Cable laying apparatus and cable laying method

Abstract

The present application relates to the technical field of cable laying equipment, and discloses a cable laying equipment and a cable laying method.The cable laying equipment comprises a laying vehicle body, a front exploration assembly, four front exploration guide structures and a front exploration path sensing module.The front exploration assembly comprises a front exploration main structure.The four front exploration guide structures are uniformly distributed around the front exploration main structure.The front exploration path sensing module is used for acquiring a front exploration movement path.A control module is used for generating a laying path according to the front exploration movement path.The cable laying assembly is provided with a cable laying outlet, and the cable laying outlet is located below the laying vehicle body.The cable laying method comprises the following steps: the front exploration assembly acquires a front exploration movement path;the front exploration movement path is fitted to obtain a fitted path;it is judged whether the fitted path is a corner fitted path;the corner fitted path is trimmed to generate a corner path;the corner path is trimmed to generate a laying path; and the cable laying assembly lays a cable along the laying path.The cable laying equipment can be automatically operated to improve the cable laying efficiency.

Description

Technical Field

[0001] This invention relates to the field of cable laying equipment technology, and in particular to cable laying equipment and cable laying methods. Background Technology

[0002] In the construction of power facilities and municipal engineering projects, laying cables is a fundamental and important task. The existing construction process for laying cables is as follows: first, trenches are dug on the ground according to the designed route, and then cable laying equipment is used to bury the cables in the trenches.

[0003] To facilitate planning and construction, these trenches are mostly composed of several straight segments, with adjacent straight segments typically connected at right angles. The trench width is designed to allow sufficient space for cable turning.

[0004] Currently, cable laying equipment can efficiently complete cable laying in long, straight trenches without turning. For gently curving paths with a large radius of curvature, some equipment can barely handle the task with the precise operation of experienced personnel, but this places high demands on the operator's skills, and its widespread availability and stability are insufficient.

[0005] However, existing cable laying equipment cannot adapt to right-angle turns. When the construction path encounters the aforementioned right-angle turns, the workers need to drive the cable laying equipment past the turn, then stop the machine, and manually return to the turn to manually drag, bend, and place the cable into the corner trench.

[0006] This forced interruption of automated processes and reliance on manual intervention severely impacted overall construction efficiency. Frequent shutdowns and manual operations made the cable laying process intermittent and discontinuous, significantly extending the construction period. Furthermore, laying cables at corners was cumbersome, and the cable laying equipment had poor adaptability for corner locations. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide cable laying equipment and cable laying method to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions.

[0008] The solution to the technical problem of this invention is:

[0009] Cable laying equipment, including:

[0010] Lay the vehicle body;

[0011] A forward-extending assembly, disposed at the lower front of the paving vehicle body, is used to extend into and move along the trench. The forward-extending assembly includes:

[0012] The forward-protruding main structure is movably connected to the paving vehicle body;

[0013] The forward guiding structure is provided in multiple ways, and the multiple forward guiding structures are evenly arranged around the forward main structure. The forward guiding structure is used to slide and abut against the side wall of the channel to guide the forward main structure.

[0014] A forward path sensing module is installed on the forward main structure. The forward path sensing module is configured to monitor the trajectory of the trench in order to obtain the laying path.

[0015] A cable laying assembly, wherein the cable laying assembly is provided with a cable laying outlet, the cable laying outlet is located below the laying vehicle body, and the cable laying assembly is used to extend the cable from the cable laying outlet and lay it in the trench;

[0016] The laying vehicle is configured to move along the laying path to drive the cable laying assembly to lay the cable in the trench.

[0017] As a further improvement to the above technical solution, the forward guiding structure can slide in a straight line relative to the forward main structure to move closer to or further away from the forward main structure.

[0018] Multiple forward guiding structures are connected by a linkage component, which includes:

[0019] Multiple linkage connectors are provided, wherein the linkage connectors are disposed between two adjacent forward guide structures, and the two ends of the linkage connectors are respectively hinged to the two adjacent forward guide structures. At least four linkage connectors are of equal length and form a rhomboid frame.

