Stretching linkage system for tension pay-off and working method thereof

Abstract

The invention relates to the technical field of electric power engineering construction, in particular to a stretching linkage system for tension pay-off and a working method of the stretching linkage system for tension pay-off, and the working method comprises the steps that a multi-dimensional tension sensing layer collects real-time tension data, wire pay-off speed data and space attitude data; the multi-unit cooperative control center associates the multi-unit operation parameters through a double-closed-loop synchronous control algorithm to generate a cooperative control instruction; the dynamic tension adjusting unit is used for adjusting tension output and pay-off speed in real time by combining wire material characteristics and pay-off working conditions; the fault self-diagnosis and fault-tolerant unit monitors the running state in real time, diagnoses the fault type and switches a standby unit; the safety protection unit evaluates the wire damage risk, the equipment overload risk and the personnel safety risk, and generates a safety operation strategy in combination with historical pay-off fault data; and the remote collaborative interaction module performs interface superposition on the three-dimensional model and the real scene, and performs sharing interaction on the tension pay-off whole process data. Therefore, the problems of low control precision, poor scene adaptability and the like in the prior art are solved.

Description

Technical Field

[0001] This invention relates to the field of power engineering construction technology, specifically to a tensioning linkage system for tension wire laying and its working method. Background Technology

[0002] Tension cable laying is a core procedure in the construction of high-voltage and ultra-high-voltage overhead transmission lines. The tensioning linkage system, as the core equipment in this procedure, directly determines the quality of cable laying, construction efficiency, and operational safety. Its performance stability is crucial to preventing cable dragging damage, excessive tension breakage, and equipment overload damage. During long-term service, this system must continuously cope with the complex challenges unique to power engineering: on the one hand, differences in cable types and variations in construction terrain lead to drastic load fluctuations; on the other hand, harsh environmental conditions such as temperature and humidity fluctuations, strong wind interference, and continuous vibration during open-air construction, coupled with the switching between long-distance single-cable laying and parallel multi-cable laying, easily lead to problems such as decreased system output stability, poor multi-cable coordination, and delayed fault response. These problems not only significantly increase the risk of power outages but can also, in severe cases, cause cable jumps, equipment burnout, and other accidents, directly threatening the safety of transmission line construction. As power engineering develops towards ultra-high voltage and complex terrain, higher technical requirements are placed on tension linkage systems: they need to have rapid power response, wide temperature range adaptability, high reliability, and multi-cable synchronous control capabilities. Therefore, there is an urgent need for a tension linkage system that can perceive multi-dimensional status in real time, dynamically optimize linkage strategies, and quickly respond to complex working conditions to ensure efficient and stable operation in diverse cable laying scenarios.

[0003] Traditional tensioning and tensioning linkage systems suffer from multiple inherent defects, making it difficult to meet the aforementioned technical requirements and becoming a key bottleneck restricting the upgrading of transmission line construction quality: At the regulation logic level, a fixed control strategy is adopted, triggering regulation based solely on single electrical parameters such as tension and speed, without integrating multi-dimensional information such as terrain slope, wind speed interference, and cable type. This makes it unable to adapt to the construction characteristics of "severe load fluctuations and dynamic switching of operating conditions," resulting in low regulation accuracy and poor coordination among multiple cables. At the hardware adaptation level, core components are not designed with reinforced structures for strong electromagnetic interference, wide temperature range fluctuations, and continuous vibration in the open air. Long-term operation is prone to component performance drift and signal transmission errors, significantly reducing system response speed. At the energy efficiency and reliability level, a crude energy management mode is adopted. Passive regulation results in high energy loss, while active regulation lacks dynamic adaptability and cannot adjust the tension threshold in real time according to the terrain. This not only reduces construction efficiency but also exacerbates the wear and tear on traction and tensioning machine components. At the same time, key modules lack redundant design, and the failure of a single module can paralyze the entire system. The average annual failure impact time is long, far exceeding the stringent requirements for failure impact time in power engineering. In summary, traditional tension linkage systems face multiple challenges, including rigid adjustment strategies, low control precision, poor adaptability to various scenarios, and weak reliability. Therefore, technological innovation is urgently needed to achieve performance breakthroughs. Summary of the Invention

[0004] This invention provides a tensioning linkage system and its working method for tension wire release, in order to solve the problems of low control accuracy and poor scene adaptability in the prior art.

