Interlocking cable transmission method and cable laying system

Abstract

This application discloses a method for coordinated cable conveying and a cable laying system. By deploying traction force sensors and simultaneously collecting real-time conveying speed, real-time traction speed, and cable tension, multi-parameter coordinated monitoring is achieved, accurately capturing the equipment's operating status. A graded control strategy is adopted for different speed difference levels. For small differences, the motor rotation frequency is adjusted to ensure stable operation; for large differences or high tension, the output torque is adjusted for rapid correction, balancing adjustment accuracy and response efficiency. Simultaneously, the target conveying speed is determined based on the target traction speed, enabling multiple cable conveyors to operate synchronously more effectively. This significantly reduces the probability of cable damage and accumulation, improves laying quality and safety, reduces manual intervention costs, and adapts to the high-efficiency operation requirements of complex laying scenarios.

Description

Technical Field

[0001] This application relates to the field of cable equipment, and in particular to a method for conveying and laying cables in a linkage manner. Background Technology

[0002] In high-voltage cable laying, the coordinated control of the traction machine and multiple cable conveyors is crucial. Existing technologies lack synchronous monitoring of the speed of each device and the cable tension, often leading to cable damage or accumulation due to speed mismatch and tension imbalance. To address these issues, existing adjustment methods mainly rely on adjusting the parameters of a single motor, resulting in low response accuracy and poor synchronization among multiple conveyors, making it difficult to adapt to the needs of complex laying scenarios. Summary of the Invention

[0003] This application aims to propose a method for coordinated cable transport and a cable laying system, which can improve the synchronization of cable transport during cable laying.

[0004] According to a first aspect embodiment of this application, a linked cable conveying method is applied to a cable laying system, the cable laying system including a traction machine and multiple cable conveyors, wherein traction force sensors are arranged between the traction machine and a first cable conveyor and between two adjacent cable conveyors, the linked cable conveying method comprising:

[0005] Obtain the real-time conveying speed of the cable conveying machine and the real-time traction speed of the cable traction machine;

[0006] Acquire the cable tension collected by each traction sensor;

[0007] Determine the traction speed difference between the real-time conveying speed and the real-time traction speed of each of the cable conveyors;

[0008] If any of the aforementioned traction speed differences is less than or equal to a preset first speed difference, the rotation frequency of the drive motor of the cable conveyor is adjusted so that the real-time conveying speed of the cable conveyor tends to the real-time traction speed.

[0009] If any of the aforementioned traction speed differences is greater than a preset second speed difference, and / or if the cable tension on the side of any of the cable conveyors closest to the traction machine is greater than a preset high tension threshold, the output torque of the cable conveyor is adjusted so that the real-time conveying speed of the cable conveyor tends to the real-time traction speed; the preset second speed difference is greater than the preset first speed difference;

[0010] If the difference between the real-time traction speed and the pre-acquired target conveying speed is greater than the preset synchronous speed difference, the real-time conveying speed of each cable conveyor is adjusted according to the current real-time conveying speed of each cable conveyor, the target conveying speed, and the real-time traction speed, wherein the target conveying speed is determined according to the pre-determined target traction speed of the traction machine.

[0011] A cable laying system according to a second aspect embodiment of this application includes:

[0012] Traction machine;

[0013] Multiple cable conveyors; the traction machine and the multiple cable conveyors are arranged along the cable laying path; traction force sensors are arranged between the traction machine and the first cable conveyor, and between two adjacent cable conveyors.

[0014] The central control device is communicatively connected to the traction machine, the plurality of cable conveyors, and the plurality of traction force sensors, and is used to execute the linkage cable conveying method as described in the first aspect embodiment.

[0015] The cable conveying method and cable laying system of this application embodiment achieve multi-parameter collaborative monitoring and accurately capture the equipment's operating status by deploying traction force sensors and synchronously collecting real-time conveying speed, real-time traction speed, and cable tension. A graded control strategy is adopted for different speed difference levels: for small differences, the motor rotation frequency is adjusted to ensure stable operation; for large differences or high tension, the output torque is adjusted for rapid correction, balancing adjustment accuracy and response efficiency. Simultaneously, the target conveying speed is determined based on the target traction speed, enabling multiple cable conveyors to operate synchronously more effectively. This significantly reduces the probability of cable damage and accumulation, improves laying quality and safety, reduces manual intervention costs, and adapts to the high-efficiency operation requirements of complex laying scenarios.

