Cable synchronous laying construction method and system based on internet of things

Abstract

The application 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, which comprises the following steps: generating a three-dimensional path model for cable synchronous laying, calculating initial reference parameters of each cable laying execution equipment by using multi-body dynamics simulation software, collecting cable laying data in real time by a deployed monitoring terminal within a construction period, dynamically adjusting operation parameters of the corresponding cable laying execution equipment by using an adaptive PID algorithm, analyzing a synchronous state of the cable synchronous laying in real time, judging whether a synchronous disorder occurs, judging a synchronous disorder degree and triggering disorder root cause equipment positioning if the synchronous disorder occurs, tracing and positioning the disorder root cause equipment based on a topological graph model, and executing hierarchical responses according to the synchronous disorder degree for the positioned disorder root cause equipment, enabling a local adaptive adjustment strategy if the synchronous disorder degree is slight, and starting an emergency isolation strategy if the synchronous disorder degree is severe.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cable laying construction, in particular to a cable synchronous laying construction method and system based on the Internet of Things. BACKGROUND

[0002] In the infrastructure construction of power, communication and the like, cable laying is a key and complex process. With the expansion of the engineering scale and the complication of the path, the traditional laying method of dragging by a single traction machine and manual assistance has been difficult to meet the construction requirements of long-distance and large-section cables. Therefore, the industry has gradually developed a synchronous laying technology of "traction machine + multiple conveyors" collaborative work, aiming to jointly bear the cable weight and overcome the friction force through distributed power points to realize efficient and safe laying.

[0003] However, this multi-device collaborative construction mode faces severe technical challenges in actual application, and the core problem comes from the strong coupling between devices and the complexity of the physical path. First, the cable, as a flexible continuum connecting all devices, its internal tension distribution is a key state quantity for judging construction safety and quality. In a three-dimensional path containing slopes and curves, if the output speed of each device does not match, it is easy to cause local tension overload, resulting in damage to the cable insulation layer, deformation of the metal shield, and even breaking of the cable; or too small tension causes the cable to relax and slip, which also has safety hazards.

[0004] Secondly, the existing method has significant hysteresis and blindness in fault diagnosis and processing. When a device in the system abnormally due to mechanical jamming, power failure or other reasons, its influence will quickly spread to adjacent devices through the cable, causing a chain disorder of speed and tension. At present, field personnel can only make judgments through scattered instrument readings or abnormal sound, which not only cannot quickly locate the root cause device, but also is easy to misjudge the fault point. This leads to the response measures often being emergency shutdown of the whole line or blind adjustment of non-fault devices, which not only interrupts the construction and is low in efficiency, but also may exacerbate the fault due to improper operation, such as the tension impact caused by emergency stop may cause secondary damage to the cable.

[0005] In view of the above problems, the application provides a cable synchronous laying construction method and system based on the Internet of Things. SUMMARY

[0006] In order to make up for the deficiencies of the prior art and solve at least one technical problem in the background art.

[0007] The technical scheme adopted by the application to solve the technical problems is: a cable synchronous laying construction method based on the Internet of Things, comprising:

[0008] For generating a three-dimensional path model of cable synchronous laying, the initial reference parameters of each cable laying execution equipment are calculated by using multi-body dynamics simulation software;

[0009] Based on the initial reference parameters, during the construction period, the deployed monitoring terminal collects cable laying data including cable tension, cable speed, clamping pressure and equipment position in real time, and the adaptive PID algorithm is used to dynamically adjust the operating parameters of the corresponding cable laying execution equipment;

[0010] Based on the collected cable laying data, the synchronization state of cable synchronous laying is analyzed in real time, and whether the synchronization disorder occurs is judged, if it occurs, the degree of synchronization disorder is judged and the disorder root equipment positioning is triggered;

[0011] If the disorder root equipment positioning is triggered, the disorder root equipment is traced and positioned based on the topological graph model;

[0012] For the positioned disorder root equipment, hierarchical response is executed according to the degree of synchronization disorder, if the degree of synchronization disorder is mild, local adaptive adjustment strategy is enabled, if it is severe, emergency isolation strategy is started;

