply speed and the operating speed is 1 m / min, resulting in a tensile force of 5 kN, which is lower than the cable's tensile strength of 10 kN.

[0052] When the fluid delivery mode is fluid replenishment, the fluid supply device, fluid recovery device, and fluid replenishment device are turned on. The fluid supply speed is set to 6 m / min, which is greater than the operating speed of 5 m / min. The fluid replenishment speed is set to 0.5 m / min. Therefore, the sum of the fluid supply speed and the fluid replenishment speed is 6.5 m / min, which is 1.5 m / min lower than the operating speed of 5 m / min. The resulting tensile force is 7.5 kN, which is less than the cable's tensile strength limit of 10 kN.

[0053] Through the above-mentioned technical solution, this application achieves dynamic adjustment of the fluid supply and replenishment speeds based on the cable conveyor's operating speed and the cable's tensile strength. This improves cable pulling efficiency while ensuring cable safety. Furthermore, by properly controlling the fluid velocity, friction between the cable and the protective tube is reduced, minimizing the risk of cable damage. Furthermore, this solution can adapt to the structural characteristics of different protective tubes, flexibly adjusting fluid replenishment in curved areas to avoid problems such as fluid retention or insufficient propulsion force.

[0054] In some of the above-mentioned solutions of the present application, there is a problem of being unable to accurately determine whether the fluid delivery at the bend of the protective tube is uniform. If the fluid flows unevenly at the bend, it is easy to cause a sudden increase in local resistance, affecting the efficiency and safety of cable pulling.

[0055] The present application further proposes collecting the variance between every two data in the third velocity data set, and determining that the fluid delivery is uneven when the ratio of the maximum variance to the minimum variance is greater than 1.1; and determining that the fluid delivery is uniform and no adjustment is made to the fluid replenishment speed when the ratio of the maximum variance to the minimum variance is less than or equal to 1.1.

[0056] The third velocity sensor group, located at a bend in the protective pipe, collects real-time velocity data from multiple, evenly distributed velocity sensors. The variance between the two sets of data reflects the differences in flow velocity at different locations. A ratio of the maximum to minimum variance exceeding 1.1 indicates excessive dispersion in the velocity distribution, indicating the presence of localized areas of excessively high or low velocity. By setting a fixed threshold of 1.1, a clear benchmark is established for judgment, avoiding subjective errors that can be attributed to human experience.

[0057] Specifically, the third velocity data set is collected synchronously by multiple velocity sensors at the bend of the protective pipe. The data of every two adjacent sensors constitute a set of flow velocity differences. The variance of all differences is calculated and the maximum and minimum values are screened. When the ratio of the maximum variance to the minimum variance exceeds 1.1, it indicates that the flow velocity fluctuates significantly in the bend area, triggering the speed adjustment mechanism of the fluid replenishment device. If the ratio does not exceed the threshold, the current replenishment speed is maintained to ensure that adjustments are only initiated when necessary, reducing redundant control actions. This judgment method, combined with multi-sensor data, effectively identifies areas of fluid retention or flow rate imbalance, providing an accurate basis for subsequent replenishment speed adjustments.

[0058] As a preferred embodiment, the solution of this application is specifically implemented as follows: Obtain a third velocity data set from the third velocity sensor group and calculate the variance between every two data points in this data set. Furthermore, compare the ratio of the maximum variance to the minimum variance. If this ratio is greater than 1.1, the fluid delivery is determined to be uneven. If this ratio is less than or equal to 1.1, the fluid delivery is determined to be uniform, and no adjustment is made to the fluid replenishment rate.

[0059] Specifically, the third velocity sensor group includes multiple velocity sensors evenly distributed along the circumference of the protective tube. For example, eight velocity sensors can be installed, one every 45 degrees. The velocity data collected by each sensor constitutes the third velocity data set.

[0060] To calculate variance, you can use a sliding window method. Select the velocity data from two adjacent sensors and calculate their variance. Then, calculate the variances for all adjacent sensor pairs in sequence to obtain a set of variance values. Find the maximum and minimum values in this set of variance values and calculate the ratio of the two.

[0061] As a preferred embodiment, multiple judgment thresholds can be set, such as 1.05, 1.1, 1.15, etc., and appropriate thresholds can be selected for judgment according to actual conditions. When the ratio exceeds the selected threshold, it can be determined that the fluid delivery is uneven and the replenishment speed needs to be adjusted.

[0062] Through the above technical solution, the present application can accurately determine whether the fluid is transported uniformly in the protective tube. By calculating the variance of the velocity data and comparing the variance ratio, the unevenness of the fluid velocity distribution can be effectively detected. This method avoids the problem of ignoring local flow anomalies by relying solely on the average velocity, and improves the monitoring accuracy of the fluid transport status. Furthermore, using 1.1 as the judgment threshold can not only sensitively capture flow anomalies, but also not trigger adjustments too frequently, achieving a balance between sensitivity and stability. In this way, uneven problems in fluid transportation can be discovered and corrected in a timely manner, ensuring the safety and efficiency of the cable dragging process.