[0020] The linkage component moves two of the forward guiding structures closer to the forward main structure and the other two forward guiding structures further away from the forward main structure.

[0021] As a further improvement to the above technical solution, the linkage connector is a length-adjustable component, and the lengths of multiple linkage connectors are adjusted synchronously so that the multiple linkage connectors maintain a rhomboid frame.

[0022] As a further improvement to the above technical solution, the forward guiding structure includes:

[0023] A guide mounting component that is slidably connected to the forward-probing main structure;

[0024] Multiple guide rollers are provided and are rotatably mounted on the guide mounting component;

[0025] A guide elastic element is disposed between the guide mounting member and the forward probing main structure, which is used to ensure that the guide mounting member always tends to move away from the forward probing main structure.

[0026] As a further improvement to the above technical solution, the paving vehicle body includes:

[0027] Main body;

[0028] The vehicle has two tracked running structures, which are respectively located on both sides of the main vehicle body.

[0029] As a further improvement to the above technical solution, the cable laying equipment also includes:

[0030] A sand-laying assembly for laying sand inside a trench, the sand-laying assembly moving with the paving vehicle.

[0031] As a further improvement to the above technical solution, the sand laying component includes:

[0032] Sand storage box;

[0033] A sand feeding pipe is provided below and connected to the sand storage box. The lower end of the sand feeding pipe is provided with at least one sand laying outlet. At least one sand laying outlet and the cable laying outlet are arranged at intervals along the track of the trench.

[0034] A sand laying control structure is provided at the sand laying outlet, and the sand laying control structure is used to control the opening and closing of the sand laying outlet.

[0035] As a further improvement to the above technical solution, the sand laying component also includes:

[0036] The sand paving structure is located behind the sand paving outlet and in front of the cable laying outlet. It is used to spread sand and soil to make the sand paving thickness uniform.

[0037] As a further improvement to the above technical solution, the number of sand laying outlets is set to two, and the two sand laying outlets are respectively set in front of and behind the cable laying assembly.

[0038] A cable laying method, applied to the cable laying equipment described in any of the above-mentioned embodiments, the cable laying method comprising the following steps:

[0039] The forward probing component is placed in the trench to control the forward movement of the paving vehicle;

[0040] The trajectory of the channel is monitored in real time to obtain the forward movement path;

[0041] Fit the forward motion path to obtain the fitted path;

[0042] If the fitted path has arc path segments or multiple straight path segments, it is judged as a corner fitted path.

[0043] The corner fitting path is trimmed. After filtering out path segments with a length less than a certain value, the remaining path segments are extended so that two adjacent path segments intersect and connect to generate a corner path.

[0044] Trim the corner path so that adjacent straight path segments are connected by arc paths to generate the paving path;

[0045] The laying vehicle is controlled to move the cable laying outlet along the laying path, so as to accurately lay the cable in the trench.

[0046] The beneficial effects of this invention are as follows: This solution, by setting a forward-probing component in front of the laying vehicle, allows the forward-probing guide structure to guide the forward-probing main structure, enabling it to move along the trench. In conjunction with the forward-probing path sensing module, the shape of the trench can be determined through the forward-probing movement path. After obtaining the trench shape, the forward-probing movement path is processed by the control module to generate a laying path. The laying vehicle moves along the laying path, driving the cable laying component to move along the laying path to lay the cable according to the laying path.

[0047] The cable laying equipment in this solution obtains the trench shape in advance before laying the cable. The obtained trench shape guides the movement of the laying vehicle. It has good adaptability to laying at cable corners, so that the cable laying equipment can operate automatically and reduce manual intervention, thereby effectively improving the cable laying efficiency. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly explained below. Obviously, the described drawings are only a part of the embodiments of the present invention, and not all of them. Those skilled in the art can obtain other design schemes and drawings based on these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0050] Figure 2 This is a top view of the forward probing component according to an embodiment of the present invention;

[0051] Figure 3 This is a flowchart of a cable laying method according to an embodiment of the present invention;

[0052] Figure 4This is a schematic diagram of the path planning process in step S002 of this embodiment of the invention;

[0053] Figure 5 This is a schematic diagram of the path planning process in step S004 of this embodiment of the invention;

[0054] Figure 6 A schematic diagram of the path planning process and the final laying path obtained in step S005 of this embodiment of the invention.