[0016] 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

[0017] 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:

[0018] Figure 1 An isometric view of a cable conveyor provided in an embodiment of this application;

[0019] Figure 2 A schematic diagram of a cable laying system provided in an embodiment of this application;

[0020] Figure 3A flowchart of the linkage cable conveying method provided in the embodiments of this application.

[0021] Figure label:

[0022] 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; trolley 300; traction force sensor 400. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] To better describe the linkage cable conveying method and cable laying system of the embodiments of this application, a cable laying system is proposed herein, with reference to... Figure 1 , Figure 2 The cable laying system includes a traction machine 200, multiple cable conveyors 100, and a central control device electrically connected to the traction machine 200 and the multiple cable conveyors 100; traction force sensors 400 are arranged between the traction machine 200 and the first cable conveyor 100, and between two adjacent cable conveyors 100. Figure 2 (Not all traction sensors 400 are shown in the image.) Multiple traction sensors 400 are electrically connected to the central control unit.

[0029] refer to Figure 1 Each cable conveyor 100 includes a base 110, two supports 120, two crawler conveyor mechanisms 130, and two drive assemblies 140. The two supports 120 are mounted on the base 110 and located on either side of the base 110. A mounting platform is provided on the top of each support 120. The two crawler 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 conveyor mechanisms 130 and are used to drive the corresponding crawler conveyor mechanisms 130 to operate, so that the tracks of the two crawler 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, allowing the two mounting platforms to 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 drive motor shaft of the cable conveyor 100 is also equipped with an encoder to collect the drive motor speed in real time. Since the transmission ratio between the drive motor, reducer, and tracked conveyor mechanism 130 is fixed, the conveying speed of the tracked conveyor mechanism, i.e., the real-time conveying speed of the cable conveyor 100, can be determined. Similarly, an encoder can also be installed on the shaft of the traction machine 200 to determine its real-time traction speed by collecting the shaft speed.

[0033] 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.

[0034] 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.

[0035] 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, encoder, etc., are all electrically connected to the controller.

[0036] In some implementations, the cable laying system may also be equipped with a trolley 300 to deal with scenarios where the cable needs to bend. The trolley 300 may be equipped with a side pressure sensor and an angle sensor that are electrically connected to the central control equipment. The side pressure sensor can detect the side pressure of the cable, and the angle sensor can detect the turning radius of the cable passing through the trolley 300.

[0037] An adjustment mechanism, such as a hydraulic push rod or an electric push rod, can be installed on the aforementioned trolley 300 to adjust the turning radius and increase or decrease the lateral pressure to a certain extent.

[0038] It should be noted that control boxes can be installed in both the traction machine 200 and the pulley 300 to enable communication with the central control equipment, thereby reducing the number of cables.

[0039] The following describes the linkage cable conveying method and cable laying system of the present application based on the above-described cable laying system.

[0040] See Figure 3 As shown, Figure 3 This is a flowchart of a linkage cable conveying method provided in an embodiment of this application, which includes steps S100 to S600:

[0041] S100, obtain the real-time conveying speed of the cable conveying machine 100 and the real-time traction speed of the cable traction machine 200;

[0042] S200, acquires the cable tension collected by each traction sensor 400;

[0043] S300, determine the traction speed difference between the real-time conveying speed and the real-time traction speed of each cable conveyor 100;

[0044] S400, when any traction speed difference is less than or equal to a preset first speed difference, adjust the rotation frequency of the drive motor of the cable conveyor 100 so that the real-time conveying speed of the cable conveyor 100 tends to the real-time traction speed.

[0045] S500, when any traction speed difference is greater than a preset second speed difference, and / or when the cable tension on the side of any cable conveyor 100 near the traction machine 200 is greater than a preset high tension threshold, the output torque of the cable conveyor 100 is adjusted so that the real-time conveying speed of the cable conveyor 100 tends to the real-time traction speed; the preset second speed difference is greater than the preset first speed difference.

