Cable synchronous laying construction method and system based on Internet of Things

Abstract

The invention belongs to the technical field of cable laying construction, and provides a cable synchronous laying construction method and system based on the Internet of Things, and the method comprises the steps: generating a three-dimensional path model for cable synchronous laying, calculating the initial reference parameters of cable laying execution equipment through multi-body dynamics simulation software, and carrying out the calculation of the initial reference parameters of the cable laying execution equipment in a construction period; a deployed monitoring terminal collects cable laying data in real time, a self-adaptive PID algorithm is adopted to dynamically adjust operation parameters of corresponding cable laying execution equipment, the synchronous state of cable synchronous laying is analyzed in real time, whether synchronization imbalance occurs or not is judged, if yes, the synchronization imbalance degree is judged, imbalance root cause equipment positioning is triggered, and if not, cable laying is completed. The method comprises the following steps: carrying out source tracing positioning on maladjustment root cause equipment based on a topological graph model, carrying out hierarchical response on the positioned maladjustment root cause equipment according to a synchronization maladjustment degree, if the synchronization maladjustment degree is mild, starting a local adaptive adjustment strategy, and if the synchronization maladjustment degree is heavy, starting an emergency isolation strategy.

Description

Technical Field

[0001] This invention belongs to the field of cable laying construction technology, specifically a method and system for synchronous cable laying based on the Internet of Things. Background Technology

[0002] Cable laying is a critical and complex process in the construction of infrastructure such as power and communications. As the scale of projects expands and the routes become more complex, the traditional laying method, which involves a single traction machine pulling the cable and manual assistance, is no longer sufficient to meet the construction requirements of long-distance, large-section cables. Therefore, the industry has gradually developed a synchronous laying technology that uses a "traction machine + multiple conveyors" working together. This technology aims to achieve efficient and safe laying by using distributed power points to share the weight of the cable and overcome friction.

[0003] However, this multi-device collaborative construction mode faces severe technical challenges in practical applications. The core problem stems from the strong coupling between devices and the complexity of the physical path. First, as a flexible continuum connecting all devices, the internal tension distribution of the cable is a key state quantity for judging construction safety and quality. In a three-dimensional path that includes slopes and curves, if the output speeds of each device are mismatched, local tension overload can easily occur, leading to damage to the cable insulation layer, deformation of the metal shield, or even cable breakage; or insufficient tension can cause the cable to slack off and slip, also posing safety hazards.

[0004] Secondly, existing methods suffer from significant lag and blindness in fault diagnosis and handling. When a piece of equipment in the system malfunctions due to mechanical jamming, power failure, or other reasons, its impact can rapidly propagate through the cables to adjacent equipment, causing a chain reaction of speed and tension imbalances. Currently, on-site personnel can only make judgments based on scattered instrument readings or abnormal sounds, which not only fails to quickly locate the root cause equipment but also easily leads to misjudgment of the fault point. This results in response measures often involving emergency shutdown of the entire line or blind adjustments to non-faulty equipment, which not only interrupts construction and is inefficient but may also exacerbate the fault due to improper operation. For example, the tension impact caused by an emergency stop may cause secondary damage to the cables.

[0005] To address the above problems, this invention proposes a method and system for synchronous cable laying based on the Internet of Things. Summary of the Invention