[0005] A first aspect of this invention provides a tensioning linkage system for tension wire laying, comprising: a multi-dimensional tension sensing layer, a multi-unit collaborative control center, a dynamic tension adjustment unit, a fault self-diagnosis and fault-tolerance unit, a safety protection unit, and a remote collaborative interaction module; the multi-dimensional tension sensing layer is used to collect real-time tension data, wire laying speed data, and wire spatial attitude data from multiple tensioning units; the multi-unit collaborative control center is used to receive the data collected by the multi-dimensional tension sensing layer, associate the operating parameters of multiple units through a dual closed-loop synchronous control algorithm, and generate collaborative control commands; the dynamic tension adjustment unit is used to adjust the dynamic tension according to the collaborative control commands, combined with the wire laying speed data, and the wire spatial attitude data. The system adjusts the tension output and laying speed of the tensioning unit in real time based on the wire material characteristics and laying conditions; the fault self-diagnosis and fault tolerance unit monitors the unit's operating status in real time, diagnoses fault types, and triggers seamless switching to the standby unit; the safety protection unit assesses the risks of conductor damage, equipment overload, and personnel safety based on fault types, quantifies risk weights using the analytic hierarchy process, and generates safe operation strategies by combining historical laying fault data; the remote collaborative interaction module overlays the BIM 3D model of the laying path with AR reality on the interface, enabling the on-site operator and remote monitoring terminal to share and interact on the entire tension laying process data.

[0006] Preferably, the multi-dimensional tension sensing layer includes a high-precision tension sensor module, a laser velocity measurement module, and a conductor posture monitoring module. The high-precision tension sensor module is used to collect the real-time tension value of the conductor clamping end of each tensioning unit; the laser velocity measurement module is used to collect the instantaneous speed and cumulative length of the conductor release; and the conductor posture monitoring module is used to capture the spatial swing angle, sag, and torsion state of the conductor.

[0007] Preferably, the multi-unit collaborative control hub includes a synchronization control algorithm unit and a control command generation engine. The synchronization control algorithm unit is used to perform dynamic collaborative control of multiple units under different laying distances based on a dual closed-loop synchronization control algorithm. The inner loop uses the tension deviation of a single unit as the control target, and the outer loop uses the synchronization rate of the laying speed of multiple units as the control target. The control command generation engine is used to convert the collaborative control logic into hydraulic valve control signals and motor drive signals of each unit.

[0008] Preferably, the dynamic tension adjustment unit includes a working condition identification module, a material matching adjustment module, and an overload protection unit. The working condition identification module is used to automatically identify the wire laying stage and match a preset tension control strategy. The material matching adjustment module is used to dynamically adjust the upper limit of tension output according to the elastic modulus and breaking tension of the conductor material. The overload protection unit is used to trigger emergency braking and cut off the unit's power source when the tension exceeds the upper limit.

[0009] Preferably, the fault self-diagnosis and fault-tolerant unit includes a status monitoring module, a fault diagnosis engine, and a fault-tolerant switching unit. The status monitoring module is used to monitor the unit's motor current, hydraulic system pressure, and sensor signal strength operating parameters in real time. The fault diagnosis engine is used to locate the fault type through fault tree analysis. The fault-tolerant switching unit is used to activate the standby unit and load the current control parameters when the main unit fails, ensuring tension stability.

[0010] Preferably, the safety protection unit includes a multi-dimensional risk assessment unit, a dynamic risk early warning module, and a safety operation strategy generation unit. The multi-dimensional risk assessment unit is used to quantify the risk weights of conductor damage risk, equipment overload risk, and personnel safety risk using the analytic hierarchy process (AHP). The dynamic risk early warning module is used to monitor tension exceeding the threshold and speed change risk indicators, and trigger multi-level early warnings based on the risk weights. The safety operation strategy generation unit is used to iteratively optimize the basic protection strategy by combining historical line laying fault data, and generate a safety operation strategy adapted to the current working conditions using a decision tree algorithm.

[0011] Preferably, the remote collaborative interaction module includes a BIM-AR interface fusion module, a full-process data sharing unit, and a dual-end collaborative interaction component. The BIM-AR interface fusion module is used to overlay the BIM 3D model of the layout path with the AR real-world scene at the pixel level, marking real-time tension values, layout progress, and fault locations on the interface. The full-process data sharing unit is used to share tension data, speed data, fault logs, and early warning information between the on-site operation terminal and the remote monitoring terminal in real time via the network. The dual-end collaborative interaction unit is used to issue tension adjustment commands and layout condition switching commands through the remote monitoring terminal, and the on-site operation terminal provides feedback on the execution results and real-world photos, enabling two-way collaborative decision-making.