[0046] S600, when the difference between the real-time traction speed and the pre-acquired target conveying speed is greater than the preset synchronous speed difference, adjusts the real-time conveying speed of each cable conveyor 100 according to the current real-time conveying speed, target conveying speed and real-time traction speed of each cable conveyor 100, wherein the target conveying speed is determined according to the pre-determined target traction speed of the traction machine 200.

[0047] In this embodiment, by deploying traction sensors 400 and simultaneously collecting real-time conveying speed, real-time traction speed, and cable tension, multi-parameter collaborative monitoring is achieved, accurately capturing the equipment's operating status. A graded control strategy is adopted for different speed difference levels: for small differences, the motor rotation frequency is adjusted to ensure stable operation; for large differences or high tension, the output torque is adjusted for rapid correction, balancing adjustment accuracy and response efficiency. Simultaneously, the target conveying speed is determined based on the target traction speed, enabling multiple cable conveyors 100 to operate synchronously more effectively. This significantly reduces the probability of cable damage and accumulation, improves laying quality and safety, reduces manual intervention costs, and meets the high-efficiency operation requirements of complex laying scenarios.

[0048] Encoders can be installed on the drive motor shaft end of each cable conveyor 100 and the traction wheel shaft end of the traction machine 200. The encoder signal is connected to the core controller of the corresponding equipment. Then, combined with the preset diameter of the motor drive wheel or traction wheel and the encoder frequency multiplication factor, the real-time conveying speed of each cable conveyor 100 and the real-time traction speed of the traction machine 200 are calculated.

[0049] The aforementioned traction sensor 400 can be a tension sensor, which is used to detect the cable tension.

[0050] The aforementioned preset first speed difference can be flexibly set according to actual engineering needs, for example, 0.1 m / min. If the traction speed difference of any cable conveyor 100 is less than or equal to this value, the frequency adjustment mode is triggered. For example, if the real-time conveying speed is lower than the real-time traction speed, the motor frequency is increased proportionally to the speed difference; if it is higher than the real-time traction speed, the motor frequency is decreased proportionally to ensure that the speed smoothly approaches the real-time traction speed.

[0051] The aforementioned preset second speed difference can be flexibly set according to actual engineering needs, for example, 0.5 m / min.

[0052] The aforementioned preset high-tension threshold can be flexibly set according to actual engineering needs, for example, 70% of the cable's rated tensile strength.

[0053] Specifically, if the traction speed difference of any cable conveyor 100 is greater than the second speed difference, or if the cable tension on the side closest to the traction machine 200 exceeds the high tension threshold, the torque adjustment mode can be triggered. For example, the output torque can be reduced or increased by 5% each time, with a response time of no more than 0.5s.

[0054] The target conveying speed of each cable conveyor 100 is determined in advance based on the target traction speed and the cable tension corresponding to each cable conveyor 100 (the cable tension collected by the traction force sensor 400 arranged on the side of each cable conveyor 100 close to the traction machine 200 can be understood as the cable tension corresponding to that cable conveyor 100). Then, if the difference between the real-time traction speed and the target conveying speed exceeds the preset synchronous speed difference, the central control equipment can adjust the speed independently by fine-tuning according to the real-time speed of each conveyor, its own target speed and the real-time traction speed, so that multiple conveyors can synchronously follow the traction speed, reducing the possibility of cable slack or stretching.

[0055] The preset synchronization speed difference can be flexibly set according to actual engineering needs, for example, 0.05m / min.

[0056] In some embodiments, the target conveying speed of any cable conveyor 100 is the product of the target traction speed and a preset speed determination coefficient, wherein the preset speed determination coefficient is negatively correlated with the cable tension on the side of the cable conveyor 100 closest to the traction machine 200.

[0057] In this embodiment, by dynamically adapting the negative correlation between cable tension and speed through a preset coefficient, the target speed of the conveyor can be precisely adjusted according to the real-time stress state of the cable. That is, the target speed is reduced to prevent strain when the tension is high, and the target speed is increased to prevent accumulation when the tension is low, thus achieving closed-loop coordinated control of speed and tension.