[0006] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0007] The technical solution adopted by this invention to solve the technical problem is: a method for synchronous cable laying based on the Internet of Things, comprising: For synchronous cable laying, a three-dimensional path model is generated, and multibody dynamics simulation software is used to calculate the initial reference parameters of each cable laying execution device. Based on the initial baseline parameters, during the construction period, the deployed monitoring terminals collect cable laying data in real time, including cable tension, cable speed, clamping pressure, and equipment position. An adaptive PID algorithm is used to dynamically adjust the operating parameters of the corresponding cable laying execution equipment. Based on the collected cable laying data, the synchronization status of the synchronous cable laying is analyzed in real time to determine whether synchronization misalignment has occurred. If so, the degree of synchronization misalignment is determined and the misalignment root cause device is located. If the root cause device of the disorder is located, the root cause device of the disorder is traced and located based on the topology graph model; For devices with misalignment as the root cause of the positioning error, a graded response is executed based on the degree of synchronization misalignment. If the degree of synchronization misalignment is mild, a local adaptive adjustment strategy is activated; if it is severe, an emergency isolation strategy is activated. The initial reference parameters are obtained as follows: The physical parameters of the cable were collected by testing cable samples laid synchronously. Representative sections of the cable laying path were selected based on the synchronous laying path, and the dynamic friction coefficient of the cable samples was tested in the representative sections of the path. The cable laying execution equipment is set up, including a traction machine and a conveyor. The three-dimensional path model, cable physical parameters, and dynamic friction coefficient are uniformly input into the pre-set multibody dynamics simulation software. The dynamic tension distribution of the cable during the actual laying process is simulated to minimize the tension of the entire line. The constraint is that the tension of the entire line does not exceed the safety threshold of the cable yield strength. The initial reference parameters of each cable laying execution equipment are calculated in reverse. The initial reference parameters include the reference speed curve of the traction machine and the ideal tension setting value of each conveyor. The method for dynamically adjusting the operating parameters of the corresponding cable laying execution equipment is as follows: The initial reference parameters are set as the control targets of the cable laying execution equipment. For each cable laying execution equipment, cable laying data is collected in real time through the deployed monitoring terminals during the construction period. The cable laying data includes cable tension, cable speed, clamping pressure and equipment position. The traction machine is set as the speed-driven device, and the central controller aims to track the reference speed curve of the cable speed. The conveyor is set as the tension-driven device, and the central controller aims to maintain the cable tension at the ideal tension set value. For any cable laying execution device, the adaptive PID parameters are dynamically adjusted and the output control quantity of the cable laying execution device is calculated. Based on the output control quantity, the operating parameters of the corresponding cable laying execution device are dynamically adjusted. The method for determining the degree of synchronization misalignment is as follows: The system is configured with synchronization misalignment criteria, including primary and secondary criteria. During the construction period, the central controller performs real-time traversal checks on the cable laying data of all cable laying execution equipment based on the synchronization misalignment criteria and following the cable laying direction. If any cable laying execution equipment meets the secondary criteria, it is determined that synchronization misalignment has occurred and the degree of synchronization misalignment is severe. If any cable laying execution equipment meets the primary criteria but does not meet the secondary criteria, it is determined that synchronization misalignment has occurred and the degree of synchronization misalignment is mild. The primary and secondary criteria include: The primary criterion includes calculating the relative speed difference between the cable speeds on any two adjacent cable laying execution devices for each cable laying execution device, and finding that the relative speed difference deviates from the set speed coordination state within a preset time period. The secondary criteria include setting a tension safety threshold based on the cable's own withstand strength, where the cable tension on the cable laying execution equipment exceeds the tension safety threshold for a preset period of time, and at the same time, the cable tension on adjacent cable laying execution equipment is not within the preset tension standard range. The method for tracing and locating the root cause of the dysfunction is as follows: A topology model of each cable laying execution device is constructed. Each cable laying execution device is abstracted as a node in the graph, and the cable segments between the cable laying execution devices are abstracted as edges. The node attributes include real-time collected cable laying data. The edge weight is set based on the absolute difference of cable tension between adjacent nodes after standardization. Abnormal edges are identified in the edges. The nodes connected by the abnormal edges are integrated into the abnormal propagation path. The centrality analysis algorithm in graph theory is used to calculate the imbalance influence of each node in the abnormal propagation path. The degree centrality and eigenvector centrality of each node are calculated and weighted and fused to obtain the imbalance influence. The cable laying execution equipment corresponding to the node with the largest imbalance influence in the abnormal propagation path is located as the imbalance root cause device. The method for identifying the abnormal edges is as follows: Based on real-time cable laying data, the topology model is updated. For each edge, the speed coordination index and tension coordination index between adjacent nodes are calculated. The speed coordination index is obtained by data processing based on the cable speed of adjacent nodes and the preset benchmark speed. The tension coordination index is defined as the gradient change rate of the cable tension between two nodes. If the speed coordination index or tension coordination index of an edge is lower than the preset corresponding standard, the edge is marked as an abnormal edge. The local adaptive adjustment strategy includes: The device causing the imbalance and all its directly adjacent cable laying execution devices are grouped into a local adjustment group. Parameter adjustment instructions are sent to the local adjustment group. The parameter adjustment instructions are dynamically optimized based on an adaptive PID algorithm so that the cable tension and cable speed are restored to the preset normal tension range and speed coordination state. Continuously monitor the cable laying data of each cable laying execution equipment in the local adjustment group, and calculate the speed coordination index and tension coordination index between adjacent cable laying execution equipment. If the speed coordination index and tension coordination index both recover to the preset corresponding standards after the preset adjustment time, it is determined that the cable laying has been restored to synchronization, and the cable synchronous laying continues. Otherwise, the degree of synchronization misalignment is upgraded to severe to prevent the root cause of misalignment, equipment failure, from worsening. The emergency isolation strategy includes: A smooth stop command is sent to the traction machine, causing its output torque to decrease smoothly to zero according to a preset S-shaped torque change curve. The S-shaped torque change curve is based on multibody dynamics simulation. The smooth stop process of the traction machine is simulated by simulation software, and the S-shaped torque change curve with the least impact on cable tension is calculated. A coordinated support command is sent to the upstream and downstream adjacent conveyors of the misalignment root cause device. The commanded conveyors increase the clamping pressure to the maintenance clamping force setting value. The maintenance clamping force setting value is pre-calculated based on the cable physical parameters and field test data, forming rigid anchor points on both sides of the misalignment root cause device to achieve precise physical isolation of the misalignment root cause device.