[0013] The initial reference parameters are obtained in the following way:

[0014] The cable sample using cable synchronous laying is tested to collect cable physical parameters, and the dynamic friction coefficient of the cable sample is tested in the representative section of the path based on the cable synchronous laying path;

[0015] The cable laying execution equipment is set, which includes traction machine and conveyor, and the three-dimensional path model, cable physical parameters and dynamic friction coefficient are uniformly input to the preset multi-body dynamics simulation software, the dynamic tension distribution of the cable in the actual laying process is simulated, the minimum of the whole line tension is taken as the purpose, and the constraint that the whole line tension does not exceed the cable yield strength safety threshold is taken, the initial reference parameters of each cable laying execution equipment are reversely calculated, including the reference speed curve of the traction machine and the ideal tension set value of each conveyor;

[0016] The way of dynamically adjusting the operating parameters of the corresponding cable laying execution equipment is as follows:

[0017] The initial reference parameters are set as the control target of the cable laying execution equipment, for each cable laying execution equipment, the cable laying data is collected in real time by the deployed monitoring terminal during the construction period, including cable tension, cable speed, clamping pressure and equipment position;

[0018] The traction machine is set as a speed dominant device, the central controller takes the cable speed tracking reference speed curve as a target, the conveyor is set as a tension dominant device, the central controller takes maintaining the cable tension at an ideal tension set value as a target, for any cable laying execution device, dynamically adjusting adaptive PID parameters and calculating an output control quantity of the cable laying execution device, and dynamically adjusting operation parameters of the corresponding cable laying execution device based on the output control quantity;

[0019] The judgment method of the synchronization disorder degree is:

[0020] The synchronization disorder criterion including a first criterion and a second criterion is set, during a construction period, the central controller performs real-time traversal checking on cable laying data of all cable laying execution devices based on the synchronization disorder criterion and in accordance with a cable laying direction, if there is a cable laying execution device satisfying the second criterion, it is judged that the synchronization disorder occurs and the synchronization disorder degree is severe, if there is a cable laying execution device satisfying the first criterion but not satisfying the second criterion, it is judged that the synchronization disorder occurs and the synchronization disorder degree is slight;

[0021] The first criterion and the second criterion include:

[0022] The first criterion includes, for each cable laying execution device, calculating a relative speed difference between speeds of two adjacent cable laying execution devices, and the relative speed difference deviates from a set speed coordination state within a preset time length;

[0023] The second criterion includes, setting a tension safety threshold value based on a cable self-tolerance strength, and the cable tension on the cable laying execution device exceeds the tension safety threshold value within a preset time length, and the cable tension on adjacent cable laying execution devices is not within a preset tension standard range;

[0024] The method of tracing and locating the disorder root cause device is:

[0025] A topological graph model of each cable laying execution device is constructed, each cable laying execution device is abstracted as a node in the graph, and a cable segment between the cable laying execution devices is abstracted as an edge, the node attribute includes real-time collected cable laying data, the edge weight is set based on a standardized processing of an absolute difference of the cable tension between adjacent nodes, and an abnormal edge is identified in the edge;

[0026] The nodes connected by the abnormal edge are integrated into an abnormal propagation path, a disorder influence degree of each node in the abnormal propagation path is calculated by using a centrality analysis algorithm in graph theory, the node degree centrality and the eigenvector centrality of each node are calculated and weighted and fused to obtain the disorder influence degree, and the cable laying execution device corresponding to the node with the maximum disorder influence degree in the abnormal propagation path is located as the disorder root cause device;

[0027] The identification method of the abnormal edge is:

[0028] The topology graph model is updated based on real-time cable laying data, for each edge, a speed coordination index and a 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 a preset reference speed, the tension coordination index is defined as the gradient change rate of cable tension of two nodes, if the speed coordination index or the tension coordination index of the edge is lower than a preset corresponding standard, the edge is marked as an abnormal edge;

[0029] The local adaptive adjustment strategy includes:

[0030] The misadjustment root cause equipment and all directly adjacent cable laying execution equipment are sorted into a local adjustment group, a parameter adjustment instruction is sent to the local adjustment group, the parameter adjustment instruction is dynamically optimized based on the adaptive PID algorithm, so that the cable tension and the cable speed are restored to the preset tension normal range and the speed coordination state;

[0031] The cable laying data of each cable laying execution equipment in the local adjustment group is continuously monitored, and the speed coordination index and the tension coordination index between adjacent cable laying execution equipment are calculated, if after a preset adjustment time, the speed coordination index and the tension coordination index are restored to the preset corresponding standard, it is judged that the cable laying is restored to synchronization, and the cable synchronous laying is continued, otherwise the synchronization misadjustment degree is upgraded to severe, and the misadjustment root cause equipment failure is prevented from worsening;

[0032] The emergency isolation strategy includes:

[0033] A smooth parking instruction is sent to the traction machine, so that the output torque decreases to zero according to a preset S-shaped torque change curve, the S-shaped torque change curve is based on multi-body dynamics simulation pre-rehearsal, the smooth parking process of the traction machine is simulated through simulation software, and the S-shaped torque change curve with the smallest cable tension impact is calculated;

[0034] A cooperative support instruction is sent to the upstream and downstream adjacent conveyors of the misadjustment root cause equipment, the instruction conveyor lifts the clamping pressure to a maintenance clamping force set value, the maintenance clamping force set value is calculated in advance based on cable physical parameters and field test data, and a rigid anchor point is formed on both sides of the misadjustment root cause equipment, so as to realize precise physical isolation of the misadjustment root cause equipment.

[0035] A cable synchronous laying construction system based on Internet of Things, comprising the following modules:

[0036] A reference preset module: generating a three-dimensional path model for cable synchronous laying, and calculating the initial reference parameters of each cable laying execution equipment by using multi-body dynamics simulation software;

[0037] Running acquisition module: based on the initial reference parameter, during the construction period, the deployed monitoring terminal real-time acquires the cable laying data including cable tension, cable speed, clamping pressure and equipment position, and adopts the adaptive PID algorithm to dynamically adjust the running parameters of the corresponding cable laying execution equipment;

[0038] Synchronization disorder analysis module: based on the acquired cable laying data, the synchronization state of the cable synchronization laying is analyzed in real time to determine whether synchronization disorder occurs, and if so, the degree of synchronization disorder is determined and the disorder root cause equipment positioning is triggered;

[0039] Traceability positioning module: if the disorder root cause equipment positioning is triggered, the disorder root cause equipment is traced and positioned based on the topological graph model;

[0040] Hierarchical response module: for the positioned disorder root cause equipment, hierarchical response is performed according to the degree of synchronization disorder, if the degree of synchronization disorder is mild, local adaptive adjustment strategy is enabled, and if the degree of synchronization disorder is severe, emergency isolation strategy is started.

[0041] The beneficial effects of the present application are as follows:

[0042] 1、The present application calculates the initial reference parameter through multi-body dynamics simulation software, provides a precise starting point for the cable laying execution equipment, dynamically adjusts the running parameters using the adaptive PID algorithm during construction, and combines the laying data collected in real time, so that the synchronization disorder can be found in time. This combination of precise control and real-time monitoring effectively avoids the cable laying deviation caused by synchronization problems, greatly improves the precision of cable synchronization laying, and ensures the construction quality.

[0043] 2、After discovering the synchronization disorder, the present application can quickly trace and locate the disorder root cause equipment based on the topological graph model, and perform hierarchical response according to the degree of disorder. When the disorder is mild, local adaptive adjustment strategy is enabled, which flexibly and efficiently solves the problem. When the disorder is severe, emergency isolation strategy is started to prevent the problem from expanding. This hierarchical response mechanism not only improves the fault handling efficiency, reduces the construction delay, but also reduces the maintenance cost, brings higher economic benefit and reliability to the cable synchronization laying construction. BRIEF DESCRIPTION OF DRAWINGS

[0044] The present application will be further described below with reference to the accompanying drawings.

