Cable transmission methods and cable laying systems

Abstract

This application discloses a cable conveying method and cable laying system. By monitoring load changes through operating current and comparing the conveying speeds of preceding and following equipment, it achieves automatic and accurate identification of cable slippage. It responds quickly without manual intervention and dynamically adjusts the conveying speed of preceding equipment to quickly eliminate speed differences, suppress slippage, reduce the possibility of cable damage due to friction, and improve construction safety. The solution in this application improves the accuracy of slippage identification through a dual judgment mechanism of load and speed, while simultaneously achieving adaptive synchronization of multiple equipment speeds, reducing construction downtime, significantly improving the automation and intelligence level of cable conveying, reducing labor costs and construction risks, and enabling efficient progress in high-voltage cable laying projects.

Description

Technical Field

[0001] This application relates to the field of cable equipment, and in particular to a cable delivery method and cable laying system. Background Technology

[0002] High-voltage cable laying is a crucial step in urban power grid construction. As a core piece of equipment, the cable conveyor's intelligent control and reliability directly impact construction efficiency and quality. While existing technologies can control multiple devices, they have significant shortcomings in coordinated control, potentially leading to cable slippage due to mismatched conveying speeds. In such cases, manual intervention is necessary to prevent cable damage. Summary of the Invention

[0003] This application aims to propose a cable delivery method and cable laying system that can effectively alleviate cable slippage in multi-machine linkage scenarios.

[0004] A cable delivery method according to a first aspect of this application includes:

[0005] The operating current of the drive assembly of the cable conveyor is obtained. The cable conveyor includes two tracked conveying mechanisms, which are arranged opposite to each other and are used together to clamp and convey the cable. The drive assembly is used to drive the two tracked conveying mechanisms to operate.

[0006] The load change state is determined based on the operating current;

[0007] Obtain the first conveying speed of the cable conveyor.

[0008] The second conveying speed of the cable conveying device in the previous order is obtained, wherein the cable conveying device in the previous order is the next cable conveying device in the direction of cable conveying, and the cable conveying device is a cable conveyor or a traction machine;

[0009] Determine the speed synchronization state based on the first conveying speed and the second conveying speed;

[0010] When the load change state indicates an abnormal decrease in load and the speed synchronization state indicates a speed asynchrony, a slippage command is generated.

[0011] In response to the slippage command, the cable conveyor speed is adjusted with the second conveying speed as the target speed until the speed difference between the cable conveyor speed and the target speed is within a preset speed difference allowable range.

[0012] A cable laying system according to a second aspect embodiment of this application includes:

[0013] At least one tractor;

[0014] Multiple cable conveyors, each of which is used to perform the cable conveying method as described in the first aspect embodiment;

[0015] The central control equipment is communicatively connected to the traction machine and multiple cable conveyors.

[0016] The cable conveying method and cable laying system of this application embodiment achieve automatic and accurate identification of cable slippage by monitoring load changes through operating current and comparing the conveying speeds of preceding and following equipment. This allows for rapid response without manual intervention. Dynamic speed adjustment based on the conveying speed of preceding equipment quickly eliminates speed differences, suppresses slippage, reduces the possibility of cable damage due to friction, and improves construction safety. The solution in this application embodiment improves the accuracy of slippage identification through a dual judgment mechanism of load and speed, while simultaneously achieving adaptive synchronization of multiple equipment speeds, reducing construction downtime, significantly improving the automation and intelligence level of cable conveying, reducing labor costs and construction risks, and enabling efficient progress in high-voltage cable laying projects.

[0017] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing this application. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0019] Figure 1 An isometric view of a cable conveyor provided in an embodiment of this application;

[0020] Figure 2 A schematic diagram of a cable delivery system provided in an embodiment of this application;

[0021] Figure 3 A flowchart illustrating a cable delivery method provided in an embodiment of this application.

[0022] Figure label:

[0023] Cable conveyor 100; base 110; bracket 120; crawler conveyor mechanism 130; drive assembly 140; guide frame 150; laser beam sensor 160; speed sensor 170; control box 180; traction machine 200. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0025] In the description of this application, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0026] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0027] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0028] The technical solution of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of this application, not all embodiments.