[0008] A cable synchronous laying construction system based on the Internet of Things includes the following modules: The baseline preset module generates a three-dimensional path model for synchronous cable laying and uses multibody dynamics simulation software to calculate the initial baseline parameters of each cable laying execution device. Operation and acquisition module: Based on the initial baseline parameters, during the construction period, the deployed monitoring terminals collect cable laying data in real time, including cable tension, cable speed, clamping pressure and equipment position, and use an adaptive PID algorithm to dynamically adjust the operating parameters of the corresponding cable laying execution equipment; Synchronization Misalignment Analysis Module: Based on the collected cable laying data, the module analyzes the synchronization status of the cable laying in real time, determines whether synchronization misalignment has occurred, and if so, determines the degree of synchronization misalignment and triggers the device location of the root cause of the misalignment. Source tracing and localization module: If the source of the dysfunction is triggered, the source of the dysfunction is traced and located based on the topology model; Tiered response module: For the device causing the local misalignment, a tiered response is executed based on the degree of synchronization misalignment. If the degree of synchronization misalignment is mild, a local adaptive adjustment strategy is activated; if it is severe, an emergency isolation strategy is activated.

[0009] The beneficial effects of this invention are as follows: 1. This invention calculates initial reference parameters using multibody dynamics simulation software, providing a precise starting point for the cable laying execution equipment. During construction, an adaptive PID algorithm is used to dynamically adjust the operating parameters. Combined with real-time collected laying data, it can promptly detect synchronization misalignment. This combination of precise control and real-time monitoring effectively avoids cable laying deviations caused by synchronization problems, greatly improves the accuracy of synchronous cable laying, and ensures construction quality.

[0010] 2. Upon detecting synchronization misalignment, this invention can quickly trace and locate the root cause device based on a topology model, and execute a graded response according to the degree of misalignment. For mild misalignment, a local adaptive adjustment strategy is activated to flexibly and efficiently solve the problem. For severe misalignment, an emergency isolation strategy is initiated to prevent the problem from escalating. This graded response mechanism not only improves fault handling efficiency and reduces construction delays, but also lowers maintenance costs, bringing higher economic benefits and reliability to cable synchronous laying construction. Attached Figure Description

[0011] The invention will now be further described with reference to the accompanying drawings.

[0012] Figure 1 This is a flowchart illustrating the steps of a cable synchronous laying construction method based on the Internet of Things according to an embodiment of the present invention; Figure 2 This is a module architecture diagram of a cable synchronous laying construction system based on the Internet of Things, as described in an embodiment of the present invention. Detailed Implementation