[0063] In some of the above-mentioned schemes of the present application, in the process of adjusting the fluid replenishment speed through the current characteristic array, the matching degree between the historical adjustment scheme and the current working conditions may be insufficient, resulting in low efficiency or poor accuracy in determining the adjustment coefficient, and difficulty in quickly responding to dynamic requirements under different bending positions and viscosity conditions.

[0064] The present application further proposes that when it is determined that the fluid delivery is uneven, an adjustment coefficient is determined based on the current feature array to adjust the fluid replenishment speed of the replenishment device, including comparing the current feature array with a historical feature data group in a historical adjustment scheme, the historical adjustment scheme includes several historical feature data groups and several adjusted historical fluid replenishment speeds, and each historical feature data group corresponds to an adjusted historical fluid replenishment speed; obtaining the similarity between the current feature array and each historical feature data group, and determining the adjustment coefficient based on the similarity to adjust the fluid replenishment speed of the replenishment device.

[0065] Among them, historical feature data groups are pre-stored in the database, and each data group contains the combined parameters of the curvature of the bending position and the viscosity of the fluid medium. After the current feature array is collected in real time, it is matched with the historical data by calculating the Euclidean distance or cosine similarity. The adjusted historical fluid replenishment speed is associated with the corresponding historical feature data group in the form of a key-value pair to form a mapping relationship. The similarity threshold is set to 85%-90%. When there is a historical data group that exceeds this threshold, the corresponding historical adjustment speed is directly used as a reference benchmark. The adjustment coefficient is calculated by the ratio of the current fluid replenishment speed to the historical fluid replenishment speed. For example, if the current speed is 2m / s and the historical speed is 2.4m / s, the adjustment coefficient is 1.2. If the similarity of all historical data groups is lower than the threshold, the historical data group with the highest similarity is selected, and its feature parameters are scaled proportionally with the current parameters. For example, if the current curvature is 1.5 times that of the historical data, the adjustment coefficient is adjusted according to the same proportion.

[0066] Specifically, after the current feature array is input into the historical database, the similarity algorithm is used to filter out the historical adjustment record with the highest matching degree. If a matching record exists, its corresponding fluid replenishment speed is extracted and compared with the current speed to generate a linear or nonlinear adjustment coefficient. For example, when the viscosity in the historical data is 50cP and the curvature is 0.15m -1 The optimal filling speed is 3m / s; if the current viscosity is 55cP and the curvature is 0.16m -1 , and the similarity reaches 88%, the adjustment coefficient is calculated based on a weighted combination of viscosity difference and curvature difference. If there is no direct matching record, the adjustment coefficient is dynamically derived by establishing a proportional relationship based on the parameter differences of the data group with the greatest similarity. For example, if the historical data group with a maximum similarity of 75% has a viscosity difference of +10% and a curvature difference of -5%, the adjustment coefficient is modified by combining a viscosity influence weight of 60% and a curvature weight of 40%. This process is implemented through a parameterized model, ensuring that the adjusted replenishment speed not only adapts to the current operating conditions but also inherits the effective experience of historical adjustments, thereby improving adjustment accuracy and response speed.

[0067] As a preferred embodiment, the solution of this application is specifically implemented as follows: When uneven fluid delivery is determined, the current feature array is compared with the historical feature data sets in the historical adjustment plan. The historical adjustment plan contains multiple historical feature data sets and corresponding adjusted historical fluid replenishment rates. Specifically, the similarity between the current feature array and each historical feature data set is first determined. Furthermore, based on the calculated similarity, an adjustment coefficient is determined to adjust the fluid replenishment rate of the replenishment device.

[0068] For example, suppose the current feature array is [0.8, 50], where 0.8 represents the curvature of the bend and 50 represents the viscosity of the fluid. The historical adjustment scheme includes five sets of historical feature data: [0.75, 48], [0.82, 52], [0.79, 51], [0.85, 49], and [0.77, 53]. Calculation shows that the similarities between the current feature array and these five sets of historical feature data are 0.92, 0.98, 0.96, 0.94, and 0.90, respectively.

[0069] Therefore, if the similarity threshold is set to 0.95, there are two sets of historical feature data with similarities greater than or equal to the threshold. The adjusted historical fluid replenishment rate corresponding to the highest similarity, [0.82, 52], is selected, assuming it is 120 L / min. If the current fluid replenishment rate is 100 L / min, the adjustment factor is 120 / 100 = 1.2. Ultimately, the current fluid replenishment rate is adjusted to 100 * 1.2 = 120 L / min.