[0029] To better describe the cable conveying method and cable laying system of the embodiments of this application, a cable conveyor is proposed herein, such as... Figure 1 , Figure 2As shown, the cable conveyor 100 includes a base 110, two supports 120, two crawler-type conveyor mechanisms 130, and two drive assemblies 140. The two supports 120 are mounted on the base 110 and located on both sides of the base 110. A mounting platform is provided on the top of each support 120. The two crawler-type conveyor mechanisms 130 are respectively mounted on the two mounting platforms, with their tracks facing each other. The two drive assemblies 140 are mounted on the base 110 and located below the two mounting platforms. The two drive assemblies 140 are corresponding to the two crawler-type conveyor mechanisms 130 and are used to drive the corresponding crawler-type conveyor mechanisms 130 to operate, so that the tracks of the two crawler-type conveyor mechanisms 130 jointly move the cable. A clamping motor is provided between the two mounting platforms. The two mounting platforms are connected by a lead screw, and the two mounting platforms can slide on the supports 120. Driven by the clamping motor, the lead screw can rotate, thereby moving the two mounting platforms closer or further apart to clamp and release the cable.

[0030] The base 110 is also equipped with two guide frames 150, which are located at both ends of the cable channel formed by the two tracked conveyor mechanisms 130. The guide frames 150 can provide rolling support and guidance for the cable, reducing the risk of cable damage.

[0031] The aforementioned drive assembly 140 includes a drive motor and a reducer. The drive motor drives the reducer to operate, which in turn drives the tracked conveyor mechanism 130 to operate.

[0032] The cable conveyor 100 is also equipped with a laser beam sensor 160, which is used to detect whether the cable has been fed into the range that the track of the tracked conveyor structure can drive.

[0033] The cable conveyor 100 is also equipped with a force sensor to detect the clamping force of the two tracked conveyor mechanisms 130 on the cable.

[0034] The cable conveyor 100 is also equipped with a speed sensor 170, which can directly detect the linear speed of the track. In addition, the track and the reducer can be transmitted through various transmission structures, and the transmission ratio of the transmission structure can be predetermined. Furthermore, the rotational speed of the reducer output shaft can also be detected (for example, the speed sensor 170 uses an encoder to detect the speed of the reducer) and then further converted into the linear speed of the track.

[0035] The cable conveyor 100 is also equipped with a position sensor, which can limit the movement distance of the two tracked conveyor mechanisms 130 when they are released, so as to prevent excessive movement and exceeding the limit.

[0036] The cable conveyor 100 is also equipped with a control box 180, which contains a controller and a communication module and a driver electrically connected to the controller. The driver provides drive signals to operate the drive assembly 140 and the clamping motor, and the communication module is used for data interconnection with the central control equipment. The laser beam sensor 160, force sensor, position sensor, etc., are all electrically connected to the controller.

[0037] The cable conveying method and cable laying system of this application embodiment are described below based on the cable conveyor 100 described above.

[0038] See Figure 3 As shown, Figure 3 A flowchart of a cable delivery method provided in this application embodiment, the cable delivery method including steps S100 to S700:

[0039] S100, obtain the operating current of the drive assembly 140 of the cable conveyor 100. The cable conveyor 100 includes two crawler conveyor mechanisms 130. The two crawler conveyor mechanisms 130 are arranged opposite each other and are used together to clamp the cable and convey it. The drive assembly 140 is used to drive the two crawler conveyor mechanisms 130 to operate.

[0040] S200 determines the load change status based on the operating current;

[0041] S300, obtain the first conveying speed of the cable conveyor 100;

[0042] S400, obtain the second conveying speed of the cable conveying device of the previous sequence, wherein the cable conveying device of the previous sequence is the next cable conveying device in the direction of cable conveying, and the cable conveying device is a cable conveyor or a traction machine.

[0043] S500 determines the speed synchronization state based on the first conveying speed and the second conveying speed;

[0044] S600 generates a slippage command when the load change status indicates an abnormal decrease in load and the speed synchronization status indicates a lack of speed synchronization.

[0045] S700, in response to the slippage command, adjusts the cable conveyor 100 to convey the cable at the second conveying speed as the target speed until the speed difference between the cable conveyor 100 and the target speed is within the preset speed difference allowable range.

[0046] In this embodiment, by monitoring load changes through operating current and comparing the conveying speeds of preceding and following equipment, automatic and accurate identification of cable slippage is achieved. This allows for rapid response without manual intervention. Dynamic speed adjustment based on the conveying speed of preceding equipment quickly eliminates speed differences, suppresses slippage, reduces the possibility of cable damage due to friction, and improves construction safety. The solution in this embodiment enhances the accuracy of slippage identification through a dual judgment mechanism of load and speed. Simultaneously, it achieves adaptive synchronization of multiple equipment speeds, reducing construction downtime and significantly improving the automation and intelligence level of cable conveying. This reduces labor costs and construction risks, enabling efficient progress in high-voltage cable laying projects.