[0013] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0014] Example 1 Please see Figure 1 As shown in the figure, the cable synchronous laying method based on the Internet of Things according to an embodiment of the present invention includes the following steps: S1: For synchronous cable laying, a three-dimensional path model is generated, and the initial reference parameters of each cable laying execution device are calculated using multibody dynamics simulation software. For synchronous cable laying, the key nodes of the synchronous cable laying path, including the starting point, ending point, turning point, and slope change point, are collected in three dimensions by combining the construction design drawings and the on-site survey using a total station. After the collection is completed, a continuous three-dimensional path model is generated by interpolation algorithm. Cable physical parameters were collected by testing cable samples from synchronous cable laying, including linear density, minimum bending radius and tensile strength. Representative sections of the synchronous cable laying path were selected, and on-site tests were conducted on the cables in the representative sections. The dynamic friction coefficient was calculated based on Coulomb's law of friction using a tension gauge and cable samples. The cable laying execution equipment is set up, including a traction machine and a conveyor. The three-dimensional path model, cable physical parameters, and dynamic friction coefficient are collected and uniformly input into the pre-set multibody dynamics simulation software. The dynamic tension distribution of the cable during the actual laying process is simulated to minimize the tension of the entire line. The constraint is that the tension of the entire line does not exceed the safety threshold of the cable yield strength. The initial reference parameters of each cable laying execution equipment are calculated in reverse. The initial reference parameters include the reference speed curve of the traction machine and the ideal tension setting value of each conveyor. It should be noted that the purpose of this step is to provide accurate initial operating parameters for synchronous cable laying, lay the foundation for construction, improve the accuracy and rationality of initial parameters, reduce the cost of parameter adjustment in subsequent construction, ensure the stability of the initial laying stage, integrate three-dimensional path modeling, on-site physical parameter testing and multibody dynamics simulation, and determine the initial benchmark parameters through a reverse calculation mechanism to achieve scientific and accurate parameter setting. S2: Based on the initial baseline parameters, during the construction period, the deployed monitoring terminals collect cable laying data in real time and use an adaptive PID algorithm to dynamically adjust the operating parameters of the corresponding cable laying execution equipment. The obtained initial reference parameters are set as the control target of the cable laying execution equipment. It is confirmed that the cable laying execution equipment receives control commands normally, and there are no hardware connection failures or signal overflow problems. It is ensured that the initial reference parameters can be accurately transmitted to each cable laying execution equipment, which includes traction machines and conveyors. The adaptive PID algorithm is used as the core algorithm of the central controller. The adaptive PID parameters are initialized and fine-tuned based on the trial operation. After ensuring that all cable laying execution equipment meets the technical requirements for synchronous laying, the formal construction is triggered. If formal construction is triggered and the construction period begins, the cable laying data of each cable laying execution equipment will be collected in real time through the deployed monitoring terminals during the construction period. The cable laying data includes cable tension, cable speed, clamping pressure, and equipment position. Among them, cable tension is collected by tension sensor, which is used to provide real-time feedback on the cable stress state and prevent overload breakage. Cable speed is collected by speed encoder, which is used to compare and determine whether the cable laying is synchronized. Clamping pressure is collected by pressure sensor, which is used to ensure that the cable does not slip. Equipment position is collected by GPS, which is used to confirm whether the cable laying execution equipment is distributed according to the preset path. During the construction period, a speed-tension master-slave control strategy is established: the traction machine is set as the speed-driven device, and the central controller aims to track the cable speed against the reference speed curve. The conveyor is set as the tension-driven device, and the central controller aims to maintain the cable tension at the ideal tension setpoint. For any cable laying execution device, dynamic adjustments are made, including the proportional coefficient. Integral coefficient Differential coefficients The adaptive PID parameters are determined, and the output control quantity of the cable laying execution device is calculated. Based on the output control quantity, the operating parameters of the corresponding cable laying execution device are dynamically adjusted. For example, for a tension-controlled device, its output control quantity u(t) follows a standard PID algorithm, with the following formula: ; Where t represents time, and e(t) represents the deviation between the cable tension and the ideal tension setting; It should be noted that the purpose of this step is to respond to dynamic changes in the construction process in real time, maintain the synchronous operation of the cable laying equipment, improve the adaptability and stability of the equipment operation, correct deviations in a timely manner, and ensure the synchronization and safety of cable laying. By combining the adaptive PID algorithm with the speed-tension master-slave control strategy, the dynamic and precise adjustment of the equipment operating parameters can be achieved to adapt to the real-time changes of complex construction environment. S3: Based on the collected cable laying data, analyze the synchronization status of the cable laying in real time, determine whether synchronization misalignment has occurred, and if so, determine the degree of synchronization misalignment and trigger the misalignment root cause equipment location. Specifically, cable laying data includes cable tension, cable speed, clamping pressure, and equipment location. Synchronization misalignment criteria are set according to industry construction safety standards and equipment operating characteristics. The synchronization misalignment criteria include primary criteria and secondary criteria. The primary criterion is: for each cable laying execution device, calculate the relative speed difference between the cable speeds of any two adjacent cable laying execution devices, and find that the relative speed difference deviates from the set speed coordination state within a preset time period. The secondary criterion is: based on the cable's own withstand strength, a tension safety threshold is set. If the cable tension on the cable laying execution equipment exceeds the tension safety threshold within a preset time period, and at the same time, the cable tension on adjacent cable laying execution equipment is not within the preset tension standard range; It should be noted that the primary criterion focuses on the speed coordination between the cable laying equipment, while the secondary criterion focuses on the cable tension safety. It should be noted that the reason for the synchronization failure during the construction period may be that there is a mechanical failure or jamming in the cable laying execution equipment, which makes it impossible to adjust the operating parameters through the adaptive PID algorithm; During the construction period, the central controller, based on the synchronization misalignment criterion, performs real-time traversal checks on the cable laying data of all cable laying execution equipment according to the cable laying direction. If any cable laying execution equipment meets the secondary criterion, it is determined that synchronization misalignment has occurred and the degree of synchronization misalignment is severe. If any cable laying execution equipment meets the primary criterion but does not meet the secondary criterion, it is determined that synchronization misalignment has occurred and the degree of synchronization misalignment is mild. If a synchronization misalignment is detected, trigger the misalignment root cause device location; It should be noted that the purpose of this step is to identify synchronization misalignment problems and their severity in a timely manner, provide a basis for subsequent root cause localization and treatment, provide early warning of potential risks, prevent the misalignment problems from escalating, ensure construction safety and efficiency, build a graded judgment system focusing on speed synergy and tension safety, and combine it with a real-time traversal inspection mechanism to achieve accurate