[0070] Furthermore, if the similarity of all historical feature data sets is less than the threshold of 0.95, the historical feature data set [0.85, 49] corresponding to the maximum similarity of 0.94 is selected. The ratio of this value to the current feature data set [0.8, 50] is calculated to obtain a first ratio of [0.94, 0.98]. Assuming the corresponding adjusted historical fluid replenishment rate is 115 L / min, the ratio to the current fluid replenishment rate of 100 L / min is 1.15, resulting in a second ratio of 1.15. Multiplying the first and second ratios yields an adjustment coefficient of [1.081, 1.127]. Taking the average value of 1.104 as the final adjustment coefficient, the current fluid replenishment rate is adjusted to 100 * 1.104 = 110.4 L / min.

[0071] Through the above technical solution, the present application can quickly determine the appropriate fluid replenishment speed adjustment scheme based on historical adjustment experience. By comparing the similarity between the current features and historical data, the successful adjustment experience in the past can be effectively utilized to improve the accuracy and efficiency of the adjustment. When there is historical data with high similarity, directly adopting the corresponding adjustment scheme can respond quickly; when there is no high-similarity data, the adjustment coefficient is determined by comprehensively considering the feature differences and speed differences to ensure the rationality of the adjustment. This data-driven dynamic adjustment method can adapt to the fluid replenishment needs under different working conditions, effectively improve the uniformity of fluid delivery, and improve the safety and efficiency of the cable dragging process.

[0072] In some of the above-mentioned schemes of the present application, when the similarity between the historical feature data group in the historical adjustment scheme and the current feature array is lower than the similarity threshold, directly using the historical data with the highest existing similarity for adjustment may cause the correction of the fluid replenishment speed to be not accurate enough, and cannot effectively adapt to the dynamic changes of the curvature of the current protective pipe bending position and the viscosity of the fluid medium, thereby affecting the uniformity of fluid delivery.

[0073] The present application further proposes that when the similarity between the historical feature data group in the historical adjustment scheme and the current feature array is less than the similarity threshold, a first ratio of the historical feature data group corresponding to the maximum similarity and the current feature array is obtained, and a second ratio of the adjusted historical fluid replenishment speed corresponding to the maximum similarity and the current fluid replenishment speed is obtained, and the product of the first ratio and the second ratio is used as an adjustment coefficient to adjust the fluid replenishment speed of the replenishment device.

[0074] The first ratio is calculated by taking the ratios of the curvature of the bend position and the fluid viscosity in the current feature array and the corresponding parameters in the historical feature data set with the highest similarity. For example, the first ratio is obtained by taking the weighted average of the parameter ratios. The second ratio is directly calculated by taking the ratio of the adjusted historical fluid replenishment rate to the current fluid replenishment rate. The product adjustment coefficient is used to scale the current fluid replenishment rate to balance the differences between the historical data and the current features. The similarity threshold can be set to 80% to distinguish between valid matches and poor matches.

[0075] Specifically, when the similarity between the historical feature data set and the current feature data set is insufficient, the fluid injection rate is dynamically adjusted by calculating the product of the first ratio and the second ratio, combining the curvature of the protective tube bend, the change in fluid medium viscosity, and the historical adjustment effect. For example, if the current bend curvature is 20% higher than the historical data with the highest similarity, and the corresponding historical injection rate is 15% higher than the current rate, the adjustment factor is 1.2 × 1.15 = 1.38, and the current injection rate will increase by 38%. This approach avoids the errors caused by directly using low-similarity historical data. At the same time, it quantifies the adjustment range through parameter correlation, ensuring the compatibility of the fluid injection rate with the current protective tube structure and fluid state, thereby improving the uniformity of fluid delivery in the curved area.

[0076] As a preferred embodiment, the solution of this application is specifically implemented as follows: When data in the historical adjustment scheme exists with a similarity greater than or equal to the similarity threshold to the current feature array, an adjustment coefficient is calculated based on the adjusted historical fluid replenishment rate corresponding to that historical feature data set and the current fluid replenishment rate. For example, the similarity threshold can be set to 0.9. If a historical feature data set with a similarity greater than 0.9 is found, the adjustment coefficient is directly calculated by dividing the corresponding adjusted historical fluid replenishment rate by the current fluid replenishment rate.

[0077] When the similarity between the historical feature data set in the historical adjustment scheme and the current feature array is less than the similarity threshold, a first ratio of the historical feature data set corresponding to the maximum similarity to the current feature array is obtained, and a second ratio of the adjusted historical fluid replenishment rate corresponding to the maximum similarity to the current fluid replenishment rate is obtained. The product of the first ratio and the second ratio is obtained, and the product is used as the adjustment coefficient. Specifically, the historical feature data set corresponding to the maximum similarity can be first found, and the average of its ratios to each parameter of the current feature array is calculated as the first ratio. Then, the ratio of the adjusted fluid replenishment rate corresponding to the historical data to the current fluid replenishment rate is calculated as the second ratio. Finally, the two ratios are multiplied to obtain the final adjustment coefficient.