[0045] Figure 1 is a step flow chart of a cable synchronization laying construction method based on Internet of Things according to an embodiment of the present application;

[0046] Figure 2 is a module architecture diagram of a cable synchronization laying construction system based on Internet of Things according to an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the present application is further described below in conjunction with specific embodiments.

[0048] Embodiment 1

[0049] Please refer to Figure 1 The cable synchronous laying construction method based on the Internet of Things comprises the following steps:

[0050] S1: For cable synchronous laying, a three-dimensional path model is generated, and the initial reference parameters of each cable laying execution device are calculated by using multi-body dynamics simulation software;

[0051] For cable synchronous laying, the key nodes of the cable synchronous laying path including the starting point, the ending point, the inflection point and the slope change point are collected in three-dimensional coordinates in combination with construction design drawings and field mapping using a total station, and a continuous three-dimensional path model is generated by interpolation algorithm after the collection is completed;

[0052] The cable sample using cable synchronous laying is tested to collect cable physical parameters, including linear density, minimum bending radius and tensile strength, and based on the representative section of the cable synchronous laying path, the cable is tested on site, and the dynamic friction coefficient is calculated based on Coulomb's law of friction using a tension meter and a cable sample;

[0053] The cable laying execution device is set, including a traction machine and a conveyor, and the three-dimensional path model, the cable physical parameters and the dynamic friction coefficient collected are uniformly input into the preset multi-body dynamics simulation software, the dynamic tension distribution of the cable in the actual laying process is simulated, the minimum total line tension is taken as the purpose, the total line tension is not more than the cable yield strength safety threshold as the constraint, the initial reference parameters of each cable laying execution device are reversely calculated, including the reference speed curve of the traction machine and the ideal tension set value of each conveyor;

[0054] It should be noted that the purpose of this step is to provide accurate initial operating parameters for cable synchronous laying, lay the foundation for construction, improve the accuracy and rationality of the initial parameters, reduce the parameter adjustment cost in subsequent construction, ensure the stability of the initial stage of laying, integrate three-dimensional path modeling, on-site physical parameter testing and multi-body dynamics simulation, determine the initial reference parameters through the reverse calculation mechanism, and realize the scientization and precision of parameter setting;

[0055] S2: Based on the initial reference parameters, the monitoring terminal deployed in the construction period collects cable laying data in real time, and the self-adaptive PID algorithm is used to dynamically adjust the operating parameters of the corresponding cable laying execution device;

[0056] The obtained initial reference parameter is set as a control target of the cable laying execution device, it is confirmed that the cable laying execution device receives the control instruction normally, there is no hardware connection failure or signal overflow problem, it is ensured that the initial reference parameter can be accurately transmitted to each cable laying execution device, and the cable laying execution device includes a traction machine and a conveyor;

[0057] 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 trial operation, and after it is ensured that all the cable laying execution devices meet the technical requirements of synchronous laying, formal construction is triggered;

[0058] If the formal construction is triggered, the construction period is started, for each cable laying execution device, the cable laying data of the cable laying execution device is collected in real time by the deployed monitoring terminal in the construction period, the cable laying data includes cable tension, cable speed, clamping pressure and device position, wherein the cable tension is collected by a tension sensor, the function is to feedback the cable stress state in real time, avoid overload and break, the cable speed is collected by a speed encoder, the function is to compare and judge whether the cable laying is synchronous, the clamping pressure is collected by a pressure sensor, the function is to ensure that the cable does not slip, and the device position is collected by a GPS, the function is to confirm whether the cable laying execution device is distributed according to the preset path;

[0059] In the construction period, the speed-tension master-slave control strategy is established: the traction machine is set as the speed dominant device, the central controller takes the cable speed tracking reference speed curve as the target, the conveyor is set as the tension dominant device, the central controller takes maintaining the cable tension at the ideal tension set value as the target, for any cable laying execution device, the adaptive PID parameters including the proportional coefficient , the integral coefficient and the differential coefficient are dynamically adjusted, and the output control quantity of the cable laying execution device is calculated, and the running parameters of the corresponding cable laying execution device are dynamically adjusted based on the output control quantity;