[0012] A second aspect of this invention provides a method for operating a tensioning linkage system for wire laying, comprising: acquiring real-time tension data, wire laying speed data, and wire spatial attitude data of multiple tensioning units; analyzing and processing the real-time tension data, wire laying speed data, and wire spatial attitude data of the multiple tensioning units, and generating coordinated control commands by associating the operating parameters of the multiple units through a dual closed-loop synchronous control algorithm; adjusting the tension output and wire laying speed of the tensioning units in real time according to the coordinated control commands, combined with the wire material characteristics and laying conditions, monitoring the unit operating status in real time, locating the fault type through fault tree analysis, and performing backup when the main unit fails. The system switches and loads the current control parameters; based on the fault type, it assesses the risks of conductor damage, equipment overload, and personnel safety. It quantifies the risk weights using the analytic hierarchy process (AHP) and generates a safe operation strategy by combining historical stringing fault data. It overlays the BIM 3D model of the stringing path with the on-site AR real-world view at the pixel level and marks the real-time tension value, stringing progress, and fault location on the interface. This enables the on-site operator and the remote monitoring terminal to share and interact on the entire tension stringing process data and safe operation strategy. The remote monitoring terminal issues tension adjustment commands and stringing condition switching commands, while the on-site operator provides feedback on the execution results and real-world photos, enabling two-way collaborative decision-making.

[0013] A third aspect of the present invention provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement a working method of a tensioning linkage system for tensioning wire as described in the above embodiments.

[0014] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement a tensioning linkage system working method for tensioning wire as described in the above embodiments.

[0015] Therefore, the present invention has the following beneficial effects: This invention employs a multi-dimensional tension sensing layer to comprehensively and in real-time collect tension, speed, and conductor posture data, laying a data foundation for precise control. The multi-unit collaborative control center, relying on a dual-closed-loop synchronous control algorithm, enhances the correlation of unit operating parameters, significantly improving the accuracy of multi-unit synchronous collaboration and avoiding wire laying problems caused by single-unit operational deviations. The dynamic tension adjustment unit dynamically adjusts its output based on conductor material and operating conditions, effectively ensuring the adaptability of tension and speed during wire laying, reducing the risk of conductor damage, and improving wire laying quality. The fault self-diagnosis and fault-tolerance unit, through real-time monitoring and seamless switching with backup units, significantly reduces the probability of downtime due to faults, enhancing system reliability and continuity. The safety protection unit uses the analytic hierarchy process (AHP) to quantify multiple risk weights and generates safety strategies based on historical data, comprehensively avoiding equipment overload, conductor damage, and personnel safety hazards, thus strengthening the safety defense line. The remote collaborative interaction module achieves full-process data sharing and interaction through the overlay of BIM and AR interfaces, breaking down information barriers between the field and remote areas, improving operational collaboration efficiency and process transparency, and enhancing the efficiency of tension wire laying operations. Therefore, it solves the problems of low control accuracy and poor scenario adaptability in existing technologies.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein...

[0018] Figure 1 This is a schematic diagram of a tensioning linkage system for tension wire release according to an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of a multi-dimensional tension sensing layer provided according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of a multi-unit collaborative control center provided according to an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of a dynamic tension adjustment unit provided according to an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of a fault self-diagnosis and fault-tolerant unit provided according to an embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of a security protection unit provided according to an embodiment of the present invention.

[0024] Figure 7This is a schematic diagram of a remote collaborative interaction module provided according to an embodiment of the present invention.

[0025] Figure 8 This is a flowchart of a tensioning linkage system for tension wire release according to an embodiment of the present invention.

[0026] Figure 9 This is a schematic diagram of a client program provided according to an embodiment of the present invention.

[0027] Figure 10 This is a schematic diagram of a server platform provided according to an embodiment of the present invention.

[0028] Figure 11 This is a schematic diagram of the client main interface provided according to an embodiment of the present invention.

[0029] Figure 12 A flowchart illustrating the working method of a tensioning linkage system for tension wire release according to an embodiment of the present invention.