[0078] Through the above technical solution, the present application can intelligently determine the adjustment coefficient of the fluid replenishment rate based on historical adjustment experience. When there are highly similar historical cases, the historical experience can be directly reused for rapid adjustment. When there are no highly similar cases, reasonable calculations can be made based on the closest historical data, avoiding blind adjustments. This method not only makes full use of historical experience, but also has a certain generalization ability. It can cope with various complex working conditions and improve the accuracy and efficiency of fluid replenishment rate adjustment.

[0079] In some of the above-mentioned solutions of the present application, when the adjusted fluid injection rate does not take into account the pressure safety threshold at the end of the protective tube, the local pressure after the injection rate adjustment may exceed the pressure limit of the equipment, causing the risk of protective tube rupture or fluid leakage.

[0080] The present application further proposes that when the maximum pressure data is greater than the pressure safety threshold, the adjusted fluid replenishment speed is determined; when the maximum pressure data is less than or equal to the pressure safety threshold, the adjusted fluid replenishment speed is determined not to be corrected, and the adjusted fluid replenishment speed is used as the final fluid replenishment speed.

[0081] The pressure differential is calculated by capturing the extreme pressure values at the fluid recovery device inlet in real time. The inverse relationship between the correction coefficient and the pressure differential is established using a pre-set linear function table. For example, when the pressure differential is 0.5 MPa, the correction coefficient is 0.9; when the pressure differential reaches 1.0 MPa, the correction coefficient decreases to 0.85. The correction coefficient ranges from 0.8 to 1, ensuring that the correction amplitude of the replenishment rate does not exceed 20% of the initial adjustment value.

[0082] Specifically, after determining the adjusted fluid replenishment speed, it is necessary to synchronously collect the pressure data set at the inlet of the fluid recovery device. By screening the maximum pressure data in the second pressure data set, it is compared with the preset pressure safety threshold in real time. When the maximum pressure data exceeds the safety threshold, it is necessary to calculate the difference between the actual pressure difference and the threshold. Based on this difference, the corresponding correction coefficient is matched from the pre-stored correction coefficient table, and the adjusted replenishment speed is multiplied by the coefficient to generate the final replenishment speed. This process forms a closed-loop control through the pressure feedback mechanism, which not only maintains the inhibitory effect of fluid replenishment on friction resistance, but also avoids structural damage caused by pressure overload at the end of the protective tube. For example, after the replenishment speed in the curved section is adjusted to 1.2m / s, if the maximum pressure at the end reaches 2.5MPa and the safety threshold is 2.0MPa, the pressure difference is 0.5MPa, corresponding to a correction coefficient of 0.9, and the final replenishment speed is corrected to 1.08m / s.

[0083] As a preferred embodiment, the solution of this application is specifically implemented as follows: Determining the maximum pressure data and comparing it with the pressure safety threshold, and judging whether to correct the adjusted fluid injection speed based on the comparison result, includes the following steps: First, the maximum pressure data is determined from the second pressure data set collected by the second pressure sensor group. Specifically, all the pressure data in the second pressure data set can be compared and the pressure data with the largest value can be selected as the maximum pressure data.

[0084] Secondly, the maximum pressure data obtained is compared with a preset pressure safety threshold. The pressure safety threshold can be determined based on the specific cable and conduit material properties and engineering practice experience, for example, it can be set to 10MPa.

[0085] Furthermore, it is determined whether the adjusted fluid replenishment rate needs to be corrected based on the comparison results: When the maximum pressure data exceeds the pressure safety threshold, it is determined that the adjusted fluid replenishment rate needs to be corrected. For example, if the maximum pressure data is 11 MPa, which is greater than the pressure safety threshold of 10 MPa, it is determined that correction is necessary.

[0086] If the maximum pressure reading is less than or equal to the pressure safety threshold, the adjusted fluid injection rate is determined not to need to be adjusted. In this case, the adjusted fluid injection rate is used directly as the final fluid injection rate. For example, if the maximum pressure reading is 9.5 MPa, which is less than the pressure safety threshold of 10 MPa, no adjustment is required.

[0087] Therefore, it is possible to dynamically determine whether the fluid replenishment speed needs to be further adjusted based on the real-time pressure data to ensure the safety of the cable pulling process.

[0088] Through the above technical solution, the present application can monitor the pressure conditions inside the protective tube in real time and dynamically adjust the fluid replenishment speed based on the pressure data. This method can effectively prevent safety hazards caused by excessive pressure in the protective tube, while ensuring the continuity and stability of fluid replenishment. By comparing the maximum pressure data with the preset safety threshold, potential pressure risks can be identified in a timely manner and corresponding adjustment measures can be taken. This not only improves the safety of the cable pulling process, but also optimizes the efficiency of fluid delivery. In addition, through the automated judgment and adjustment process, this method reduces the need for human intervention and improves the reliability and automation level of the entire cable pulling system.

[0089] In some of the above-mentioned solutions of the present application, the adjusted fluid replenishment rate may cause the pressure at the inlet of the fluid recovery device to exceed the safety threshold, posing a safety hazard.

