An intelligent underground power cable duct pulling system

Abstract

The application relates to the technical field of power cable traction in underground pipelines, and discloses an underground power cable pipeline intelligent traction system, which comprises a plurality of intelligent traction heads, an underground communication network, a ground data processing center and a plurality of underground power cable pipelines; the underground communication network comprises a double-head lock buckle traction rope, a plurality of signal receivers are installed on the double-head lock buckle traction rope, the system can effectively realize real-time sensing of key parameters in the underground power cable traction process, real-time monitoring of traction force changes, prevention of cable damage or traction head breakage caused by excessive pulling force, simultaneous adoption of wired and wireless hybrid networking to ensure stable data transmission, timely acquisition of traction state information by construction personnel, improvement of dispatching efficiency and construction safety, and digital and intelligent management of the construction process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power cable traction in underground pipeline, and particularly relates to an intelligent traction system for underground power cable pipeline. BACKGROUND

[0002] In the construction of urban power and communication systems, cables are usually laid through underground pre-buried pipelines. Cable traction construction is a key process in cable laying, and a traction head is usually used to pull the cable through long-distance or tortuous underground pipelines. As an important structure connecting the traction device and the cable, the performance of the traction head directly affects the efficiency and safety of the construction.

[0003] Existing traction head devices are mainly mechanical structures, and lack real-time sensing ability for key parameters in the traction process. In particular, in long-distance or complex path traction, the change of traction force cannot be monitored in real time, and the cable may be damaged or the traction head may be broken due to excessive pulling force. In addition, since the traction operation is usually carried out in a closed underground space, the signal attenuation in the pipeline is serious in the traditional communication mode, and the traction state information cannot be obtained in time by the construction personnel, which affects the scheduling efficiency and construction safety, and is not conducive to the digitalization and intelligent management of the construction process.

[0004] Therefore, there is a need to further solve the above problems, and the present applicant proposes an intelligent traction system for underground power cable pipeline. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides an intelligent traction system for underground power cable pipeline, which solves the problems of lack of real-time sensing ability for key parameters in the traction process, especially in long-distance or complex path traction, the change of traction force cannot be monitored in real time, and the cable may be damaged or the traction head may be broken due to excessive pulling force. In addition, since the traction operation is usually carried out in a closed underground space, the signal attenuation in the pipeline is serious in the traditional communication mode, and the traction state information cannot be obtained in time by the construction personnel, which affects the scheduling efficiency and construction safety, and is not conducive to the digitalization and intelligent management of the construction process.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0007] An intelligent traction system for underground power cable pipeline, the system comprising a plurality of intelligent traction heads, an underground communication network, a ground data processing center and a plurality of underground power cable pipelines.

[0008] The underground communication network comprises a double-head lock buckle traction rope fixedly installed at the top end of the inner wall of one of the underground power cable pipes, a plurality of signal receivers are installed on the double-head lock buckle traction rope, the plurality of signal receivers are connected through network cable power composite flexible cables, the signal receiver located at the front end of the pipe is connected with a data temporary storage power supply device through a network cable power composite flexible cable, and the data temporary storage power supply device is connected with a ground data processing center signal.

[0009] A plurality of intelligent traction heads are arranged in the interior of the underground power cable pipe adjacent to one of the underground power cable pipes, and two adjacent intelligent traction heads are connected through a traction rope.

[0010] A lithium battery is installed at the bottom end of one side of the interior of the intelligent traction head, so as to conveniently supply power for sensors, cameras and signal transmitters, a fixed column is vertically installed in the middle of the intelligent traction head, one side of the fixed column is connected with one end of an S-shaped tension sensor through a first fixing screw, the other end of the S-shaped tension sensor is connected with a U-shaped connecting ring through a second fixing screw, a nine-axis high-precision angle sensor is fixedly installed in the middle of the other side of the interior of the intelligent traction head, an RTK wireless positioner is installed on one side of the nine-axis high-precision angle sensor, the position information of the traction head can be recorded in real time, a signal transmitter is fixedly installed at the top of the other side of the interior of the intelligent traction head, the signal transmitter is designed by adopting LoRa wireless communication technology, and cameras are symmetrically installed on the side walls of the other side of the interior of the intelligent traction head, the cameras are wide-angle night-vision waterproof cameras, the cameras shoot the environment in front of the pipe at a frame rate of 5 FPS, and are used for monitoring obstacles such as foreign matters and deformation in the pipe.

[0011] As a further scheme of the present application, the spacing between the plurality of signal receivers is 30 m, and the plurality of signal receivers are internally provided with LoRa receiving modules, so as to conveniently establish wireless connection with the intelligent traction head and receive data transmitted by the signal transmitter in the intelligent traction head.

[0012] As a further scheme of the present application, the plurality of signal receivers are externally fixedly provided with wear-resistant plastic shells, the wear-resistant plastic shells are IP67 waterproof wear-resistant plastic shells, the signal receivers can be effectively packaged, the wear-resistant plastic shells have a protection effect, and the wear-resistant plastic shells are beneficial to use.