[0047] In step S100 above, the operating current of the drive assembly 140 is collected in real time by connecting a current sensor in series in the power supply circuit of the drive motor of the drive assembly 140 of the cable conveyor 100, or the operating current is obtained by directly reading the output current of the driver through the built-in operating data acquisition unit in the driver.

[0048] The aforementioned drive assembly 140 is used to drive the tracked conveyor mechanism 130 to operate, thereby allowing the load status of the tracked conveyor mechanism 130 to be determined directly by judging the operating current of the drive motor of the drive assembly 140. For example, if the load current suddenly decreases, the load change state can be determined as an abnormal load decrease; conversely, it can be determined as a normal load.

[0049] The first conveying speed of the cable conveyor 100 can be understood as the acquisition of the conveying speed of the track of the crawler conveyor mechanism 130, that is, the first conveying speed can be understood as the linear speed of the track of the crawler conveyor mechanism 130.

[0050] The aforementioned cable conveyor 100 establishes a connection with the central control equipment via wired or wireless means. When the load change status indicates an abnormal decrease in load, it can automatically send a speed acquisition request to the central control equipment. The central control equipment, based on the preset cable conveying direction and equipment layout sequence (e.g., ...), ... Figure 2 In this context, the direction represented by A can be understood as the direction along the cable conveying direction. The previous cable conveying equipment (e.g., traction machine 200 or other cable conveyor 100) is located, its real-time conveying line speed, i.e. the second conveying speed, is retrieved and fed back to the current cable conveyor 100.

[0051] Both the first conveying speed and the feedback second conveying speed are linear speeds, so the speed difference between the two can be directly judged, and the speed synchronization state can be quickly determined. It can be understood that if the speed difference is within the allowable range, it can be determined that the speed is synchronized; otherwise, it is that the speed is not synchronized.

[0052] When the load change status indicates an abnormal decrease in load and the speed synchronization status indicates speed asynchrony, cable slippage can be determined. Specifically, at this time, the friction between the track and the cable changes from static friction to sliding friction, reducing the output force of the track on the cable and causing a sudden drop in load. However, a sudden drop in load could also be caused by a reduction in the overall speed or shutdown of the cable laying system. Therefore, it is necessary to further consider the speed synchronization status to accurately determine whether the slippage is caused by unreasonable speed distribution and reduce the possibility of misjudgment. Furthermore, after determining that slippage has occurred, a slippage command needs to be generated to execute the adjustment mechanism.

[0053] The above-mentioned adjustment of the cable conveyor 100's cable conveying speed with the second conveying speed as the target speed can be achieved based on a PID algorithm. In this process, the cable conveyor 100's cable conveying speed can be adjusted with the second conveying speed as the target speed and the cable conveyor 100's cable conveying speed as the feedback value until the speed difference with the target speed is within the preset speed difference allowable range.

[0054] In some embodiments, the drive assembly 140 includes two sets of corresponding drive motors and reducers, each set of drive motors and reducers being used to drive a tracked conveyor mechanism 130 to operate.

[0055] The above-mentioned acquisition of the operating current of the drive assembly 140 of the cable conveyor 100 includes:

[0056] Obtain the current of any one drive motor and use it as the operating current, or obtain the sum of the currents of the two drive motors and use it as the operating current.

[0057] In this embodiment, current monitoring supports flexible acquisition of single motor current or dual motor current. The acquisition process is simpler and more efficient using single motor current, while the final result is more accurate using dual motor current. The specific choice can be made according to actual needs.

[0058] In some implementations, determining the load change state based on the operating current includes:

[0059] Get the current average value of the operating current for the current cycle;

[0060] Determine the difference between the current average value and the current average value of the operating current in the previous cycle.

[0061] The load change status is determined based on the difference between the current average current and the current average current. If the difference between the current average current and the current average current exceeds a preset current change threshold, the load change status indicates an abnormal decrease in load. If the difference between the current average current and the current average current does not exceed the preset current change threshold, the load change status indicates a normal load.