[0090] The present application further proposes that when determining the corrected and adjusted fluid replenishment rate, the pressure difference is obtained based on the maximum pressure data and the pressure safety threshold, and the correction coefficient is determined based on the pressure difference to correct the adjusted fluid replenishment rate. The correction coefficient is inversely proportional to the pressure difference, and the correction coefficient ranges from 0.8 to 1.

[0091] The correction factor is calculated based on the proportional relationship between the pressure difference and a preset pressure difference threshold. The larger the pressure difference, the closer the correction factor is to 0.8, and the smaller the pressure difference, the closer the correction factor is to 1. The inverse relationship between the correction factor and the original adjustment is achieved through a linear function or nonlinear mapping. For example, the correction factor is 0.85 for a pressure difference of 20 kPa, and 0.92 for a pressure difference of 10 kPa. The value range of 0.8 to 1 ensures that the replenishment speed correction does not exceed 20% of the original adjustment value, avoiding excessive adjustment that may reduce fluid delivery efficiency.

[0092] Specifically, when the pressure difference reaches 30 kPa, the correction coefficient is calculated as 0.8 through an inverse relationship, and the adjusted replenishment rate is multiplied by 0.8 to obtain the final replenishment rate, so that the inlet pressure of the fluid recovery device is reduced to within the safety threshold. When the pressure difference is 5 kPa, the correction coefficient is 0.98, and only the replenishment rate is fine-tuned to maintain the delivery efficiency. The correlation between the correction coefficient and the pressure difference is established through experimental data or historical pressure fluctuation models to ensure a balance between pressure safety and delivery efficiency. By limiting the range of the correction coefficient, the risk of fluid retention caused by a sudden drop in the replenishment rate is prevented, and the continuous excess pressure caused by excessive replenishment rate is avoided.

[0093] As a preferred embodiment, the solution of the present application is specifically implemented as follows: when the maximum pressure data at the inlet of the fluid recovery device reaches 10.5MPa and the pressure safety threshold is 9.0MPa, the pressure difference is calculated to be 1.5MPa. Based on the preset correction coefficient comparison table, the correction coefficient corresponding to the pressure difference in the range of 1.0MPa to 2.0MPa is 0.85. The adjusted fluid replenishment speed of 8.2m / s is multiplied by the correction coefficient of 0.85 to obtain a corrected replenishment speed of 6.97m / s. The correspondence between the correction coefficient and the pressure difference is formed by fitting the experimental data, wherein the correction coefficient decreases by 0.05 for every 0.5MPa increase in the pressure difference. The corrected replenishment speed will be rewritten into the control module of the fluid replenishment device to drive the hydraulic pump to execute the new replenishment speed instruction.

[0094] Through the above-mentioned technical solution, this application effectively addresses the risk of deformation of the protective tube caused by excessive fluid system pressure. By establishing an inverse correction mechanism based on the pressure difference and the injection speed, this solution ensures fluid propulsion while preventing the internal pressure of the protective tube from exceeding the material's pressure limit. This solution automatically reduces the injection speed under conditions of abnormally high pressure, maintaining the safe operation of the fluid delivery system within the elastic deformation range and preventing protective tube rupture or seal failure caused by localized pressure concentration.

[0095] In some of the above-mentioned solutions of the present application, after adjusting the fluid injection rate, if the maximum pressure data still exceeds the pressure safety threshold, directly applying the adjusted injection rate may cause local pressure overload in the protective tube, resulting in damage to the protective tube structure or the risk of fluid medium leakage during cable dragging.

[0096] This application further proposes a method for dynamically correcting the fluid replenishment rate based on the proportional relationship between the pressure differential and the safety threshold. The pressure differential is the absolute difference between the maximum pressure data and the pressure safety threshold, and the correction coefficient is calculated based on this difference. The correction coefficient is inversely proportional to the pressure differential, specifically decreasing as the pressure differential increases and increasing as the pressure differential decreases. The correction coefficient is limited to a value between 0.8 and 1.0 to ensure that the adjustment range of the replenishment rate is within a controllable range.

[0097] Specifically, when the pressure difference is at a low level, the correction coefficient is close to 1.0, and the adjusted replenishment speed is only slightly reduced. For example, when the pressure difference is 0.1 MPa, the correction coefficient can be set to 0.95, and the corresponding final replenishment speed is 95% of the original adjusted value. When the pressure difference increases to 0.3 MPa, the correction coefficient drops to 0.85, and the replenishment speed is reduced by 15% accordingly. The nonlinear correspondence between the correction coefficient and the pressure difference is achieved through a pre-calibrated mapping table, which is constructed based on the strength of the protective tube material, the characteristics of the fluid medium, and the cable compressive limit test data. By collecting pressure data in real time and dynamically correcting the replenishment speed, the fluid propulsion force and the pressure bearing capacity of the protective tube can be effectively balanced to avoid structural failure problems caused by local pressure mutations.