[0013] As a further scheme of the present application, a waterproof aviation plug is fixedly installed at the connection position of the wear-resistant plastic shell and the network cable power composite flexible cable, so as to have a waterproof and dustproof effect.

[0014] As a further scheme of the present application, a twist preventer is installed between the traction end of the intelligent traction head and the traction rope, so as to prevent the cable from being twisted in the traction process and ensure the stability of the traction direction.

[0015] Compared with the prior art, the beneficial effects of the present application are: the system of the present application adopts a closed-loop working mode of sensing-transmitting-processing by designing an intelligent traction head, an underground communication network and a ground data processing center, wherein the intelligent traction head is responsible for traction of the cable and real-time sensing of working data, responsible for sensing function; the underground communication network transmits the working data sensed by the intelligent traction head to the ground, responsible for transmission function; the ground data center processes the working data transmitted by the underground communication network to the ground in real time, responsible for processing function, ensuring that the intelligent traction head works safely and stably underground, which can effectively sense the key parameters of the underground power cable traction process in real time, monitor the change of traction force in real time, and prevent the cable from being damaged or the traction head from being broken due to excessive pulling force; at the same time, wired + wireless hybrid networking is adopted to ensure stable data transmission, so that construction personnel can obtain traction state information in time, improve dispatching efficiency and construction safety, and facilitate digital and intelligent management of the construction process. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 It is a schematic diagram of the overall modular structure of the system of the present application.

[0017] Fig. 2 It is a whole working flow chart of the system of the present application.

[0018] Fig. 3 It is a data acquisition flow chart of the intelligent traction head of the system of the present application.

[0019] In the figure: 1, data temporary storage power supply device; 2, signal receiver; 3, wear-resistant plastic shell; 4, waterproof aviation plug; 5, anti-twist device; 6, double-head lock buckle traction rope; 7, underground power cable pipeline; 8, network power supply composite flexible cable; 9, ground data processing center; 11, ; 12, lithium battery; 13, S-type tension sensor; 14, nine-axis high-precision angle sensor; 15, camera; 16, RTK wireless positioner; 17, signal transmitter; 18, traction rope; 19, fixed column; 20, first fixing screw. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0021] Embodiment 1

[0022] Please refer to Figs. 1-3The underground power cable pipeline intelligent traction system comprises a plurality of intelligent traction heads, an underground communication network, a ground data processing center and a plurality of underground power cable pipelines 7.

[0023] The underground communication network comprises a double-head locking buckle traction rope 6 which is fixedly installed at the top end of the inner wall of one of the underground power cable pipelines 7, and a plurality of signal receivers 2 are installed on the double-head locking buckle traction rope 6, the plurality of signal receivers 2 are connected through network cable power composite flexible cables 8, the signal receiver 2 located at the front end of the pipeline is connected with a data temporary storage power supply device 1 through the network cable power composite flexible cable 8, and the data temporary storage power supply device 1 is signal-connected with the ground data processing center 9.

[0024] A plurality of intelligent traction heads are arranged in the interior of the underground power cable pipeline 7 adjacent to one of the underground power cable pipelines 7, and the adjacent two intelligent traction heads are connected through a traction rope 18.

[0025] A lithium battery 12 is installed at the bottom end of one side of the interior of the intelligent traction head, a fixed column 19 is vertically installed at the middle of the intelligent traction head, one side of the fixed column 19 is connected with one end of an S-shaped tension sensor 13 through a first fixing screw 20, the other end of the S-shaped tension sensor 13 is provided with a U-shaped connecting ring 10 through a second fixing screw 11, a nine-axis high-precision angle sensor 14 is fixedly installed at the middle of the other side of the interior of the intelligent traction head, an RTK wireless positioner 16 is installed on one side of the nine-axis high-precision angle sensor 14, a signal transmitter 17 is fixedly installed at the top of the other side of the interior of the intelligent traction head, and a camera 15 is symmetrically installed on the side wall of the other side of the interior of the intelligent traction head.

[0026] Further, the spacing between the plurality of signal receivers 2 is 30 m, the plurality of signal receivers 2 are provided with LoRa receiving modules, so as to facilitate wireless connection with the intelligent traction head and receive data transmitted by the signal transmitter 17 in the intelligent traction head, the plurality of signal receivers 2 are each fixedly provided with a wear-resistant plastic shell 3, the wear-resistant plastic shell 3 is an IP67 waterproof wear-resistant plastic shell, so as to facilitate encapsulation and protection, a waterproof aviation plug 4 is fixedly installed at the connection position of the wear-resistant plastic shell 3 and the network cable power composite flexible cable 8, and the wear-resistant plastic shell 3 is waterproof and dustproof, and a twist protector 5 is installed between the traction end of the intelligent traction head and the traction rope 18.