[0062] In this embodiment, the load change state determination method achieves accurate detection by comparing the average and difference of periodic current. Compared with point value judgment, it can reduce the occurrence of misjudgments caused by single current fluctuations and improve the stability and reliability of load state identification. At the same time, by quantifying the load anomaly standard by setting a preset current change threshold, it can quickly capture the load drop signal caused by cable slippage, providing an accurate basis for subsequent slippage determination.

[0063] The aforementioned preset current acquisition period can be manually set, for example, to 1 second. By acquiring the operating current of the drive component 140 in real time, filtering the current data within the current period, and calculating the arithmetic mean, the current average current value can be obtained. Simultaneously, the average current value of the previous period stored in the controller is retrieved, and the difference between the two is calculated to obtain the current average current value difference. Furthermore, a preset current change threshold can be pre-calibrated based on the cable type, transmission conditions, and equipment parameters; for example, it can be 20% of the rated current. The current average current value difference is compared with this threshold. If the difference exceeds the threshold, the load change state is determined to be an abnormal load decrease; otherwise, the load is determined to be normal.

[0064] In some embodiments, obtaining the second conveying speed of the cable conveying device in the previous sequence includes:

[0065] When the load change status indicates an abnormal decrease in load, a speed acquisition request is sent to the central control device so that the central control device sends the second conveying speed of the cable conveying device of the previous sequence to the cable conveyor 100, wherein the second conveying speed is the linear speed.

[0066] The central control equipment is connected to multiple cable conveying devices, which are either traction machines 200 or cable conveyors 100.

[0067] In this implementation, speed acquisition requests are triggered only when the load abnormally decreases, which reduces the continuous occupation of communication bandwidth and improves data transmission efficiency. Simultaneously, by centrally coordinating the speed data of multiple devices, the system can adapt to the device combination requirements of complex deployment systems, eliminating the need for separate communication links and reducing system deployment costs.

[0068] In some embodiments, determining the speed synchronization state based on the first conveying speed and the second conveying speed includes:

[0069] Determine the current speed difference between the first conveying speed and the second conveying speed;

[0070] The speed synchronization status is determined based on the current speed difference. If the current speed difference exceeds a preset speed change threshold, the synchronization status is determined to indicate speed asynchrony. If the current speed difference does not exceed the preset speed change threshold, the synchronization status is determined to indicate speed synchronization.

[0071] Among them, the absolute value of the boundary value of the preset speed change threshold being greater than the preset speed difference allowable range.

[0072] In this embodiment, the current speed difference between the first and second conveying speeds is calculated and compared with a preset speed change threshold to achieve precise quantitative determination of the synchronization state. Simultaneously, the preset speed change threshold is greater than a preset allowable speed difference range, reserving a reasonable buffer space for subsequent speed adjustments, preventing frequent triggering of speed adjustment commands, and improving system operational stability.

[0073] In some embodiments, the cable conveyor 100 is further equipped with a laser beam sensor 160 and a force sensor. The laser beam sensor 160 is used to detect the cable arrival status when the cable reaches the track of the crawler conveyor mechanism 130, and the force sensor is used to detect the clamping force of the crawler conveyor mechanism 130 on the cable. The above-mentioned cable conveying method further includes:

[0074] Acquire the cable arrival status detected by the laser beam sensor 160;

[0075] Obtain the clamping force detected by the force sensor;

[0076] When the cable arrival status indicates that the cable has reached the track of the tracked conveyor 130, and / or when the clamping force is greater than the preset clamping force start threshold, the tracked conveyor 130 is controlled to start to transport the cable.

[0077] In this embodiment, the intelligent start-up control of the tracked conveyor mechanism 130 is achieved through the collaboration of the laser beam sensor 160 and the force sensor, eliminating the need for manual operation and improving the level of construction automation.

[0078] The aforementioned laser beam sensor 160 can accurately detect the cable's position, reducing equipment damage caused by cable-less operation or starting without a cable in place.

[0079] The aforementioned force sensor can monitor the clamping force in real time, ensuring that the clamping force meets the conveying requirements at startup and preventing slippage caused by excessively loose clamping.

[0080] In some embodiments, the cable conveyor 100 is further equipped with a force sensor for detecting the clamping force of the tracked conveyor mechanism 130 on the cable; the above-mentioned cable conveying method also includes:

[0081] Obtain the clamping force detected by the force sensor;

[0082] If the clamping force exceeds the preset high threshold of clamping force, control the two tracked conveyor mechanisms 130 to stop increasing the clamping force on the cable.