[0098] As a preferred embodiment, the solution of this application is specifically implemented as follows: During the operation of the cable conveyor at the final fluid replenishment speed, the set operating speed of the cable conveyor and the actual drag speed of the cable are recorded in real time. When the real-time drag speed is detected to be less than or equal to the operating speed, an ultrasonic detection device mounted on the outer wall of the protective tube is activated. This device transmits ultrasonic pulse signals into the protective tube at a fixed frequency and generates echo data by receiving reflected echo signals. Based on the amplitude and time difference characteristics of the echo data, the contact area between the inner wall of the protective tube and the cable surface is identified, and the ratio of the contact area to the cross-sectional area of the protective tube is calculated as the contact ratio. If the contact ratio is between 30% and 50%, a first-level prompt is triggered. At this time, the control buzzer sounds in a low-frequency intermittent mode, and an orange warning sign is displayed on the operation interface; if the contact ratio is between 50% and 70%, a second-level warning is triggered, and the fluid supply pipeline of the fluid replenishment device is immediately cut off and the drive motor speed of the cable conveyor is reduced; if the contact ratio exceeds 70%, a third-level serious alarm is triggered, and the power supply of the fluid supply device and the cable conveyor is simultaneously shut down, the red flashing warning light is activated, and an emergency shutdown notification is sent to the remote monitoring terminal through the wireless communication module.

[0099] Through the above technical solution, this application can monitor the contact status between the protective tube and the cable in real time, accurately identify the distribution characteristics of the contact area through ultrasonic detection, and dynamically trigger a graded warning mechanism based on the contact ratio. This solution effectively avoids the problem of increased local friction caused by uneven fluid delivery or bending of the protective tube. Through early warning and graded disposal measures, it prevents the cable from breaking or surface damage due to excessive contact friction. At the same time, through automatic control logic, it ensures that the risk source is quickly cut off in the event of contact abnormalities, ensuring the safety of long-distance cable hauling operations.

[0100] In some of the above-mentioned solutions of the present application, it is proposed to reduce the frictional resistance between the cable and the protective tube by adjusting the fluid replenishment speed. However, during the operation of the adjusted fluid replenishment speed, the contact state between the cable and the protective tube cannot be effectively monitored. Local contact points may cause frictional resistance accumulation due to uneven fluid distribution or speed fluctuations, and there is a risk of cable surface damage or breakage.

[0101] The present application further proposes to collect the operating speed of the cable conveyor and the real-time dragging speed of the cable when running at the final fluid replenishment speed. When the real-time dragging speed is less than or equal to the operating speed, the echo data in the protective tube is obtained based on the ultrasonic detection equipment, and the contact ratio between the protective tube and the cable is obtained according to the echo data, and an early warning is issued according to the contact ratio.

[0102] Among them, the ultrasonic detection equipment is arranged at intervals along the axial direction of the protective pipe. By emitting high-frequency sound waves and receiving reflected signals, the echo data contains the contact point information between the cable surface and the inner wall of the protective pipe; the contact ratio is calculated by counting the ratio of the number of contact points in the unit length of the protective pipe to the preset total number of points, and the preset total number of points is set according to the protective pipe diameter and the ultrasonic detection accuracy; the early warning levels include level one prompt, level two warning and level three serious alarm, which correspond to low-intensity buzzing and orange interface prompts, stopping fluid replenishment and slowing down, disconnecting the fluid supply and conveying device and emitting red flashes and remote notifications.

[0103] Specifically, when the real-time dragging speed drops abnormally, the ultrasonic detection equipment is triggered to scan the interior of the protective tube. By analyzing the intensity and time difference of the echo signal, the contact area between the cable and the protective tube is identified, and the proportion of the number of contact points to the total preset points is calculated. If the contact ratio is between 30% and 50%, it indicates an upward trend in local friction resistance, and a low-intensity beep and orange interface prompt remind the operator to check the fluid distribution status. If the contact ratio exceeds 50% but does not reach 70%, fluid replenishment is automatically cut off and the conveying speed is reduced to prevent frictional heat accumulation and cable surface aging. When the contact ratio exceeds 70%, it is determined that there is a serious risk of jamming, and the power source is immediately cut off, a red flashing alarm is triggered, and the fault information is pushed to the remote monitoring terminal. This process effectively avoids cable damage or transmission interruptions caused by contact friction through real-time monitoring and a graded response mechanism.

[0104] As a preferred embodiment, the solution of this application is specifically implemented as follows: While the cable is running at the final fluid replenishment speed, an encoder monitors the cable conveyor's operating speed parameters in real time, while a photoelectric tachometer simultaneously collects the actual cable pulling speed. When the actual pulling speed is detected to be equal to or lower than the set operating speed value, an ultrasonic detection array deployed on the outer wall of the protective tube is activated. This array consists of six 40kHz ultrasonic transducers spaced evenly around the circumference of the protective tube.