and rapid assessment of the synchronization status. S4: If the root cause device of the disorder is located, the root cause device of the disorder is located based on the topology model; It should be noted that the misalignment root cause device refers to the cable laying execution device that is the first to fail or experience performance abnormalities during the synchronous cable laying process, which in turn leads to the synchronous misalignment problem in the entire process. Specifically, a topology model of each cable laying execution device is constructed, and each cable laying execution device is abstracted as a node in the graph. The cable segments between the cable laying execution devices are abstracted as edges. The node attributes include real-time collected cable laying data. The edge weights are set based on the absolute difference of cable tension between adjacent nodes after standardization. The initial edge weights are determined by the theoretical tension distribution output by multibody dynamics simulation. Based on real-time cable laying data, the topology model is updated. For each edge, the speed coordination index and tension coordination index between adjacent nodes are calculated. The speed coordination index (VCI) is defined as follows: ; in and The cable speed of adjacent nodes, This is a preset reference speed used for standardization. The tension coordination index is defined as the gradient change rate of the cable tension between two nodes. If the speed coordination index or tension coordination index of an edge is lower than the preset corresponding standard, the edge is marked as an abnormal edge. It should be noted that the speed coordination index measures the coordination and consistency of cable speeds between two adjacent cable laying execution devices, while the tension coordination index measures whether the change in cable tension between two adjacent cable laying execution devices is smooth and in line with expectations. Nodes connected by abnormal edges are integrated into an anomaly propagation path. For nodes within the anomaly propagation path, the imbalance influence degree of each node is calculated using the centrality analysis algorithm in graph theory. The imbalance influence degree combines the node degree centrality and eigenvector centrality. The node degree centrality reflects the number of abnormal edges connected to the node, while the eigenvector centrality reflects the global influence of the node in the anomaly propagation path. The imbalance influence degree score of each node is obtained through weighted fusion, and the weights are determined by the analytic hierarchy process. Based on the degree of imbalance impact within the abnormal propagation path, the cable laying execution equipment corresponding to the node with the greatest degree of imbalance impact is identified as the root cause device of the imbalance. It should be noted that the purpose of this step is to accurately locate the source device causing the synchronization misalignment, identify the core of the fault, improve the efficiency and accuracy of fault location, provide a clear target for subsequent targeted treatment, use the topology graph model to abstract the relationship between the device and the cable, and combine the coordination index and centrality analysis to achieve root cause tracing, thereby improving the scientific nature and accuracy of the location. S5: For the device causing the positioning misalignment, implement a graded response based on the degree of synchronization misalignment. If the degree of synchronization misalignment is mild, activate the local adaptive adjustment strategy; if it is severe, activate the emergency isolation strategy. For mild synchronization misalignment, a local adaptive adjustment strategy is enabled; Specifically, the equipment causing the imbalance and all its directly adjacent cable laying equipment are grouped into a local adjustment group, and the scope of the local adjustment is clearly defined. There is no need to stop all cable laying equipment. Parameter adjustment instructions are sent only to local adjustment groups. The parameter adjustment instructions are dynamically optimized based on an adaptive PID algorithm. The adjustment goal is to eliminate abnormal tension and speed deviations and restore the system to the preset normal tension range and speed coordination state. Continuously monitor the cable laying data of each cable laying execution equipment in the local adjustment group, and calculate the speed coordination index and tension coordination index between adjacent cable laying execution equipment. If the speed coordination index and tension coordination index both recover to the preset corresponding standards after the preset adjustment time, it is determined that the cable laying has been restored to synchronization, and the cable synchronous laying continues. Otherwise, the degree of synchronization misalignment is upgraded to severe to prevent the root cause of misalignment, equipment failure, from worsening. For severe asynchrony, an emergency isolation strategy should be initiated; Specifically, a smooth stop command is sent to the traction machine, causing its output torque to decrease smoothly to zero according to a preset S-shaped torque change curve, so as to avoid a sudden stop that would cause a sudden increase in cable tension and generate a secondary impact. The S-shaped torque change curve is based on multibody dynamics simulation. The traction machine's smooth stop process is simulated by simulation software, and the S-shaped torque change curve with the least impact on cable tension is calculated. Send a coordinated support command to the upstream and downstream adjacent conveyors of the misalignment root cause device. The command conveyors will increase the clamping pressure to the maintenance clamping force setting value. The maintenance clamping force setting value is pre-calculated based on the cable physical parameters and field test data. Rigid anchor points are formed on both sides of the misalignment root cause device to effectively prevent the cable from slipping or loosening due to equipment shutdown, thereby achieving precise physical isolation of the misalignment root cause device. The system generates a fault handling warning and sends the equipment location and corresponding cable laying data, which include the root cause of the malfunction, to the maintenance personnel's terminal. After the maintenance personnel complete the on-site handling, the smooth recovery process is initiated. Specifically, after verifying that the root cause of the imbalance has been eliminated and confirming that the cable is in normal condition, the clamping pressure of the upstream and downstream conveyors is gradually restored to the normal operating value. The central controller restores the operating parameters of each cable laying execution device based on the adaptive PID algorithm and the speed-tension master-slave control strategy until the system is restored to the normal operating state defined by the initial reference parameters. It is then determined that the cable laying has been restored to synchronization and the cable laying continues synchronously. It should be noted that the local adaptive adjustment strategy focuses on achieving local synchronous recovery through parameter fine-tuning, while the emergency isolation strategy prioritizes cable safety and equipment isolation to ensure that the fault does not spread. It should be noted that the purpose of this step is to take corresponding measures according to the degree of misalignment, to ensure construction safety and promote synchronous restoration. Mild misalignment reduces downtime losses and quickly restores synchronization; severe misalignment prevents the spread of faults, ensures the safety of equipment and cables, improves fault handling efficiency, builds a graded response strategy, and combines local parameter adjustment and emergency isolation mechanisms to achieve a balance between safety and efficiency. The technical solution of this invention is as follows: For synchronous cable laying, a three-dimensional path model is generated. The initial reference parameters of each cable laying execution device are calculated using multibody dynamics simulation software. Based on the initial reference parameters, during the construction period, the deployed monitoring terminal collects cable laying data in real time. An adaptive PID algorithm is used to dynamically adjust the operating parameters of the corresponding cable laying execution device. Based on the collected cable laying data, the synchronization status of the synchronous cable laying is analyzed in real time to determine whether synchronization misalignment has occurred. If it has occurred, the degree of synchronization misalignment is determined and the root cause device location is triggered. If the root cause device location is triggered, the root cause device is traced and located based on the topology model. For the located root cause device, a graded response is executed according to the degree of synchronization misalignment. If the degree of synchronization misalignment is mild, a local adaptive adjustment strategy is activated. If it is severe, an emergency isolation strategy is activated.