[0083] In this embodiment, the clamping force of the track on the cable is monitored in real time by a force sensor. Combined with a preset high clamping force threshold, the clamping force is adaptively controlled, which reduces the probability of problems such as cable sheath damage and internal structure deformation caused by excessive clamping force, improves the quality of cable laying, and at the same time, prevents excessive clamping from causing track wear or drive component 140 overload, thus extending the service life of the equipment.

[0084] In some embodiments, the operating current includes the three-phase current of the drive assembly 140, and the above cable delivery method further includes:

[0085] Determine the three-phase current balance state based on the three-phase current;

[0086] When the three-phase current balance indicates a three-phase imbalance, a three-phase imbalance alarm message is generated.

[0087] In this embodiment, by monitoring the three-phase current of the drive component 140 and determining its balance, potential faults such as motor phase loss and poor line contact can be detected in a timely manner, reducing the possibility of overheating, increased vibration, or burnout of the drive motor due to three-phase imbalance. Simultaneously, the generated three-phase imbalance alarm information can quickly alert maintenance personnel to troubleshoot the fault, reducing equipment downtime and maintenance costs, and mitigating the risk of cable transmission interruptions caused by component failure.

[0088] After receiving the three-phase current data, the controller can first calculate the three-phase average value of the three-phase current, and then calculate the unbalance using the formula "unbalance = maximum phase current - three-phase average current / three-phase average current".

[0089] The aforementioned preset three-phase current imbalance threshold can be set manually according to motor characteristics or operating conditions. For example, it can be set to 10%. If the calculated imbalance exceeds this threshold, the three-phase current balance is determined to be unbalanced. The controller immediately generates an alarm message containing the fault type and the current three-phase current value, issues a warning through an audible and visual alarm, and uploads the information to the central control equipment for timely handling by maintenance personnel.

[0090] In some embodiments, the above-described cable delivery method further includes:

[0091] Acquire gas data of the environment in which the cable conveyor 100 is located, as detected by the gas sensor;

[0092] Determine abnormal gas conditions based on gas data;

[0093] When a gas abnormality is indicated, a gas abnormality alarm message is generated.

[0094] In this embodiment, gas sensors monitor the gas data of the environment surrounding the cable conveyor 100 in real time, enabling timely detection of abnormal gas levels, such as excessive levels of flammable or toxic gases. This reduces the possibility of construction workers inhaling harmful gases or causing safety accidents, ensuring the personal safety of on-site personnel. Abnormal gas alarm information can quickly trigger a warning response, buying maintenance personnel time for emergency response and reducing the risks of explosions and poisoning, thus meeting the safety management requirements for high-voltage cable laying sites.

[0095] Once triggered, the above alarm information can be triggered through the alarm module set locally.

[0096] refer to Figure 2 This application also proposes a cable laying system, which includes:

[0097] At least one tractor unit of 200;

[0098] Multiple cable conveyors 100, each cable conveyor 100 is used to perform the cable conveying method as described above;

[0099] The central control equipment is connected to the traction machine 200 and multiple cable conveyors 100 for communication.

[0100] In this embodiment, the cable laying system achieves centralized communication and collaborative control between the traction machine 200 and multiple cable conveyors 100 through a central control device, constructing an intelligent and integrated laying system that effectively solves the pain points of insufficient linkage and speed imbalance in traditional multi-device systems. All multiple cable conveyors 100 perform precise load monitoring, speed synchronization, and the aforementioned cable conveying method that enables slippage adaptive adjustment, reducing the probability of cable slippage, wear, or pulling damage. Simultaneously, the central control device can collect real-time operating data from each device, such as current, speed, clamping force, and gas status, enabling visualized monitoring and anomaly warnings of the overall status, significantly reducing manual intervention costs.

[0101] The aforementioned cable laying system can deploy at least one traction machine 200 as the main traction device, with multiple cable conveyors 100 spaced along the cable conveying path. Each device is equipped with a communication module to establish a wired or wireless communication connection with the central control equipment. The central control equipment can receive real-time information from each cable conveyor 100, including operating current, conveying speed, load status, and sensor detection data, while also acquiring the traction speed and operating status of the traction machine 200. When a cable conveyor 100 detects an abnormal decrease in load and asynchronous speed, it automatically performs a slippage speed adjustment operation. Simultaneously, the central control equipment or the cable conveyor 100 can locally analyze the operating data. If conditions such as three-phase current imbalance or gas abnormalities are detected, alarm information is immediately generated and pushed to the maintenance terminal.