[0060] For example, for the tension dominant device, the output control quantity u(t) follows the standard PID algorithm, and the formula is:

[0061] ;

[0062] Wherein, t represents time, and e(t) represents the deviation between the cable tension and the ideal tension set value;

[0063] It should be noted that the role of this step is to respond to the dynamic changes in the construction process in real time, maintain the synchronous operation state of the cable laying equipment, improve the adaptability and stability of the equipment operation, correct the deviation in time, ensure the synchronicity and safety of the cable laying, combine the adaptive PID algorithm with the speed-tension master-slave control strategy, realize the dynamic and accurate adjustment of the equipment operation parameters, and adapt to the real-time changes of the complex construction environment;

[0064] S3: based on the collected cable laying data, the synchronous state of the cable synchronous laying is analyzed in real time, whether the synchronous disorder occurs is judged, if it occurs, the degree of synchronous disorder is judged and the disorder root equipment positioning is triggered;

[0065] Specifically, the cable laying data includes cable tension, cable speed, clamping pressure and equipment position, the synchronous disorder criterion is set according to the industry construction safety specification and the equipment operation characteristics, and the synchronous disorder criterion includes primary criterion and secondary criterion;

[0066] The primary criterion is that for each cable laying execution equipment, the relative speed difference between the cable speeds of any two adjacent cable laying execution equipment is calculated, and the relative speed difference deviates from the set speed coordination state within the preset time length;

[0067] The secondary criterion is that the tension safety threshold is set according to the cable's own strength, the cable tension on the cable laying execution equipment exceeds the tension safety threshold within the preset time length, and at the same time, the cable tension on the adjacent cable laying execution equipment is not within the preset tension standard range;

[0068] It should be noted that the primary criterion focuses on the speed coordination between the cable laying execution equipment, and the secondary criterion focuses on the tension safety of the cable;

[0069] It should be noted that the reason why the synchronous disorder still occurs during the construction period may be that the cable laying execution equipment has mechanical failure or is stuck, and the running parameters cannot be adjusted by the adaptive PID algorithm;

[0070] During the construction period, the central controller performs real-time traversal inspection on the cable laying data of all cable laying execution equipment based on the synchronous disorder criterion and following the cable laying direction, if there is a cable laying execution equipment that meets the secondary criterion, it is judged that the synchronous disorder occurs and the degree of synchronous disorder is severe, if there is a cable laying execution equipment that meets the primary criterion but does not meet the secondary criterion, it is judged that the synchronous disorder occurs and the degree of synchronous disorder is light;

[0071] If it is judged that the synchronous disorder occurs, the disorder root equipment positioning is triggered;

[0072] It should be noted that the role of this step is to identify the synchronization disorder problem and the severity in time, to provide basis for subsequent root cause positioning and processing, to early warn potential risks, to avoid disorder problem expansion, to guarantee construction safety and efficiency, to build a hierarchical criterion system focusing on speed coordination and tension safety, to realize accurate and rapid evaluation of synchronization state combined with real-time traversal inspection mechanism;

[0073] S4: If the disorder root cause equipment positioning is triggered, the disorder root cause equipment is traced and positioned based on the topology graph model;

[0074] It should be noted that the disorder root cause equipment means the cable laying execution equipment that first fails or has performance abnormalities and further causes the synchronization disorder problem in the process of cable synchronization laying;

[0075] Specifically, the topology graph model of each cable laying execution equipment is constructed, each cable laying execution equipment is abstracted as a node in the graph, and the cable segment between the cable laying execution equipment is abstracted as an edge, the node attribute includes the real-time collected cable laying data, the edge weight is set based on the absolute difference of cable tension between adjacent nodes after standardization processing, and the initial edge weight is determined by the theoretical tension distribution output by multi-body dynamics simulation;

[0076] The topology graph model is updated based on real-time cable laying data, for each edge, the speed coordination index and the tension coordination index between adjacent nodes are calculated, the speed coordination index VCI is defined as:

[0077] ;

[0078] Wherein and are the cable speeds of adjacent nodes, is a preset reference speed for standardization processing;

[0079] The tension coordination index is defined as the gradient change rate of the cable tension of two nodes, if the speed coordination index or the tension coordination index of the edge is lower than the preset corresponding standard, the edge is marked as an abnormal edge;

[0080] It should be noted that the meaning of the speed coordination index is to measure the coordination and consistency of the cable speed between adjacent two cable laying execution equipment, and the meaning of the tension coordination index is to measure whether the change of the cable tension between adjacent two cable laying execution equipment is smooth and in line with expectations;

[0081] The nodes connected by the abnormal edges are integrated into an abnormal propagation path, and for the nodes in the abnormal propagation path, a centrality analysis algorithm in graph theory is used to calculate the disorder influence degree of each node. The disorder influence degree is a combination of node degree centrality and eigenvector centrality. The node degree centrality reflects the number of abnormal edges connected to the node, and the eigenvector centrality reflects the global influence of the node in the abnormal propagation path. The disorder influence degree score of each node is obtained by weighted fusion, and the weight is determined by the analytic hierarchy process;

[0082] In the abnormal propagation path, the cable laying execution equipment corresponding to the node with the largest disorder influence degree is positioned as the disorder root cause equipment according to the disorder influence degree;

[0083] It should be noted that the purpose of this step is to accurately locate the source equipment causing the synchronization disorder, to clearly identify the fault core and improve the fault positioning efficiency and accuracy, to provide a clear target for subsequent targeted processing, to abstract the relationship between equipment and cable using the topological graph model, to combine the coordination index and centrality analysis to realize root cause tracing, and to improve the scientificity and accuracy of positioning;

[0084] S5: For the disorder root cause equipment located, a hierarchical response is performed according to the synchronization disorder degree. If the synchronization disorder degree is mild, a local adaptive adjustment strategy is enabled, and if the synchronization disorder degree is severe, an emergency isolation strategy is started;

[0085] For mild synchronization disorder, a local adaptive adjustment strategy is enabled;

[0086] Specifically, the disorder root cause equipment and all directly adjacent cable laying execution equipment are arranged into a local adjustment group to clearly define the scope of local adjustment;

[0087] Without stopping all cable laying execution equipment, parameter adjustment instructions are sent only to the local adjustment group. The parameter adjustment instructions are dynamically optimized based on the adaptive PID algorithm, and the adjustment target is to eliminate abnormal tension and speed deviation to restore the system to the preset normal tension range and speed coordination state;

[0088] The cable laying data of each cable laying execution equipment in the local adjustment group is continuously monitored, and the speed coordination index and tension coordination index between adjacent cable laying execution equipment are calculated. If after a preset adjustment time, the speed coordination index and tension coordination index are restored to the preset corresponding standard, it is judged that the cable laying is restored to synchronization, and the cable synchronous laying is continued. Otherwise, the synchronization disorder degree is upgraded to severe to prevent the disorder root cause equipment from deteriorating;

[0089] For severe synchronization disorder, an emergency isolation strategy is started;

[0090] Specifically, a smooth parking instruction is sent to the traction machine, so that the output torque of the traction machine is smoothly decreased to zero according to a preset S-shaped torque change curve, so as to avoid a sudden stop of the traction machine and a sudden rise of the cable tension and a secondary impact, and the S-shaped torque change curve is based on multi-body dynamics simulation and is obtained by simulating a smooth parking process of the traction machine by using a simulation software.

[0091] A cooperative support instruction is sent to the upstream and downstream adjacent conveyors of the misadjustment root cause equipment, so that the clamping pressure of the conveyors is increased to a maintenance clamping force set value, the maintenance clamping force set value is calculated based on cable physical parameters and field test data in advance, and rigid anchor points are formed on both sides of the misadjustment root cause equipment, so as to effectively prevent the cable from sliding or relaxing due to equipment downtime, thereby realizing accurate physical isolation of the misadjustment root cause equipment.