[0015] Example 2 like Figure 2 As shown in the embodiment of the present invention, a cable synchronous laying construction system based on the Internet of Things includes the following modules: The baseline preset module generates a three-dimensional path model for synchronous cable laying and uses multibody dynamics simulation software to calculate the initial baseline parameters of each cable laying execution device. Operation and acquisition module: Based on the initial baseline parameters, during the construction period, the deployed monitoring terminals collect cable laying data in real time, including cable tension, cable speed, clamping pressure and equipment position, and use an adaptive PID algorithm to dynamically adjust the operating parameters of the corresponding cable laying execution equipment; Synchronization Misalignment Analysis Module: Based on the collected cable laying data, the module analyzes the synchronization status of the cable laying in real time, determines whether synchronization misalignment has occurred, and if so, determines the degree of synchronization misalignment and triggers the device location of the root cause of the misalignment. Source tracing and localization module: If the source of the dysfunction is triggered, the source of the dysfunction is traced and located based on the topology model; Tiered response module: For the device causing the local misalignment, a tiered response is executed based on the degree of synchronization misalignment. If the degree of synchronization misalignment is mild, a local adaptive adjustment strategy is activated; if it is severe, an emergency isolation strategy is activated.

[0016] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for synchronous cable laying based on the Internet of Things, characterized in that: include: For synchronous cable laying, a three-dimensional path model is generated, and multibody dynamics simulation software is used to calculate the initial reference parameters of each cable laying execution device. Based on the initial baseline parameters, during the construction period, the deployed monitoring terminals collect cable laying data in real time, including cable tension, cable speed, clamping pressure, and equipment position. An adaptive PID algorithm is used to dynamically adjust the operating parameters of the corresponding cable laying execution equipment. Based on the collected cable laying data, the synchronization status of the synchronous cable laying is analyzed in real time to determine whether synchronization misalignment has occurred. If so, the degree of synchronization misalignment is determined and the misalignment root cause device is located. If the root cause device of the disorder is located, the root cause device of the disorder is traced and located based on the topology graph model; For devices with misalignment as the root cause of the misalignment, a graded response is implemented based on the degree of synchronization misalignment. If the degree of synchronization misalignment is mild, a local adaptive adjustment strategy is activated; if it is severe, an emergency isolation strategy is activated.