[0055] In the diagram, 100 is the paving vehicle body; 110 is the main vehicle body; 120 is the tracked walking structure; 200 is the forward extension component; 201 is the forward extension connecting rod; 202 is the forward extension connecting seat; 203 is the forward extension lifting structure; 210 is the forward extension main structure; 220 is the forward extension guide structure; 221 is the guide mounting component; 222 is the guide roller; 223 is the guide elastic component; 224 is the guide rod; 230 is the linkage component; 231 is the linkage connector; and 240 is the forward extension path sensor. Module; 300, Cable laying assembly; 310, Cable placement rack; 320, Cable laying frame body; 330, Cable pull-out structure; 332, Pulling wheel; 400, Sand laying assembly; 410, Sand storage box; 420, Sand feeding pipe; 430, Sand laying control structure; 431, Sand laying control drive; 432, Sand laying control baffle; 440, Sand spreading structure; 441, Sand spreading plate; 442, Sand spreading drive. Detailed Implementation

[0056] The following will clearly and completely describe the concept, specific structure, and technical effects of the present invention in conjunction with embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention. Furthermore, all connections / linkages mentioned herein do not simply refer to direct connection of components, but rather to the ability to form a better connection structure by adding or reducing connecting accessories according to specific implementation conditions. The various technical features in this invention can be combined interactively without contradicting each other.

[0057] Reference Figure 1 and Figure 2 The cable laying equipment includes: a laying vehicle body 100, a control module, a forward probing component 200, a cable laying component 300, and a sand laying component 400.

[0058] The cable laying vehicle 100 includes a main body 110 and a tracked running gear 120. The tracked running gear 120 is a conventional structure used in cable laying equipment, and its specific construction will not be described in detail here. Two tracked running gears 120 are provided, one on the left and one on the right side of the main body 110. The tracked running gear 120 enables the cable laying equipment to turn with a small turning radius, meeting the requirements for angled cable laying.

[0059] The forward extension component 200 is located at the front of the paving vehicle body 100. The forward extension component 200 is connected to the paving vehicle body 100 through the forward extension connecting rod 201, the forward extension connecting seat 202, and the forward extension lifting structure 203.

[0060] Specifically, the forward lifting structure 203 is configured as an electric linear drive device, and the forward lifting structure 203 is fixedly connected to the main vehicle body 110. The forward connecting seat 202 is fixedly connected to the output end of the forward lifting structure 203, and the forward connecting seat 202 is slidably connected to the main vehicle body 110 in the vertical direction. The forward lifting structure 203 drives the forward connecting seat 202 to move in the vertical direction. The forward connecting rod 201 is hinged to the forward connecting seat 202, and the hinge axis of the forward connecting rod 201 is parallel to the vertical direction, so that the forward connecting rod 201 can swing relative to the main vehicle body 110.

[0061] A reset drive is provided between the front connecting rod 201 and the main vehicle body 110 for driving the front connecting rod 201 to reset. Specifically, the reset drive is set as a torsion spring. In other embodiments, the reset drive can also be set as a spring or other elastic structure. Those skilled in the art can select the specific structure of the reset drive according to actual needs.

[0062] By configuring the forward probe component 200 to be movably connected to the laying vehicle body 100, the forward probe component 200 can detect the shape of the trench in advance to guide the subsequent cable laying route of the laying vehicle body 100.

[0063] Specifically, the forward-looking component 200 includes: a forward-looking main structure 210, a forward-looking guide structure 220, a linkage component 230, and a forward-looking path sensing module 240.

[0064] The forward main structure 210 is used to extend into the channel. The forward main structure 210 is a box-shaped component, mounted on the lower end of the forward connecting rod 201, and hinged to the lower end of the forward connecting rod 201. The hinge axis of the forward main structure 210 is parallel to the vertical direction, allowing the forward main structure 210 to swing relative to the forward connecting rod 201. A reset drive (not shown in the figure) is also provided between the forward main structure 210 and the forward connecting rod 201 to drive the forward connecting rod 201 and the forward assembly 200 to reset. Specifically, the reset drive is a torsion spring; in other embodiments, the reset drive can also be a spring or other elastic structure. Those skilled in the art can select the specific construction of the reset drive according to actual needs.