[0058] The aforementioned central control equipment can pre-define cable tension ranges and match corresponding preset speed determination coefficients. For example, when the real-time tension of the cable conveyor 100 near the traction machine 200 is lower than the preset low safety tension (which can be flexibly set according to requirements), the preset speed determination coefficient can be 1.01-1.02; when it is higher than the preset high safety tension (which can be flexibly set according to requirements), the preset speed determination coefficient can be 0.98-0.99. The central control equipment can acquire tension data in real time, match the corresponding coefficients, and multiply them with the target traction speed to generate the target conveying speed of the cable conveyor 100.

[0059] In some implementations, speed compensation is provided between adjacent cable conveyors 100 to ensure that the cable moves at a constant speed in the path.

[0060] In this embodiment, speed compensation between adjacent devices can offset speed deviations caused by factors such as changes in path resistance and differences in device response in real time, reducing the possibility of local stretching or accumulation of cables between conveyors, reducing insulation layer damage caused by uneven local stress, and improving the accuracy and reliability of multi-device collaborative control.

[0061] The speed compensation setting mentioned above can be understood as setting a delay adjustment time based on the distance between the two conveyors. For example, the second one is adjusted 0.3 seconds later than the first one. The specific delay time needs to be flexibly set according to the actual engineering situation.

[0062] In some implementations, the real-time conveying speed of each cable conveyor 100 is adjusted based on its current real-time conveying speed, target conveying speed, and real-time traction speed, constrained by the following formula:

[0063] v 输 = v 输 + (v) 目 - v 牵） ×0.8;

[0064] In the formula, v 输 For real-time transmission speed, v 牵 To achieve real-time traction speed, v 目 To achieve the target speed for delivery.

[0065] In this embodiment, a fixed-ratio compensation algorithm is used to improve the speed adjustment response efficiency while reducing the possibility of speed oscillation caused by excessive adjustment, thereby achieving a smooth approach of the conveying speed, reducing the risk of stretching or accumulation, and improving laying accuracy and safety.

[0066] In some embodiments, the above-mentioned method for transmitting the linkage cable further includes:

[0067] Obtain the real-time traction force of the tractor 200;

[0068] The target clamping force for each cable conveyor is determined by multiplying the real-time traction force with the preset clamping determination coefficient.

[0069] If the deviation of the real-time clamping force of any cable conveyor 100 from the target clamping force exceeds a preset clamping deviation threshold, the real-time clamping force of the cable conveyor 100 shall be reduced.

[0070] In this embodiment, the target clamping force is dynamically matched with the real-time traction force to reduce the possibility of damage to the cable insulation layer due to excessive clamping force or slippage due to insufficient clamping force during high-speed cable transmission.

[0071] Specifically, the real-time clamping force of each conveyor is collected, and the deviation from the target clamping force is calculated. If the deviation exceeds the preset clamping deviation threshold (e.g., 5%, which can be flexibly set), an instruction can be immediately issued to reduce the real-time clamping force of the corresponding conveyor.

[0072] In some embodiments, the cable laying system further includes a trolley 300, which is located at a bend in the cable laying path and is equipped with a side pressure detection sensor and an angle sensor.

[0073] The cable transmission method also includes:

[0074] The target lateral pressure is determined based on the real-time traction force, the preset lateral pressure determination coefficient, and the cable turning radius collected by the angle sensor; among which, the preset lateral pressure determination coefficient is negatively correlated with the cable turning radius.

[0075] If the real-time side pressure collected by the side pressure detection sensor is less than the target side pressure, adjust the adjustment mechanism in the trolley 300 to increase the side pressure of the cable in the trolley 300.

[0076] If the real-time side pressure collected by the side pressure detection sensor is greater than the preset high side pressure threshold, the adjustment mechanism in the trolley 300 is adjusted to reduce the side pressure of the cable in the trolley 300.

[0077] In this embodiment, based on the turning radius, preset lateral pressure determination coefficient, and dynamic adaptation of traction force to target lateral pressure, the probability of cable deviation due to insufficient lateral pressure or damage to the insulation layer due to excessive lateral pressure is reduced. Simultaneously, the negative correlation coefficient design conforms to the characteristics of turning conditions, improving laying stability at turns and effectively enhancing cable safety and laying quality.