[0027] In practical use, a latch is installed at the front of the cable, and then the latch is connected to the U-shaped connecting ring 10 of the system, allowing the intelligent traction head to drag the cable via the traction rope 18. During the cable dragging process, the S-shaped tension sensor 13 monitors the tension in real time to prevent excessive tension from causing breakage at the connection between the cable and the intelligent traction head. Simultaneously, during cable dragging, the nine-axis high-precision angle sensor 14, two cameras 15, and the RTK wireless locator 16 inside the intelligent traction head all operate in real time. The nine-axis high-precision angle sensor 14, model HWT9073, continuously records the acceleration and angular velocity data of the traction head and transmits it to the main control unit. The RTK wireless locator 16... 6. The position information of the traction head is recorded in real time and transmitted to the main control unit. Two cameras 15 capture the pipeline environment ahead at a frame rate of 5 FPS. The image data is transmitted to the main control unit for compression. All recorded sensor data is packaged by the main control unit and transmitted in real time to the underground communication network via the signal transmitter 17. The signal receiver 2 in the underground communication network transmits the received real-time data to the data temporary storage power supply device 1 via the network cable power composite flexible cable 8. The data temporary storage power supply device 1 temporarily stores the received real-time raw data in the local database, and then forwards the data to the ground data processing center 9 via WIFI. The ground data processing center 9 performs data processing and analysis, specifically:

[0028] (1) Tension Safety Analysis: Through experiments, a two-level early warning mechanism was finally established to monitor whether the limit is exceeded in real time. When the measured tension / safety threshold does not exceed 90% (first-level early warning trigger point), no alarm is triggered, and full-speed traction is maintained. When the measured tension / safety threshold exceeds 90% (first-level early warning trigger point) but does not exceed 95% (second-level early warning trigger point), the speed is reduced by 50%. When the measured tension / safety threshold exceeds 95% (second-level early warning trigger point), operation is stopped.

[0029] (2) Visual inspection: A pipeline foreign object detection model based on the improved YOLOv8 is used to monitor the internal environment of the pipeline in real time;

[0030] (3) 3D path reconstruction: The pipeline topology map is generated based on the strapdown inertial navigation algorithm by integrating the data of the HWT9073 nine-axis high-precision angle sensor and the data of the RTK wireless locator for fault location and tracking.

[0031] Example 2

[0032] The following is a sample of a project experiment conducted using this system:

[0033] (1) Tensile test

[0034] Straight pipes, right-angle pipes, and S-shaped pipes were tested respectively, and the experimental results were good. The system achieved millisecond-level alarms in all cases, as shown in Table 1 below:

[0035]

[0036] (2) Visual monitoring test

[0037] This experiment tested over 2000 data samples. The trained pipeline foreign object detection model maintained an accuracy rate of over 97.5%, demonstrating excellent performance, as shown in Table 2 below:

[0038]

[0039] (3) Communication stability test

[0040] Considering communication efficiency and reliability, the system packs data every 100 milliseconds and sends 10 packets per second. This experiment tested 100 working time periods of 60 seconds each. The experimental results showed that the data success rate was 98.24% and the packet loss rate was less than 2%.

[0041] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An intelligent traction system for underground power cable ducts, characterized in that: The system includes several intelligent traction heads, an underground communication network, a ground data processing center, and several underground power cable ducts (7). The underground communication network includes a double-headed locking traction rope (6), which is fixedly installed on the top of the inner wall of one of the underground power cable ducts (7). Several signal receivers (2) are installed on the double-headed locking traction rope (6), and the signal receivers (2) are connected to each other by a network power composite flexible cable (8). The signal receiver (2) located at the front end of the duct is connected to the data temporary power supply device (1) through the network power composite flexible cable (8). The data temporary power supply device (1) is connected to the ground data processing center (9) by signal. Several intelligent traction heads are provided inside the underground power cable duct (7) adjacent to one of the underground power cable ducts (7), and two adjacent intelligent traction heads are connected by traction ropes (18). A lithium battery (12) is installed at the bottom of one side of the intelligent traction head. A fixing column (19) is vertically installed in the middle of the intelligent traction head. One side of the fixing column (19) is connected to one end of an S-shaped tension sensor (13) through a first fixing screw (20). The other end of the S-shaped tension sensor (13) is equipped with a U-shaped connecting ring (10) through a second fixing screw (11). A nine-axis high-precision angle sensor (14) is fixedly installed in the middle of the other side of the intelligent traction head. An RTK wireless locator (16) is installed on one side of the nine-axis high-precision angle sensor (14). A signal transmitter (17) is fixedly installed on the top of the other side of the intelligent traction head. Cameras (15) are symmetrically installed on the upper and lower sides of the other side wall of the intelligent traction head.

2. The intelligent traction system for underground power cable ducts according to claim 1, characterized in that: The distance between the signal receivers (2) is 30m, and the signal receivers (2) are equipped with LoRa receiving modules.

3. The intelligent traction system for underground power cable ducts according to claim 2, characterized in that: Each of the signal receivers (2) is fixedly provided with a wear-resistant plastic shell (3), which is an IP67 waterproof and wear-resistant plastic shell.

4. The intelligent traction system for underground power cable ducts according to claim 3, characterized in that: A waterproof aviation plug (4) is fixedly installed at the connection between the wear-resistant plastic shell (3) and the network power composite flexible cable (8).

5. The intelligent traction system for underground power cable ducts according to claim 1, characterized in that: An anti-twist device (5) is installed between the traction end of the intelligent traction head and the traction rope (18).

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