[0065] The number of forward guide structures 220 is set to four, and the four forward guide structures 220 are respectively set around the front main structure 210. Among them, the two forward guide structures 220 set on the front and rear sides of the front main structure 210 are set as the first guide structures, and the two forward guide structures 220 set on the left and right sides of the front main structure 210 are set as the second guide structures.

[0066] Specifically, the forward guiding structure 220 includes: a guide mounting component 221, a guide roller 222, and a guide elastic component 223.

[0067] The guide mounting component 221 is slidably connected to the front main structure 210. The guide mounting component 221 can slide in a straight line relative to the front main structure 210. The guide mounting component 221 of the first guide structure slides with the front main structure 210 in the front-back direction, and the guide mounting component 221 of the second guide structure slides with the front main structure 210 in the left-right direction.

[0068] Specifically, in this embodiment, the guide mounting member 221 is fixed with two guide rods 224. The two guide rods 224 pass through the front main structure 210 and are slidably connected to the front main structure 210 to guide the guide mounting member 221 so that the guide mounting member 221 can only move in a straight line relative to the front main structure 210.

[0069] Guide rollers 222 are rotatably mounted on guide mounting members 221, and the rotation axis of the guide rollers 222 is parallel to the vertical direction. In this embodiment, two guide rollers 222 are provided, arranged at intervals along a straight line. Specifically, the two guide rollers 222 of the first guide structure are arranged in the left-right direction, and the two guide rollers 222 of the second guide structure are arranged in the front-back direction. In other embodiments, the number of guide rollers 222 can also be three, four, or other numbers. Those skilled in the art can select the number of guide rollers 222 according to actual needs.

[0070] A guide elastic element 223 is disposed between the guide mounting member 221 and the forward main structure 210. The guide elastic element 223 is used to ensure that the guide mounting member 221 always tends to move away from the forward main structure 210. Specifically, the guide elastic element 223 is a columnar spring. In other examples, the guide elastic element 223 may also be other elastic components.

[0071] The linkage assembly 230 includes four linkage connectors 231. The four linkage connectors 231 are of equal length and are arranged in a rhomboid frame. The linkage connectors 231 are disposed between two adjacent forward guide structures 220. The two ends of the linkage connectors 231 are respectively hinged to the guide mounting parts 221 of the two adjacent forward guide structures 220.

[0072] Specifically, in this embodiment, the linkage connector 231 is a length-adjustable component. By setting the linkage connector 231 as a length-adjustable structure, the distance between the forward guide structure 220 and the forward main structure 210 can be adjusted to adapt to channels of different widths.

[0073] More specifically, the linkage connector 231 is set as an electric push rod, and the lengths of multiple linkage connectors 231 are adjusted synchronously to keep the lengths of multiple linkage connectors 231 consistent, so as to ensure that multiple linkage connectors 231 maintain a rhomboid frame.

[0074] The forward path sensing module 240 is fixedly installed in the middle of the forward main structure 210. The forward path sensing module 240 is configured to include an acceleration sensor to obtain the trajectory of the object. The forward path sensing module 240 is a conventional technology, and the specific structure of the forward path sensing module 240 will not be described in detail here. The forward path sensing module 240 is configured to monitor the movement of the forward component 200 and calculate the movement path of the forward main structure 210.

[0075] During the movement of the cable laying equipment, the second guide structure comes into contact with the side wall of the trench before the turn.

[0076] When the front probe assembly 200 moves to the corner of the trench, the first guide structure at the front will be obstructed. After being obstructed by the trench, as the cable laying equipment continues to move, the first guide structure will move closer to the front probe main structure 210, causing the diamond frame composed of multiple linkage connectors 231 to deform and causing the two second guide structures to move away from each other. At this time, one of the second guide structures will abut against the side wall of the trench, thereby pushing the entire front probe assembly 200 to move to the left or right to complete the change of the movement direction of the front probe assembly 200.