[0030] Figure 13 This is a schematic diagram of a tensioning linkage system for tension wire release according to an embodiment of the present invention.

[0031] Figure 14 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] The following description, with reference to the accompanying drawings, describes a tensioning linkage system for tension wire release and its working method according to an embodiment of the present invention. To address the issue of low control precision mentioned in the background technology, this invention provides a tensioning linkage system for tension wire laying. In this system, a multi-dimensional tension sensing layer comprehensively and in real-time collects tension, speed, and conductor posture, laying a data foundation for precise control. A multi-unit collaborative control center, relying on a dual-closed-loop synchronous control algorithm, enhances the correlation of unit operating parameters, significantly improving the accuracy of multi-unit synchronous cooperation and avoiding wire laying problems caused by single-unit operational deviations. A dynamic tension adjustment unit dynamically adjusts its output based on conductor material and operating conditions, effectively ensuring the adaptability of tension and speed during wire laying, reducing the risk of conductor damage, and improving wire laying quality. A fault self-diagnosis and fault-tolerance unit, through real-time monitoring and seamless switching with backup units, significantly reduces the probability of downtime due to faults, enhancing system reliability and continuity. A safety protection unit uses the analytic hierarchy process (AHP) to quantify the weights of multiple risk types and generates safety strategies based on historical data, comprehensively avoiding equipment overload, conductor damage, and personnel safety hazards, thus strengthening the safety defense line. A remote collaborative interaction module achieves full-process data sharing and interaction through the overlay of BIM and AR interfaces, breaking down information barriers between on-site and remote operations, improving operational collaboration efficiency and process transparency, and enhancing the efficiency of tension wire laying operations. This solves the problems of low control precision and poor scene adaptability in existing technologies.

[0034] Figure 1 This is a schematic diagram of a tensioning linkage system for tension wire release, provided in an embodiment of the present invention.

[0035] This invention provides a tensioning linkage system for tension wire unloading, the system 10 comprising: Multi-dimensional tension sensing layer 100, multi-unit collaborative control center 200, dynamic tension adjustment unit 300, fault self-diagnosis and fault tolerance unit 400, safety protection unit 500, and remote collaborative interaction module 600.

[0036] The system comprises the following components: a multi-dimensional tension sensing layer 100 for collecting real-time tension data, conductor laying speed data, and conductor spatial attitude data from multiple tensioning units; a multi-unit collaborative control center 200 for receiving data collected from the multi-dimensional tension sensing layer, associating multi-unit operating parameters through a dual-closed-loop synchronous control algorithm, and generating collaborative control commands; a dynamic tension adjustment unit 300 for adjusting the tension output and laying speed of the tensioning units in real time based on the collaborative control commands, combined with conductor material characteristics and laying conditions; a fault self-diagnosis and fault tolerance unit 400 for real-time monitoring of unit operating status, diagnosing fault types, and triggering seamless switching of standby units; a safety protection unit 500 for assessing conductor damage risk, equipment overload risk, and personnel safety risk based on fault types, quantifying risk weights through the analytic hierarchy process, and generating safe operation strategies by combining historical laying fault data; and a remote collaborative interaction module 600 for overlaying the BIM 3D model of the laying path with AR real-world data on an interface, enabling on-site operators and remote monitoring terminals to share and interact on the entire tension laying process data.

[0037] It is understood that in this embodiment of the invention, a multi-dimensional tension sensing layer comprehensively and in real-time collects tension, speed, and conductor posture, laying a data foundation for precise control. The multi-unit collaborative control center relies on a dual-closed-loop synchronous control algorithm to enhance the correlation of unit operating parameters, significantly improving the accuracy of multi-unit synchronous collaboration and avoiding wire laying problems caused by single-unit operational deviations. The dynamic tension adjustment unit dynamically adjusts the output based on conductor material and operating conditions, effectively ensuring the adaptability of tension and speed during wire laying, reducing the risk of conductor damage, and improving wire laying quality. The fault self-diagnosis and fault tolerance unit significantly reduces the probability of fault downtime and enhances the reliability and continuity of system operation through real-time monitoring and seamless switching with backup units. The safety protection unit uses the analytic hierarchy process to quantify the weights of multiple risk categories and generates safety strategies based on historical data, comprehensively avoiding equipment overload, conductor damage, and personnel safety hazards, thus building a solid safety defense. The remote collaborative interaction module achieves full-process data sharing and interaction through the overlay of BIM and AR interfaces, breaking down information barriers between the field and remote areas, improving operational collaboration efficiency and process transparency, and increasing the efficiency of tension wire laying operations. Therefore, it solves the problems of low control accuracy and poor scenario adaptability in existing technologies.