2. The method for synchronous cable laying based on the Internet of Things according to claim 1, characterized in that: The initial baseline parameters are obtained as follows: The physical parameters of the cable were collected by testing cable samples laid synchronously. Representative sections of the cable laying path were selected based on the synchronous laying path, and the dynamic friction coefficient of the cable samples was tested in the representative sections of the path. The cable laying execution equipment is set up, including a traction machine and a conveyor. The three-dimensional path model, cable physical parameters, and dynamic friction coefficient are uniformly input into the pre-set multibody dynamics simulation software. The dynamic tension distribution of the cable during the actual laying process is simulated to minimize the tension of the entire line. With the constraint that the tension of the entire line does not exceed the safety threshold of the cable yield strength, the initial reference parameters of each cable laying execution equipment are calculated in reverse. The initial reference parameters include the reference speed curve of the traction machine and the ideal tension setting value of each conveyor.

3. The method for synchronous cable laying based on the Internet of Things according to claim 2, characterized in that: The method for dynamically adjusting the operating parameters of the corresponding cable laying equipment is as follows: The initial reference parameters are set as the control targets of the cable laying execution equipment. For each cable laying execution equipment, cable laying data is collected in real time through the deployed monitoring terminals during the construction period. The cable laying data includes cable tension, cable speed, clamping pressure and equipment position. The traction machine is set as the speed-driven device, and the central controller aims to track the reference speed curve of the cable speed. The conveyor is set as the tension-driven device, and the central controller aims to maintain the cable tension at the ideal tension set value. For any cable laying execution device, the adaptive PID parameters are dynamically adjusted and the output control quantity of the cable laying execution device is calculated. Based on the output control quantity, the operating parameters of the corresponding cable laying execution device are dynamically adjusted.

4. The method for synchronous cable laying based on the Internet of Things according to claim 1, characterized in that: The method for determining the degree of synchronization misalignment is as follows: The system is configured with synchronization misalignment criteria, including primary and secondary criteria. During the construction period, the central controller performs real-time traversal checks on the cable laying data of all cable laying execution equipment based on the synchronization misalignment criteria and following the cable laying direction. If any cable laying execution equipment meets the secondary criteria, it is determined that synchronization misalignment has occurred and the degree of synchronization misalignment is severe. If any cable laying execution equipment meets the primary criteria but does not meet the secondary criteria, it is determined that synchronization misalignment has occurred and the degree of synchronization misalignment is mild.

5. A method for synchronous cable laying based on the Internet of Things according to claim 4, characterized in that: Primary and secondary criteria include: The primary criterion includes calculating the relative speed difference between the cable speeds on any two adjacent cable laying execution devices for each cable laying execution device, and finding that the relative speed difference deviates from the set speed coordination state within a preset time period. The secondary criteria include setting a tension safety threshold based on the cable's own withstand strength, where the cable tension on the cable laying execution equipment exceeds the tension safety threshold within a preset time period, and at the same time, the cable tension on adjacent cable laying execution equipment is not within the preset tension standard range.