[0077] When the direction of movement of the front probe component 200 changes, the guide elastic element 223 will drive the first guide structure to reset, so that the two first guide structures abut against the two oppositely arranged sidewalls of the new channel. The front probe guide structure 220, which plays the main guiding role, switches from the second guide structure to the first guide structure, and the first guide structure continues to guide the front probe component 200, so that the front probe component 200 continues to move along the new channel.

[0078] The forward path sensing module 240 calculates the motion path of the forward component 200 at the corner, and this motion path is the forward motion path.

[0079] The control module is connected to the forward path sensing module 240 via a signal. The control module is installed on the main vehicle body 110 and is configured to generate a laying path based on the forward movement path.

[0080] Specifically, in this embodiment, the cable laying assembly 300 includes: a cable placement frame 310, a cable laying frame body 320, and a cable pull-out structure 330.

[0081] The cable placement rack 310 is fixedly installed on the main body 110. The cable placement rack 310 is used to place cable reels. The cable placement rack 310 is a conventional structure in the art. The cable placement rack 310 includes a drive motor for driving the cable reels to rotate. The specific structure of the cable placement rack 310 will not be described in detail here.

[0082] The cable laying frame 320 extends below the main vehicle body 110 and slides to connect with the main vehicle body 110 in the vertical direction, so that the lower end of the cable laying frame 320 can extend into the trench.

[0083] The cable pull-out structure 330 includes a cable pull-out drive (not shown in the figure) and pull wheels 332. The number of pull wheels 332 is set to multiple, and the multiple pull wheels 332 are arranged in multiple pairs. The two pull wheels 332 arranged in pairs are spaced apart in the horizontal direction, and the cable is clamped by the pairs of pull wheels 332.

[0084] The cable pull-out drive is a rotary motor, which is fixedly installed on the cable laying frame 320. The lower end of the cable laying frame 320 is provided with a cable laying outlet, which is located below the center of the laying vehicle 100 to ensure that the movement path of the cable laying outlet is the same as the movement path of the laying vehicle 100.

[0085] Multiple pairs of pull wheels 332 are arranged at intervals along the extension direction of the cable laying frame 320, and the pull wheels 332 are rotatably connected to the cable laying frame 320. One pair of pull wheels 332 is located at the cable laying exit, and the cable is pulled out from the bottom pair of pull wheels 332 and laid in the trench.

[0086] The cable pull-out drive is connected to the pull wheel 332 via a chain, sprocket and other structures. The cable pull-out drive drives the pull wheel 332 to rotate, so as to pull out the cable and finally extend the cable from the cable laying outlet and lay it in the trench.

[0087] The number of pull wheels 332 is set to multiple pairs. Multiple pairs of pull wheels 332 are synchronized through transmission structures such as chains and sprockets, which can prevent slack when pulling out the cable, thereby ensuring that the cable maintains appropriate tension.

[0088] The sand laying assembly 400 is used to lay sand inside the trench. The sand laying assembly 400 includes: a sand storage box 410, a sand feeding pipe 420, a sand laying control structure 430, and a sand spreading structure 440.

[0089] The sand storage box 410 is fixedly installed on the main body 110. The sand storage box 410 is used to store sand.

[0090] A sand feeding pipe 420 is located below the sand storage box 410 and is connected to the sand storage box 410. The lower end of the sand feeding pipe 420 is provided with a sand laying outlet. Specifically, in this embodiment, the number of sand laying outlets is set to two, and the two sand laying outlets are respectively located on the front and rear sides of the cable laying outlet.

[0091] The sand laying outlet, located in front of the cable laying outlet, is used to lay sand in the trench to avoid unevenness in the trench or protrusions or stones at the bottom of the trench, which could reduce the quality of cable laying or damage the cable. This ensures the quality of cable laying and guarantees that the cable can work normally for a long time.

[0092] The sand laying outlet, located behind the cable laying outlet, is used to cover the laid cable with a layer of sand to provide initial protection for the cable before the trench is closed.

[0093] A sand laying control structure 430 is installed at the sand laying outlet, with each sand laying control structure 430 corresponding to a sand laying outlet. The sand laying control structure 430 is used to control the opening and closing of the sand laying outlet.