[0038] In this embodiment of the invention, the multi-dimensional tension sensing layer 100 includes: as follows Figure 2 As shown, there are a high-precision tension sensor module, a laser velocity measurement module, and a conductor attitude monitoring module.

[0039] Among them, the high-precision tension sensor module is used to collect the real-time tension value of the conductor clamping end of each tensioning unit; the laser velocity measurement module is used to collect the instantaneous speed and cumulative length of the conductor release; and the conductor attitude monitoring module is used to capture the spatial swing angle, sag and torsion state of the conductor.

[0040] It is understood that, in this embodiment of the invention, the high-precision tension sensor module captures the tension value at the clamping end of the conductor in each tensioning unit in real time, accurately controls the dynamic changes in tension, and effectively avoids problems such as conductor stretching damage due to excessive tension or conductor slack and jumping due to insufficient tension, thus ensuring the stability of the conductor under force. The laser speed measurement module simultaneously collects the instantaneous speed and cumulative length of the conductor, which not only facilitates real-time monitoring of the laying progress but also promptly detects speed fluctuations, preventing conductor stretching deformation or accumulation and jamming due to uneven speed, and ensuring a smooth and orderly laying process. The conductor posture monitoring module accurately captures the spatial swing angle, sag, and torsion state of the conductor, which can identify abnormal conductor posture in advance, avoiding risks such as collisions with surrounding obstacles due to excessive conductor swing amplitude, excessive sag affecting laying accuracy, or conductor entanglement due to torsion. It generates precise collaborative commands for the multi-unit collaborative control center, improving the stability, safety, and laying quality of tension laying.

[0041] In this embodiment of the invention, the multi-unit collaborative control center 200 includes: as follows Figure 3 As shown, the synchronous control algorithm unit and control command generation engine.

[0042] Among them, the synchronization control algorithm unit is used to perform dynamic collaborative control of multiple units based on the dual closed-loop synchronization control algorithm. The inner loop uses the tension deviation of a single unit as the control target, and the outer loop uses the synchronization rate of the line laying speed of multiple units as the control target. The control command generation engine is used to convert the collaborative control logic into hydraulic valve control signals and motor drive signals of each unit.

[0043] It is understood that the synchronous control algorithm unit in this embodiment of the invention is based on a dual closed-loop synchronous control algorithm. Utilizing an inner loop tension control loop and an outer loop speed synchronization loop, it can focus on tension stability and speed consistency respectively. The inner loop can correct tension deviations of each unit in real time, preventing tension fluctuations in a single unit from affecting the overall conductor force balance. The outer loop can synchronously regulate the laying speed of multiple units, enabling dynamic coordination between units even in different scenarios such as short-distance precise laying and long-distance cross-domain laying. This effectively prevents conductor pulling or accumulation caused by speed asynchrony. The control command generation engine accurately transforms the abstract collaborative control logic into hydraulic valve control signals and motor drive signals that each unit can directly execute, ensuring that control commands are implemented without deviation. This avoids unit malfunctions caused by signal conversion errors, ensuring dual synchronization of tension and speed for multiple units under different laying conditions. It ensures accurate execution of control commands, significantly improving the stability and accuracy of multi-unit collaborative operation. From a control perspective, it avoids problems such as conductor damage and unit operational imbalance during laying, providing core control assurance for efficient and safe laying.

[0044] It should be noted that the control command generation engine is the core conversion hub connecting the multi-unit collaborative control logic with the execution components of the tensioning unit. It transforms the abstract collaborative control logic (covering the target tension requirements, synchronous pay-off speed standards, dynamic adjustment rules, etc. of each unit) generated by the multi-unit collaborative control center through algorithms into physical control signals that the hardware of each tensioning unit can directly respond to. For the hydraulic tension adjustment system in the unit, based on the deviation between the target tension and the current actual tension, it calculates and generates control signals for the corresponding hydraulic valves. These signals regulate the operating state of the hydraulic system, thereby achieving real-time adjustment of the unit's tension output. For the motor-driven pay-off system in the unit, based on the difference between the target synchronous speed and the actual pay-off speed, it generates the control signals required for the motor drive, thereby precisely controlling the motor's speed and output torque to ensure that the pay-off speed of each unit remains consistent. Simultaneously, it possesses signal adaptation capabilities, calibrating the generated control signals according to the hardware characteristics of different tensioning units to ensure the compatibility of the signals with the execution components, providing reliable execution assurance for multi-unit collaborative tension pay-off.