[0078] The aforementioned trolley 300 is installed at the bend in the cable laying path and is equipped with a side pressure detection sensor and an angle sensor. The central control equipment acquires the real-time traction force of the traction machine 200 and the cable turning radius collected by the angle sensor in real time. It matches a preset side pressure determination coefficient according to a negative correlation (the smaller the radius, the larger the coefficient). The target side pressure is calculated by combining the three data, and the turning radius is effectively adjusted by comparing the target side pressure with the real-time side pressure in real time. Specifically, if the real-time side pressure is less than the target value, the side pressure is increased by the adjustment mechanism of the trolley 300; if it is greater than the preset side pressure high threshold, the side pressure is decreased.

[0079] The target lateral pressure, determined based on real-time traction force, a preset lateral pressure determination coefficient, and the cable turning radius collected by the angle sensor, can be constrained by the following formula:

[0080] F 侧目 = k1×F 牵实 / R;

[0081] In the formula, F 侧目 For target-side pressure; F 牵实 is the real-time traction force; k1 is the preset side pressure determination coefficient; R is the cable turning radius.

[0082] The aforementioned preset side pressure determination coefficient is negatively correlated with the cable turning radius. For details, please refer to Table 1.

[0083] Table 1

[0084]

[0085] In some implementations, when there is a sudden change in the real-time traction force of the traction machine 200 (for example, the change ratio exceeds ±10% of the current real-time traction force, and the specific traction force change ratio threshold can be flexibly adjusted), the clamping force adjustment of the two cable conveyors 100 closest to the traction machine 200 can be triggered first (response delay ≤0.3s), and then the other cable conveyors 100 and the turning trolley 300 can be adjusted synchronously.

[0086] In this embodiment, to address sudden fluctuations in the traction force of the traction machine 200, the clamping force of the two near-end conveyors is adjusted first. This allows for rapid buffering of the impact force within 0.3 seconds, blocking the transmission of fluctuations and reducing the possibility of cable strain or twisting caused by sudden changes in cable stress. Subsequently, other equipment is adjusted synchronously to ensure overall coordination, improving the system's response speed to sudden conditions and enhancing the stability and safety of the cable laying process.

[0087] In some embodiments, the above-described method for transmitting the linkage cable further includes:

[0088] If the real-time traction force exceeds the preset traction high threshold, a traction over-value alarm will be generated.

[0089] In this embodiment, the traction force of the traction machine 200 is monitored in real time and a preset traction high threshold is set. Once the traction force exceeds the limit, an alarm is immediately generated, which can quickly remind construction personnel to check for abnormal path resistance, equipment jamming and other problems in a timely manner. This reduces the occurrence of cable stretching and deformation, insulation layer damage or traction equipment overload damage caused by excessive traction force, and provides real-time safety warning for cable laying.

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

[0091] If the real-time side pressure exceeds the preset high side pressure threshold, a side pressure over-value alarm will be generated.

[0092] In this embodiment, by monitoring the cable side pressure in real time at the trolley 300 and setting a preset high side pressure threshold, an alarm is immediately triggered once the side pressure exceeds the limit. This can quickly alert operators and promptly troubleshoot problems such as abnormal turning paths and malfunctions in the trolley 300 adjustment mechanism. It effectively prevents serious damage such as cable insulation wear, sheath tearing, and even cable structural deformation caused by excessive side pressure.

[0093] The aforementioned preset high threshold for lateral pressure can be flexibly set according to the target lateral pressure, for example, it can be set to 1.2 times the target lateral pressure.

[0094] In some embodiments, the above-described method for transmitting the linkage cable further includes:

[0095] If the real-time clamping force of the cable conveyor 100 exceeds the preset high clamping threshold, an over-clamping alarm will be generated.

[0096] In this embodiment, the clamping force of the cable conveyor 100 is monitored in real time, and a preset high clamping threshold is set. Once an excessive clamping force is detected, an alarm is immediately triggered. This effectively prevents damage to the cable insulation layer, sheath deformation, or even damage to the cable conductor caused by excessive clamping force, thereby ensuring the quality of cable laying and subsequent operational safety. Simultaneously, the alarm function also reminds operators to promptly check and adjust the clamping mechanism to prevent equipment damage due to overload, reducing maintenance costs and potential safety hazards.