[0094] The sand laying control structure 430 includes: a sand laying control drive component 431 and a sand laying control baffle 432.

[0095] The sand laying control drive 431 is fixedly connected to the sand feeding pipe 420, and the sand laying control drive 431 is a rotary motor. The sand laying control baffle 432 is set at the sand laying outlet and is hinged to the sand feeding pipe 420. When the sand laying control drive 431 works, it drives the sand laying control baffle 432 to rotate, so that the sand laying outlet opens, allowing sand to fall from the sand feeding pipe 420 into the trench.

[0096] In other embodiments, the sand laying control drive 431 can be configured as a linear motor, and the sand laying control baffle 432 can be configured to slide and connect with the sand feeding pipe 420. The sand laying control drive 431 drives the sand laying control baffle 432 to slide, so that the sand laying outlet opens or closes. Those skilled in the art can select the specific structure of the sand laying control structure 430 according to actual needs.

[0097] The sand paving structure 440 is connected to the main vehicle body 110 via a sand paving drive component 442. The sand paving drive component 442 is an electric linear drive device, which allows the sand paving structure 440 to slide vertically relative to the main vehicle body 110, thereby allowing the sand paving structure 440 to extend into the ditch and move to a specified height.

[0098] The sand paving structure 440 is located behind the sand paving outlet and in front of the cable laying outlet.

[0099] Specifically, in this embodiment, the sand paving structure 440 includes two sand paving plates 441. The positions of the two sand paving plates 441 are adjustable in the horizontal direction, so that the overall width of the sand paving structure 440 is adjustable to adapt to ditches of different widths. Specifically, in this embodiment, the width of the sand paving structure 440 is manually adjusted by the operator. When the sand paving structure 440 moves with the paving vehicle 100, it spreads the sand, making the sand paving thickness uniform.

[0100] Reference Figures 3 to 6 ,in Figures 4 to 6 In the diagram, dashed lines represent modifications made to the path at each step. The cable laying method includes the following steps:

[0101] S001. The operator operates the paving vehicle 100, the paving vehicle 100 moves forward, causing the forward probing component 200 to move in the trench. The forward probing path sensing module 240 obtains the forward probing movement path. The length of the forward probing movement path is the distance from the forward probing path sensing module 240 to the center of the paving vehicle 100 in the initial state.

[0102] S002. The control module uses one or more path segments to fit the forward motion path, making the path smoother and obtaining a fitted path with one or more path segments; the path segments are straight line segments or arc segments, and the path segments are divided into straight line path segments or arc path segments according to the type of line segment used during fitting.

[0103] S003. The control module analyzes the fitted path and reads the line segment type of each segment of the fitted path. When there are arc path segments or multiple straight path segments in the path segment, the control module determines that the path is a corner fitted path.

[0104] S004. The control module trims the corner fitting path containing multiple straight path segments, filters out path segments with lengths less than a specific value, and then extends the remaining path segments so that each path segment extends into adjacent path segments in its own length direction, allowing two adjacent path segments to intersect and connect to fill the gaps left by the filtered path segments, making the corner fitting path continuous to generate a corner path; specifically, the specific value in this step is at least ten centimeters to eliminate the jitter error of the forward probing component 200 at the corner, thereby avoiding the irregular path of the forward probing component 200 when passing through the corner from affecting the subsequent laying path planning; since the jitter error of the corner fitting path containing curved path segments is small, this step does not require trimming the corner fitting path containing curved path segments.

[0105] S005. The control module adds an arc path segment between two adjacent straight path segments, and the arc path segment is tangent to the two straight path segments; then the corner path is adjusted to eliminate the part of the straight path segment that exceeds the arc path segment, so that the two adjacent straight path segments are connected by the arc path segment to generate a smooth transition laying path. The radius of the arc path segment is specifically set according to the diameter of the cable. In this embodiment, in order to deal with conventional cables, the arc path segment of this solution is set to fifteen times the diameter of the cable to avoid the cable being damaged due to the turning radius being too small.