[0045] Tension deviation calculation formula:

[0046] Let be the tension deviation at time t; The target tension is given to the multi-unit collaborative logic; Let t be the actual tension collected by the tension sensor at time t.

[0047] Formula for calculating line laying speed deviation: The deviation of the line-laying speed at time t; The target synchronous cable laying speed is given for the multi-unit collaborative logic; Let t be the actual wire laying speed collected by the encoder at time t.

[0048] Dual closed-loop synchronous control algorithm:

[0049]

[0050]

[0051]

[0052]

[0053]

[0054] in, Let be the synchronization error of the wire feeding speed of the i-th unit; The actual cable laying speed of the i-th unit; This is a reference value for the initial line-laying speed; Synchronization rate index for the cable laying speed of multiple units; The total number of units participating in the coordinated control; This is the synchronization correction amount for the reference value of the wire laying speed of the i-th unit; The proportional coefficient for synchronous control of the outer loop; The integral coefficient for synchronous control of the outer loop; The differential coefficients for synchronous control of the outer loop; The tension deviation of the i-th unit; The actual tension of the i-th unit; This is the tension reference value for the i-th unit; This is the reference value for the wire feeding speed of the i-th unit after synchronous correction; This is the control output signal for the i-th unit; This is the proportional coefficient of the inner loop of the tension control system; The integral coefficient of the inner loop of tension control; The differential coefficient of the tension control inner loop; This is the coefficient of the speed deviation term; This is the integral term of the synchronization error of the wire laying speed of the i-th unit; Let be the rate of change of the synchronization error of the wire feeding speed of the i-th unit; This is the integral term of the tension deviation of the i-th unit; Let be the rate of change of the tension deviation of the i-th unit.

[0055] For example, in the tensioning project of a 220kV island transmission line along the coast, the synchronous control algorithm unit constructs a dual closed-loop control mechanism to address the frequent occurrence of typhoons (instantaneous wind speeds up to 25m / s) and the conductor's resistance to wind vibration (breaking tension of 110kN). The inner loop is based on PID regulation. When the tension sensor detects gusts that cause actual tension... Increased to 45kN (8% above the safety threshold, safety tension) When calculating the tension error, first calculate the tension error. Meanwhile, the main traction machine Operation, slave lagging to (Synchronization rate 95%), calculate synchronization error. And through mean square error Evaluate the synchronization stability at multiple time points. The algorithm immediately shortens the adjustment period to 100ms and calculates the speed correction using the inner-loop PID controller. Corrected reference speed is Then, through the final control quantity formula A hydraulic valve control signal is generated to restore the tension to the safe range of 41kN within 200ms, while the differential term... The algorithm filters out high-frequency vibration interference from sea winds; it dynamically calibrates the speed of the two cross-sea traction machines on the outer ring, issuing frequency adjustment commands at a ratio of "0.1Hz corresponds to 0.3m / min". Combined with the speed correction on the inner ring, the slave machine speeds up to 5.85m / min within 2 seconds, and the synchronization rate is improved to 97.5%. Combined with a wind load correction coefficient of 1.3 times for coastal Class I wind zones, the algorithm strictly controls tension fluctuations within ±1kN, which not only meets the wind resistance requirement of traction speed ≤8m / min, but also enables long-distance cross-sea cable laying without grooving or strand breakage.

[0056] In this embodiment of the invention, the dynamic tension adjustment unit 300 includes: as follows Figure 4 As shown, the module includes a working condition identification module, a material adaptation and adjustment module, and an overload protection unit.

[0057] Among them, the working condition identification module is used to automatically identify the wire laying stage and match the preset tension control strategy; the material adaptation adjustment module is used to dynamically adjust the upper limit of tension output according to the elastic modulus and breaking tension of the wire material; the overload protection unit is used to trigger emergency braking and cut off the power source of the unit when the tension exceeds the upper limit.