[0097] In addition, it should be noted that in the event of an alarm, the traction force output by the traction machine 200 can be reduced simultaneously, for example, by reducing the rate by 5kN / s, and the clamping force / side pressure of the corresponding equipment can be adjusted to eliminate the alarm. If the alarm is not eliminated within 1 second, the linkage shutdown can be triggered.

[0098] In some embodiments, the above-described method for transmitting the linkage cable further includes:

[0099] Acquire gas data of the environment in which the cable laying system is located, as detected by gas sensors;

[0100] Determine abnormal gas conditions based on gas data;

[0101] When a gas abnormality is indicated, a gas abnormality alarm message is generated.

[0102] In this embodiment, by adding gas sensors to monitor the laying environment in real time, abnormal gas conditions such as flammable, toxic, or oxygen-deficient gases can be detected in a timely manner and an alarm can be triggered immediately. This measure extends construction safety from the equipment and cables themselves to the direct protection of the lives of construction personnel, effectively preventing serious safety accidents such as gas explosions, personnel poisoning, or suffocation, and providing comprehensive environmental safety early warning for cable laying operations.

[0103] Specifically, one or more gas sensors are deployed within the cable laying area, especially in high-risk environments such as tunnels, underground mines, or confined spaces. These sensors can detect the concentration of specific gases such as methane, carbon monoxide, and hydrogen sulfide, or detect the oxygen content in the environment. The central control equipment receives real-time gas data and continuously compares it with preset safety thresholds. When a gas concentration exceeds its corresponding alarm threshold, indicating an abnormal gas state, a gas abnormality alarm is immediately generated. A strong alarm is issued via an audible and visual alarm, displaying the specific alarm type (e.g., "methane exceeding the limit"), the alarm location, and the real-time concentration value. Simultaneously, the corresponding safety emergency procedures can be automatically activated.

[0104] In some embodiments, a laser beam sensor 160 is also provided at the inlet of the cable channel formed by the two tracked conveyor mechanisms 130 of each cable conveyor 100.

[0105] The cable transmission method also includes:

[0106] When the laser beam sensor 160 of either cable conveyor 100 is triggered, the tracked conveyor mechanism 130 of the cable conveyor 100 is controlled to move closer to each other, and the two tracked conveyor mechanisms 130 are controlled to rotate to transport the cable.

[0107] In this embodiment, a laser beam sensor 160 is installed at the inlet of the cable conveyor 100 to achieve automatic cable identification and start-up control. When the cable enters the channel, the sensor is triggered, and the system automatically controls the track mechanism to clamp and begin conveying, without manual intervention. This not only simplifies the operation process and reduces labor costs, but also prevents problems such as cable jamming and wear caused by untimely or erroneous manual operation, significantly improving the automation level, efficiency, and safety of the laying operation.

[0108] Specifically, at the cable channel inlet formed by the two crawler-type conveyor mechanisms 130 of each cable conveyor 100, a pair of laser beam sensors 160 are symmetrically installed, with the transmitter and receiver located on opposite sides of the channel. During system initialization, the crawler mechanisms are in the open state. When the cable tip enters the channel and blocks the laser beam, the sensor is triggered and sends a detection signal. Upon receiving the detection signal, a command is immediately issued to control the crawler drive devices on both sides to move the crawler mechanisms closer together until the cable is clamped to a preset pressure value. Subsequently, the crawler motor is started and rotated at a set speed, thereby driving the cable forward.

[0109] In some embodiments, the cable delivery method further includes:

[0110] Obtain the three-phase current of the drive motor of the cable conveyor 100;

[0111] Determine the three-phase current balance state based on the three-phase current;

[0112] When the three-phase current balance indicates a three-phase imbalance, a three-phase imbalance alarm message is generated.

[0113] 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.

[0114] 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".

[0115] 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.

[0116] refer to Figure 2 This application also proposes a cable laying system, which includes:

[0117] At least one tractor unit 200;

[0118] Multiple cable conveyors 100, each cable conveyor 100 is used to perform the linkage cable conveying method as described above;

[0119] The central control equipment is connected to the traction machine 200 and multiple cable conveyors 100 for communication.