[0106] S006, the laying vehicle 100 moves, causing the cable laying outlet to move along the laying path, and the cable laying assembly 300 lays the cable.

[0107] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. Cable laying apparatus, characterised in that: The cable laying device comprises: a laying vehicle body; a cable laying assembly provided with a cable laying outlet arranged below the laying vehicle body, the cable laying assembly being used to extend a cable from the cable laying outlet and lay the cable in a trench; a front probe assembly arranged below the front of the laying vehicle body, the front probe assembly being used to extend into the trench and move along the trench, the front probe assembly comprising: a front probe main structure movably connected with the laying vehicle body; a plurality of front probe guide structures evenly arranged around the front probe main structure, the front probe guide structures being used to slide against the sidewall of the trench to guide the front probe main structure; a front probe path sensing module mounted on the front probe main structure, the front probe path sensing module being configured to monitor the track of the trench to obtain a laying path; the laying vehicle body being configured to move along the laying path to drive the cable laying assembly to lay the cable in the trench; the front probe guide structures being capable of linearly sliding relative to the front probe main structure to approach or move away from the front probe main structure; the plurality of front probe guide structures being connected through a linkage assembly, the linkage assembly comprising: a plurality of linkage connectors arranged between adjacent two front probe guide structures, the two ends of the linkage connector being hingedly connected with the adjacent two front probe guide structures, at least four linkage connectors being equal in length and constituting a rhombic frame; the linkage assembly enabling two of the front probe guide structures to approach the front probe main structure and the other two front probe guide structures to move away from the front probe main structure; the front probe guide structure comprising: a guide mounting member movably connected with the front probe main structure; a plurality of guide rollers rotatably mounted on the guide mounting member; a guide elastic member arranged between the guide mounting member and the front probe main structure, the guide elastic member being used to enable the guide mounting member to always have a tendency to move away from the front probe main structure.

2. Cable laying apparatus according to claim 1, characterised in that: The linkage connectors are length-adjustable members, the lengths of the plurality of linkage connectors being synchronously adjusted to enable the plurality of linkage connectors to maintain the rhombic frame.

3. The cable laying apparatus of claim 1, wherein: The laying vehicle body comprises: a main vehicle body; two crawler walking structures arranged on the two sides of the main vehicle body.

4. The cable laying apparatus of claim 1, wherein: The cable laying device further comprises: a sand laying assembly used to lay sand in the trench, the sand laying assembly moving with the laying vehicle body.

5. The cable laying device according to claim 4, wherein: the sand laying assembly comprises: a sand storage box; a sand feeding pipe arranged below the sand storage box and in communication with the sand storage box, the lower end of the sand feeding pipe being provided with at least one sand laying outlet, the at least one sand laying outlet being arranged at intervals along the track of the trench with the cable laying outlet; a sand laying control structure arranged at the sand laying outlet, the sand laying control structure being used to control the opening and closing of the sand laying outlet.

6. Cable laying apparatus according to claim 5, characterised in that: The sand laying assembly further comprises: A sand paving structure is arranged behind the sand paving outlet and in front of the cable paving outlet, and is used for paving the sand to make the sand paving thickness uniform.

7. A cable laying apparatus according to claim 6, characterised in that: The number of sand paving outlets is two, and the two sand paving outlets are arranged in front of and behind the cable paving assembly respectively.

8. A method of cable laying, characterised by: The cable paving method is applied to the cable paving device of any one of claims 1-7, and comprises the following steps: The front probe assembly is arranged in the trench, and the paving vehicle body is controlled to advance; The trajectory of the trench is monitored in real time, and a front probe movement path is obtained; The front probe movement path is fitted to obtain a fitted path; When the fitted path has an arc path segment or multiple straight line path segments, it is determined that the fitted path is a corner fitted path; The corner fitted path is modified, path segments with a length less than a specific value are screened out, the remaining path segments are lengthened, two adjacent path segments are connected and docked, and a corner path is generated; The corner path is modified, two adjacent straight line path segments are connected by an arc path segment, and a paving path is generated; The paving vehicle body is controlled to drive the cable paving outlet to move along the paving path, and the cable is accurately paved in the trench.

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