[0102] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A cable transmission method, characterized in that, Applied to cable conveyors, the cable conveying method includes: The method involves obtaining the operating current of the drive assembly of a cable conveyor, which includes two tracked conveyor mechanisms arranged opposite to each other for clamping and conveying cables. The drive assembly drives the two tracked conveyor mechanisms. The drive assembly includes two sets of corresponding drive motors and reducers, each set of drive motors and reducers driving one of the tracked conveyor mechanisms. Obtaining the operating current of the cable conveyor's drive assembly includes: obtaining the current of any one of the drive motors and using it as the operating current; or, obtaining the sum of the currents of the two drive motors and using it as the operating current. Obtain the current average value of the operating current within the current cycle; Determine the difference between the current average value and the current average value of the operating current in the previous cycle. The load change status is determined based on the difference between the current average current values. If the difference between the current average current values ​​exceeds a preset current change threshold, the load change status indicates an abnormal decrease in load. If the difference between the current average current values ​​does not exceed the preset current change threshold, the load change status indicates a normal load. Obtain the first conveying speed of the cable conveyor. The second conveying speed of the cable conveying device in the previous order is obtained, wherein the cable conveying device in the previous order is the next cable conveying device in the direction of cable conveying, and the cable conveying device is a cable conveyor or a traction machine; Determine the speed synchronization state based on the first conveying speed and the second conveying speed; When the load change state indicates an abnormal decrease in load and the speed synchronization state indicates a speed asynchrony, a slippage command is generated. In response to the slippage command, the cable conveyor speed is adjusted with the second conveying speed as the target speed until the speed difference between the cable conveyor speed and the target speed is within a preset speed difference allowable range.

2. The cable conveying method according to claim 1, characterized in that, The process of obtaining the second conveying speed of the cable conveying device in the previous cycle includes: When the load change status indicates an abnormal decrease in load, a speed acquisition request is sent to the central control device so that the central control device sends the second conveying speed of the cable conveying device of the previous sequence to the cable conveyor or cable conveyor.

3. The cable conveying method according to claim 1, characterized in that, Determining the speed synchronization state based on the first conveying speed and the second conveying speed includes: Determine the current speed difference between the first conveying speed and the second conveying speed; The speed synchronization state is determined based on the current speed difference, wherein if the current speed difference exceeds a preset speed change threshold, the synchronization state indicates speed asynchrony, and if the current speed difference does not exceed the preset speed change threshold, the synchronization state indicates speed synchronization.

4. The cable transmission method according to claim 1, characterized in that, The cable conveyor is also equipped with a laser beam sensor and a force sensor. The laser beam sensor is used to detect the arrival status of the cable as it reaches the track of the tracked conveyor mechanism, and the force sensor is used to detect the clamping force of the tracked conveyor mechanism on the cable. The cable delivery method further includes: Obtain the cable arrival status detected by the laser beam sensor; Obtain the clamping force detected by the force sensor; When the cable arrival status indicates that the cable has reached the track of the tracked conveyor, and / or when the clamping force is greater than a preset clamping force start threshold, the tracked conveyor is controlled to start to transport the cable.

5. The cable transmission method according to claim 1, characterized in that, The cable conveyor is also equipped with a force sensor, which is used to detect the clamping force of the tracked conveyor mechanism on the cable; The cable delivery method further includes: Obtain the clamping force detected by the force sensor; If the clamping force exceeds a preset high threshold for clamping force, the two tracked conveyor mechanisms are controlled to stop increasing the clamping force on the cable.

6. The cable transmission method according to claim 1, characterized in that, The operating current includes the three-phase current of the drive components, and the cable delivery method further includes: The three-phase current balance state is determined based on the three-phase currents; When the three-phase current balance indicates a three-phase imbalance, a three-phase imbalance alarm message is generated.

7. The cable transmission method according to claim 1, characterized in that, Also includes: Acquire gas data of the environment in which the cable conveyor is located, as detected by a gas sensor; Determine the abnormal gas state based on the gas data; When the gas abnormality status indicates a gas abnormality, a gas abnormality alarm message is generated.

8. A cable laying system, characterized in that, include: At least one tractor; Multiple cable conveyors, each of which is used to perform the cable conveying method as described in any one of claims 1 to 7; The central control equipment is communicatively connected to the traction machine and multiple cable conveyors.

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