6. The method for synchronous cable laying based on the Internet of Things according to claim 1, characterized in that: The method for tracing and locating the root cause of the dysfunction is as follows: A topology model of each cable laying execution device is constructed. Each cable laying execution device is abstracted as a node in the graph, and the cable segments between the cable laying execution devices are abstracted as edges. The node attributes include real-time collected cable laying data. The edge weight is set based on the absolute difference of cable tension between adjacent nodes after standardization. Abnormal edges are identified in the edges. The nodes connected by the abnormal edges are integrated into the abnormal propagation path. The imbalance influence degree of each node in the abnormal propagation path is calculated by the centrality analysis algorithm in graph theory. The degree centrality and eigenvector centrality of each node are calculated and weighted and fused to obtain the imbalance influence degree. The cable laying execution equipment corresponding to the node with the largest imbalance influence degree in the abnormal propagation path is located as the imbalance root cause device.

7. A method for synchronous cable laying based on the Internet of Things according to claim 6, characterized in that: The method for identifying abnormal edges is as follows: Based on real-time cable laying data, the topology model is updated. For each edge, the speed coordination index and tension coordination index between adjacent nodes are calculated. The speed coordination index is obtained by data processing based on the cable speed of adjacent nodes and the preset benchmark speed. The tension coordination index is defined as the gradient change rate of cable tension between two nodes. If the speed coordination index or tension coordination index of an edge is lower than the preset corresponding standard, the edge is marked as an abnormal edge.

8. A method for synchronous cable laying based on the Internet of Things according to claim 5, characterized in that: Local adaptive adjustment strategies include: The device causing the imbalance and all its directly adjacent cable laying execution devices are grouped into a local adjustment group. Parameter adjustment instructions are sent to the local adjustment group. The parameter adjustment instructions are dynamically optimized based on an adaptive PID algorithm so that the cable tension and cable speed are restored to the preset normal tension range and speed coordination state. Continuously monitor the cable laying data of each cable laying execution equipment in the local adjustment group, and calculate the speed coordination index and tension coordination index between adjacent cable laying execution equipment. If the speed coordination index and tension coordination index both recover to the preset corresponding standards after the preset adjustment time, it is determined that the cable laying has been restored to synchronization, and the cable laying continues synchronously. Otherwise, the degree of synchronization misalignment is upgraded to severe to prevent the root cause of misalignment from worsening due to equipment failure.

9. A method for synchronous cable laying based on the Internet of Things according to claim 1, characterized in that: Emergency isolation strategies include: A smooth stop command is sent to the traction machine, causing its output torque to decrease smoothly to zero according to a preset S-shaped torque change curve. The S-shaped torque change curve is based on multibody dynamics simulation. The smooth stop process of the traction machine is simulated by simulation software, and the S-shaped torque change curve with the least impact on cable tension is calculated. A coordinated support command is sent to the upstream and downstream adjacent conveyors of the misalignment root cause device. The commanded conveyors increase the clamping pressure to the maintenance clamping force setting value. The maintenance clamping force setting value is pre-calculated based on the cable physical parameters and field test data, forming rigid anchor points on both sides of the misalignment root cause device to achieve precise physical isolation of the misalignment root cause device.

10. A cable synchronous laying construction system based on the Internet of Things, characterized in that: Includes the following modules: The baseline preset module generates a three-dimensional path model for synchronous cable laying and uses multibody dynamics simulation software to calculate the initial baseline parameters of each cable laying execution device. Operation and acquisition module: Based on the initial baseline parameters, during the construction period, the deployed monitoring terminals collect cable laying data in real time, including cable tension, cable speed, clamping pressure and equipment position, and use an adaptive PID algorithm to dynamically adjust the operating parameters of the corresponding cable laying execution equipment; Synchronization Misalignment Analysis Module: Based on the collected cable laying data, the module analyzes the synchronization status of the cable laying in real time, determines whether synchronization misalignment has occurred, and if so, determines the degree of synchronization misalignment and triggers the device location of the root cause of the misalignment. Source tracing and location module: If the source of the dysfunction is triggered, the source of the dysfunction is located based on the topology model; Tiered response module: For the device causing the local misalignment, a tiered response is executed based on the degree of synchronization misalignment. If the degree of synchronization misalignment is mild, a local adaptive adjustment strategy is activated; if it is severe, an emergency isolation strategy is activated.

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