[0120] In this embodiment, the traction machine 200 and multiple cable conveyors 100 are centrally controlled by a central control device, and a coordinated conveying method is executed, realizing collaborative work between the equipment. This centralized management method reduces manual intervention, improves laying efficiency, and ensures the safety and accuracy of cable laying through real-time monitoring and adjustment, thereby reducing construction costs and risks.

[0121] The aforementioned tractor 200 is equipped with a traction sensor 400 and a speed encoder to collect traction force and traction speed data in real time.

[0122] The cable conveyor 100 is equipped with a tracked conveyor mechanism 130, a laser beam sensor 160, a clamping force sensor, and a speed encoder. The laser beam sensor 160 is used to detect whether the cable has entered the channel, the clamping force sensor monitors the clamping force of the track on the cable, and the speed encoder collects the conveying speed.

[0123] The core controller of the aforementioned central control equipment can be an industrial computer, PLC, or a microcontroller, DSP, or other processing equipment, and can be connected to the traction machine 200, cable conveyor 100, and traction sensor 400 via wired (such as Ethernet, RS485) or wireless (such as 4G / 5G, WiFi) communication methods.

[0124] The aforementioned central control equipment receives in real time the traction force and speed data of the traction machine 200, as well as the status, clamping force, and conveying speed data of the laser beam sensors 160 of each cable conveyor 100.

[0125] The aforementioned central control equipment can adjust the conveying speed and clamping force of the cable conveyor 100 based on the speed and traction force data of the traction machine 200 and the speed feedback of each conveyor, so that the cable is subjected to uniform force and synchronized speed during the laying process. Furthermore, if the traction force or clamping force is detected to exceed the preset threshold, the system can automatically issue an alarm signal, adjust the relevant equipment parameters, and stop the operation if necessary.

[0126] In some embodiments, the cable laying system described above also includes a trolley 300, which is located at a bend in the cable laying path and is equipped with a side pressure detection sensor and an angle sensor.

[0127] In this embodiment, by adding a trolley 300 equipped with a side pressure detection sensor and an angle sensor at the bend in the cable laying path, precise monitoring and control of the bend conditions can be achieved. This not only expands the monitoring range from straight sections to critical bends, but more importantly, it allows the central control equipment to dynamically adjust the conveyor speed and clamping force, or directly adjust the attitude of the trolley 300, based on real-time side pressure and bend angle data. This effectively reduces the occurrence of insulation damage, cable misalignment, or excessive stretching caused by excessive side pressure during bends, significantly improving the safety, stability, and construction quality of cable laying in complex paths.

[0128] The aforementioned lateral pressure detection sensor can be used to measure in real time the lateral pressure exerted by the cable on the trolley 300 when it turns.

[0129] The aforementioned angle sensor can be used to accurately measure the real-time steering angle of the trolley 300 or the bending angle of the cable.

[0130] In addition to receiving data from the traction machine 200 and the cable conveyor 100, the aforementioned central control equipment can also receive lateral pressure data and angle data from the pulleys 300 at each turning point in real time through the newly added communication link.

[0131] When the central control device detects that the real-time lateral pressure of the trolley 300 exceeds the preset safety threshold, the central control device can automatically adjust the speed of the cable conveyor 100 before and after the turn, or adjust the clamping force of the cable conveyor 100 to change the stress state of the cable, thereby reducing the lateral pressure. It can also adjust the electric push rod in the trolley 300 to change the turning radius.

[0132] Based on the turning angle detected by the angle sensor, the aforementioned central control equipment can predict the trend of force change on the cable at that point and adjust the parameters of the relevant cable conveyor 100 in advance to achieve more proactive and smoother control.

[0133] The aforementioned central control equipment can issue an alarm and trigger corresponding protective actions, such as slowing down or stopping the equipment in the relevant section, if it detects that the side pressure is continuously excessive or the angle is abnormal.