[0105] The ultrasonic signal emitted by the transducer penetrates the conduit wall and reflects from the cable surface, forming an echo. This echo signal is converted to a digital signal by a high-speed data acquisition card. Time-domain reflectometry is then used to calculate the distribution of contact points between the cable and the conduit. The contact percentage is calculated by calculating the ratio of the number of effective contact points per unit length of conduit to the preset maximum number of contact points.

[0106] When the contact ratio is between 31% and 50%, the control system activates a buzzer that emits intermittent low-frequency sounds and highlights the abnormal area in orange on the three-dimensional pipeline model on the operation interface. If the contact ratio rises to the range of 51% to 70%, the fluid supply solenoid valve of the fluid replenishment device is immediately shut off, and the speed of the cable conveyor's drive motor is reduced by 30% via the frequency converter. When the contact ratio exceeds the 70% threshold, the main control PLC simultaneously performs three operations: shutting off the power relay of the fluid supply pump, triggering the conveyor's emergency brake module, and sending an alarm code containing location coordinates to the remote monitoring center via the Industrial Internet of Things gateway.

[0107] Through the above-mentioned technical solution, this application effectively addresses the risk of cable friction damage caused by insufficient dynamic fluid adjustment in the prior art. By combining a multi-level early warning mechanism with an automated response process, precise intervention can be implemented at different stages of abnormal cable-conduit contact, preventing insulation damage caused by localized frictional heat accumulation. In particular, ultrasonic non-contact monitoring enables real-time visual assessment of the contact status within the conduit, avoiding the invasive installation requirements of traditional mechanical sensors and ensuring the integrity and reliability of the long-distance fluid drag reduction system.

[0108] The above-mentioned embodiment deploys multiple sets of velocity and pressure sensors within the protective pipe system, combined with a three-dimensional curvature model of the protective pipe collected by drones, to construct a fluid delivery control system that integrates real-time perception, intelligent judgment, and dynamic adjustment. This overcomes the limitations of traditional uniform injection methods, which are limited in their adaptability to complex pipeline structures. By analyzing fluid velocity differences within curved sections, the system identifies whether fluid delivery is uniform. Furthermore, based on a comparison of current characteristic parameters (such as pipe curvature and fluid viscosity) with historical adjustment data, the system dynamically adjusts the fluid injection rate, ensuring a directional, balanced, and propulsion-assisted effect within the curved section. Dynamic pressure monitoring ensures that the injection rate does not overpressurize the protective pipe, thereby ensuring the safety of the cable structure. This system addresses the existing issues of increased drag resistance and construction risks caused by fluid retention and unbalanced propulsion, thereby enhancing the intelligence, safety, stability, and environmental adaptability of long-distance cable laying.

[0109] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0110] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0111] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0112] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A method for conveying fluid by long-distance cable dragging, characterized in that: include: A first velocity sensor group is deployed at the fluid outlet of the fluid supply device, a second pressure sensor group is deployed at the fluid inlet of the fluid recovery device, and a third velocity sensor group and a fluid replenishing device are provided at the bend position of the protective tube. The first velocity sensor group and the third velocity sensor group include a plurality of velocity sensors, and the second pressure sensor group includes a plurality of pressure sensors. The velocity sensors and pressure sensors are evenly distributed in a circular shape along the protective tube. The protective pipe model is collected by the drone to obtain the curvature of the protective pipe axis, the minimum bending radius is obtained according to the curvature of the protective pipe axis, and the fluid conveying mode is determined according to the minimum bending radius, wherein the fluid conveying mode includes uniform fluid conveying and fluid supplementary conveying; When it is determined that the fluid delivery mode is fluid replenishment delivery, a third velocity data set of the third velocity sensor group is collected, and whether the fluid delivery is uniform is determined based on the third velocity data set; when it is determined that the fluid delivery is uneven, the curvature of the bending position and the viscosity of the fluid medium are collected to establish a current feature array, and an adjustment coefficient is determined based on the current feature array to adjust the fluid replenishment speed of the replenishment device, and the adjusted fluid replenishment speed is determined; A second pressure data set of the second pressure sensor group is collected, the maximum pressure data is determined and compared with the pressure safety threshold, and based on the comparison result, it is determined whether to correct the adjusted fluid replenishment rate, a final fluid replenishment rate is obtained, and operation is continued at the final fluid replenishment rate.

2. The fluid conveying method of long-distance cable dragging according to claim 1, characterized in that: Obtaining a minimum bending radius according to the curvature of the protective tube axis, and determining a fluid conveying mode according to the minimum bending radius, including: comparing the minimum bending radius with a minimum bending radius threshold, and determining a fluid delivery mode according to the comparison result; When the minimum bending radius is less than or equal to a minimum bending radius threshold, the fluid conveying mode is determined to be fluid supplementary conveying; when the minimum bending radius is greater than the minimum bending radius threshold, the fluid conveying mode is determined to be fluid uniform conveying.