[0092] A fault handling warning is generated, and the equipment position of the misadjustment root cause equipment and the corresponding cable laying data are sent to a terminal of a maintenance personnel, and after the maintenance personnel completes on-site processing, a smooth recovery process is started.

[0093] Specifically, it is verified that the misadjustment root cause equipment fault has been eliminated, and it is confirmed that the cable state is normal, and the clamping pressure of the upstream and downstream conveyors is gradually restored to the normal running value, and the central controller restores the running parameters of each cable laying execution equipment based on an adaptive PID algorithm and a speed-tension master-slave control strategy, until the system is restored to a normal running state defined by the initial reference parameters, and it is judged that the cable laying recovery is synchronized, and the cable synchronous laying is continued.

[0094] It should be noted that the local adaptive adjustment strategy focuses on realizing local synchronous recovery through parameter fine-tuning, and the emergency isolation strategy prioritizes cable safety and equipment isolation to ensure that the fault does not spread;

[0095] It should be noted that the purpose of this step is to take corresponding measures according to the misadjustment degree, to ensure construction safety and promote synchronous recovery, to reduce downtime loss for light misadjustment and to quickly recover synchronization, to prevent fault spread for severe misadjustment, to ensure equipment and cable safety, to improve fault handling efficiency, to build a hierarchical response strategy, to combine local parameter adjustment and emergency isolation mechanism, and to realize the balance between safety and efficiency.

[0096] The technical scheme of the embodiment of the present application is as follows: a three-dimensional path model is generated for cable synchronous laying, initial reference parameters of each cable laying execution device are calculated by using multi-body dynamics simulation software, cable laying data is collected in real time by a deployed monitoring terminal within a construction period based on the initial reference parameters, operation parameters of the corresponding cable laying execution device are dynamically adjusted by using an adaptive PID algorithm, the synchronization state of the cable synchronous laying is analyzed in real time based on the collected cable laying data, it is judged whether synchronization disorder occurs, if synchronization disorder occurs, the degree of synchronization disorder is judged and disorder root cause device positioning is triggered, if the disorder root cause device positioning is triggered, the disorder root cause device is traced and positioned based on a topology graph model, for the positioned disorder root cause device, hierarchical response is executed according to the degree of synchronization disorder, if the degree of synchronization disorder is slight, a local adaptive adjustment strategy is enabled, and if the degree of synchronization disorder is severe, an emergency isolation strategy is started.

[0097] Embodiment 2

[0098] As shown in the figure, the cable synchronous laying construction system based on the Internet of Things in the embodiment of the present application comprises the following modules: Figure 2

[0099] Reference preset module: a three-dimensional path model is generated for cable synchronous laying, initial reference parameters of each cable laying execution device are calculated by using multi-body dynamics simulation software;

[0100] Operation collection module: cable laying data including cable tension, cable speed, clamping pressure and device position is collected in real time by a deployed monitoring terminal within a construction period based on the initial reference parameters, operation parameters of the corresponding cable laying execution device are dynamically adjusted by using an adaptive PID algorithm;

[0101] Synchronization disorder analysis module: the synchronization state of the cable synchronous laying is analyzed in real time based on the collected cable laying data, it is judged whether synchronization disorder occurs, if synchronization disorder occurs, the degree of synchronization disorder is judged and disorder root cause device positioning is triggered;

[0102] Tracing and positioning module: if the disorder root cause device positioning is triggered, the disorder root cause device is traced and positioned based on a topology graph model;

[0103] Hierarchical response module: for the positioned disorder root cause device, hierarchical response is executed according to the degree of synchronization disorder, if the degree of synchronization disorder is slight, a local adaptive adjustment strategy is enabled, and if the degree of synchronization disorder is severe, an emergency isolation strategy is started.

[0104] ​The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application 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 imbalance is triggered, the root cause device of the imbalance is traced and located based on the topology model of each cable laying execution device; For devices with misalignment as the root cause of the misalignment, 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.

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. The 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 imbalance is triggered, the source of the imbalance is located based on the topology model of each cable laying execution device. 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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