[0134] 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 method for conveying a linkage cable, characterized in that, An application is made in a cable laying system, which includes a traction machine and multiple cable conveyors. Traction sensors are arranged between the traction machine and the first cable conveyor, and between two adjacent cable conveyors. The linked cable conveying method includes: Obtain the real-time conveying speed of the cable conveying machine and the real-time traction speed of the cable traction machine; Acquire the cable tension collected by each traction sensor; Determine the traction speed difference between the real-time conveying speed and the real-time traction speed of each of the cable conveyors; If any of the aforementioned traction speed differences is less than or equal to a preset first speed difference, the rotation frequency of the drive motor of the cable conveyor is adjusted so that the real-time conveying speed of the cable conveyor tends to the real-time traction speed. If any of the aforementioned traction speed differences is greater than a preset second speed difference, and / or if the cable tension on the side of any of the cable conveyors closest to the traction machine is greater than a preset high tension threshold, the output torque of the cable conveyor is adjusted so that the real-time conveying speed of the cable conveyor tends to the real-time traction speed; the preset second speed difference is greater than the preset first speed difference; If the difference between the real-time traction speed and the pre-acquired target conveying speed is greater than the preset synchronous speed difference, the real-time conveying speed of each cable conveyor is adjusted according to the current real-time conveying speed, the target conveying speed, and the real-time traction speed of each cable conveyor. The target conveying speed is determined based on the pre-determined target traction speed of the traction machine. The target conveying speed of any cable conveyor is the product of the target traction speed and a preset speed determination coefficient. The preset speed determination coefficient is negatively correlated with the cable tension on the side of the cable conveyor closer to the traction machine. The method for transmitting the linkage cable also includes: Obtain the real-time traction force of the tractor; The target clamping force for each cable conveyor is determined by multiplying the real-time traction force with the preset clamping determination coefficient. If the deviation of the real-time clamping force of any of the cable conveyors from the target clamping force exceeds a preset clamping deviation threshold, the real-time clamping force of the cable conveyor shall be reduced.

2. The method for conveying a linkage cable according to claim 1, characterized in that, The cable laying system also includes a pulley, which is located at a bend in the cable laying path and is equipped with a side pressure detection sensor and an angle sensor. The method for transmitting the linkage cable also includes: The target lateral pressure is determined based on the real-time traction force, the preset lateral pressure determination coefficient, and the cable turning radius collected by the angle sensor; wherein the preset lateral pressure determination coefficient is negatively correlated with the cable turning radius. If the real-time side pressure collected by the side pressure detection sensor is less than the target side pressure, the adjustment mechanism in the trolley is adjusted to increase the side pressure of the cable in the trolley. If the real-time side pressure collected by the side pressure detection sensor is greater than the preset high side pressure threshold, the adjustment mechanism in the trolley is adjusted to reduce the side pressure of the cable in the trolley.

3. The method for conveying a linkage cable according to claim 2, characterized in that, Also includes: If the real-time traction force exceeds a preset traction high threshold, a traction over-limit alarm will be generated. And / or, If the real-time side pressure exceeds a preset high side pressure threshold, a side pressure over-limit alarm will be generated; and / or, If the real-time clamping force of the cable conveyor exceeds the preset high clamping threshold, an over-clamping alarm will be generated.

4. The method for conveying a linkage cable according to claim 1, characterized in that, Also includes: Acquire gas data of the environment in which the cable laying system 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.

5. The method for conveying a linkage cable according to claim 1, characterized in that, A laser beam sensor is also provided at the inlet of the cable channel formed by the two tracked conveyor mechanisms of each of the cable conveyors; The method for transmitting the linkage cable also includes: When the laser beam sensor corresponding to any of the cable conveyors is triggered, the tracked conveyor mechanisms of the cable conveyor are controlled to move closer to each other, and the two tracked conveyor mechanisms are controlled to rotate to convey the cable.

6. The method for conveying a linkage cable according to claim 1, characterized in that, The method for transmitting the linkage cable also includes: Obtain the three-phase current of the drive motor of the cable conveyor; 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. A cable laying system, characterized in that, include: Traction machine; Multiple cable conveyors; The traction machine and the multiple cable conveyors are arranged along the cable laying path; Traction force sensors are arranged between the traction machine and the first cable conveyor, and between two adjacent cable conveyors. The central control device is communicatively connected to the traction machine, the plurality of cable conveyors, and the plurality of traction force sensors, and is used to execute the linkage cable conveying method as described in any one of claims 1 to 6.

8. The cable laying system according to claim 7, characterized in that, It also includes a pulley, which is set at a bend in the cable laying path, and the pulley is equipped with a side pressure detection sensor and an angle sensor.

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