3. The fluid conveying method of long-distance cable dragging according to claim 2, characterized in that: include: Collect the operating speed of the cable conveyor and the tensile strength of the cable; When the fluid delivery mode is uniform fluid delivery, the fluid supply device and the fluid recovery device are turned on, and the fluid supply speed of the fluid supply device is determined according to the operating speed and the tensile strength limit of the cable, wherein the fluid supply speed is greater than the operating speed, and the tensile force generated by the speed difference between the fluid supply speed and the operating speed is less than the tensile strength limit of the cable; When the fluid delivery method is the fluid replenishment delivery, the fluid supply device, the fluid recovery device and the fluid replenishment device are turned on, the fluid supply speed is greater than the operating speed, and the tensile force formed by the sum of the fluid supply speed and the fluid replenishment speed and the speed difference of the operating speed is less than the tensile limit of the cable.

4. The fluid conveying method of long-distance cable dragging according to claim 3, characterized in that: Acquiring a third velocity data set of the third velocity sensor group and determining whether the fluid delivery is uniform based on the third velocity data set includes: Obtain the variance between every two data in the third velocity data set. When the ratio of the maximum variance to the minimum variance is greater than 1.1, determine that the fluid delivery is uneven. When the ratio of the maximum variance to the minimum variance is less than or equal to 1.1, determine that the fluid delivery is uniform and do not adjust the fluid replenishment speed.

5. The fluid conveying method of long-distance cable dragging according to claim 4, characterized in that: When it is determined that the fluid delivery is uneven, the adjustment coefficient is determined according to the current characteristic array to adjust the fluid replenishment speed of the replenishment device, including: Comparing the current feature array with a historical feature data set in a historical adjustment scheme, wherein the historical adjustment scheme includes a plurality of historical feature data sets and a plurality of adjusted historical fluid replenishment rates, and each historical feature data set corresponds to an adjusted historical fluid replenishment rate; The similarity between the current feature array and each historical feature data group is obtained, and an adjustment coefficient is determined according to the similarity to adjust the fluid replenishment speed of the replenishment device.

6. The fluid conveying method of long-distance cable dragging according to claim 5, characterized in that: When the adjustment coefficient is determined according to the similarity to adjust the fluid replenishment speed of the replenishment device, the method includes: When there is data in the historical adjustment scheme whose similarity with the current feature array is greater than or equal to the similarity threshold, the adjustment coefficient is obtained according to the adjusted historical fluid replenishment speed corresponding to the historical feature data group and the current fluid replenishment speed; When the similarity between the historical feature data group in the historical adjustment scheme and the current feature array is less than the similarity threshold, a first ratio of the historical feature data group corresponding to the maximum similarity to the current feature array is obtained, and a first ratio of the adjusted historical fluid replenishment speed corresponding to the maximum similarity to the current fluid replenishment speed is obtained, and the product of the first ratio and the second ratio is obtained, and the product is used as the adjustment coefficient.

7. The fluid conveying method of long-distance cable dragging according to claim 6, characterized in that: Determining the maximum pressure data and comparing it with the pressure safety threshold, and judging whether to correct the adjusted fluid replenishment speed based on the comparison result, includes: When the maximum pressure data is greater than the pressure safety threshold, determining and correcting the adjusted fluid replenishment speed; When the maximum pressure data is less than or equal to the pressure safety threshold, it is determined that the adjusted fluid replenishing speed is not to be corrected, and the adjusted fluid replenishing speed is used as the final fluid replenishing speed.

8. The fluid conveying method of long-distance cable dragging according to claim 7, characterized in that: Determining and correcting the adjusted fluid replenishment speed includes: A pressure difference is obtained based on the maximum pressure data and a pressure safety threshold, and a correction coefficient is determined based on the pressure difference to correct the adjusted fluid replenishment speed. The correction coefficient is inversely proportional to the pressure difference, and a value range of the correction coefficient is (0.8, 1).

9. The fluid conveying method of long-distance cable dragging according to claim 8, characterized in that: Also includes: When operating at the final fluid replenishment speed, the operating speed of the cable conveyor and the real-time dragging speed of the cable are collected. When the real-time dragging speed is less than or equal to the operating speed, echo data in the protective tube is obtained based on the ultrasonic detection equipment. The contact ratio between the protective tube and the cable is obtained based on the echo data, and an early warning is issued based on the contact ratio.

10. The fluid conveying method of long-distance cable dragging according to claim 9, characterized in that: Acquiring the contact ratio between the protective tube and the cable according to the echo data, and issuing an early warning according to the contact ratio, including: When the contact ratio is greater than 30% and less than or equal to 50%, a level 1 prompt is triggered, with a low-intensity beep and an orange prompt on the interface; When the contact point ratio is greater than 50% and less than or equal to 70%, a secondary warning is triggered, fluid replenishment is stopped, and the cable conveying speed is reduced; When the number of contact points exceeds 70%, a level 3 serious alarm is triggered, the fluid supply and cable delivery device are disconnected, a red flash is emitted, and a remote notification is issued.

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