[0058] It is understood that the embodiments of the present invention automatically match the tension control strategy for each laying stage through the working condition identification module, so that the tension control is accurately adapted to different working conditions; the material adaptation adjustment module dynamically adjusts the upper limit of tension output according to the characteristics of the conductor material, ensuring that the tension is adapted to the conductor material and is safe and controllable; and the overload protection unit triggers emergency braking and cuts off the power source in time when the tension exceeds the limit, avoiding the risk of equipment overload damage or conductor breakage. The present invention provides dynamic control and safety protection for tension during the laying process, which greatly improves the stability and reliability of multi-unit collaborative laying.

[0059] It should be noted that the working condition identification module automatically determines whether the system is currently in the cable laying stage by collecting multi-dimensional operational data of the cable laying system in real time (such as real-time cable tension feedback value, reel speed, cable output speed, motor load current, and operating environment parameters), combined with a preset working condition feature library, and accurately eliminates interference from other working conditions. Once the laying stage is confirmed, it further matches the optimal control scheme from a preset tension control strategy library based on real-time collected parameters such as cable specifications (e.g., diameter, material), laying speed requirements, and operating scenario (e.g., high-altitude cable laying, ground laying). These preset strategies are pre-defined based on the process requirements of different laying scenarios, for example, for... The system employs a low-tension, stable control strategy for thin-diameter flexible cables (avoiding excessive tension that could lead to cable stretching and deformation), a dynamic tension compensation strategy for thick-diameter rigid cables (adjusting tension in real-time based on changes in laying speed to prevent cable slack or breakage), and an adaptive tension adjustment strategy for laying cables in complex terrain (dynamically correcting tension parameters based on cable stress fluctuations caused by terrain undulations). Once the corresponding strategy is matched, tension control commands are transmitted in real-time to the actuators (such as tension controllers and servo motors) to achieve precise and automatic tension control during the laying process. This avoids problems such as cable damage and low work efficiency caused by lag in human judgment or operational errors, ensuring the stability and quality of the laying operation.

[0060] The material adaptation and adjustment module accurately extracts two key indicators of the conductor—elastic modulus and breaking tension—from a pre-defined conductor material parameter library. Elastic modulus measures the conductor's ability to resist tensile deformation, while breaking tension represents the maximum tensile force the conductor can withstand. Based on these two parameters, a tension upper limit calculation model is established: on the one hand, a deformation safety threshold is set using the elastic modulus to ensure that tension does not cause irreversible tensile deformation of the conductor, avoiding impact on subsequent conductivity and structural stability; on the other hand, breaking tension serves as an absolute safety baseline, and a safety factor is set according to industry standards to prevent conductor breakage caused by sudden load fluctuations exceeding the breaking tension. Based on the actual material parameters of the conductor during real-time operation, a dynamic calibration function corrects potential parameter deviations, continuously optimizing and outputting a dynamically changing tension upper limit value, which is synchronously transmitted to the tension actuator.

[0061] Tension upper limit calculation model:

[0062] in, This refers to the upper limit of dynamic tension during conductor laying operations; For dynamic calibration coefficients; The elastic modulus of the conductor; This represents the maximum allowable elastic strain of the conductor. This represents the cross-sectional area of ​​the conductor. The breaking tension of the conductor; For the new line coefficient; This is for the safety factor.

[0063] For example, in the tensioning and laying project of a 110kV overhead transmission line in the plateau region, the material matching and adjustment module relies on the tension upper limit calculation model. For JL / G1A-500 / 45 steel-cored aluminum stranded wire (elastic modulus) Breaking tension The model achieves precise tension adaptation and control in the context of the large diurnal temperature range (25℃) and strong ultraviolet radiation on the plateau. Specifically, the model includes a fracture control term determined by the breaking tension. "In accordance with engineering safety requirements, the safety correlation ratio based on conductor breaking tension is set at 80% (to prevent conductor breakage due to tension exceeding breaking tension); "Deformation control items determined by elastic modulus, etc." ", taking into account the conductor's elastic modulus and high-altitude laying conditions (day-night temperature difference, ultraviolet radiation, etc.), the corresponding safety correlation ratio for tension output is set at 40%, all of which are control parameters based on the conductor material characteristics and engineering standards. When calculating the initial tension upper limit based on the conductor's basic material parameters, the module first takes the smaller value between the "deformation control term" and the "fracture control term" through the model, and then combines it with the dynamic calibration coefficient." (Initially set as the baseline value according to the suitable working conditions), the final initial tension limit is 33.6kN (equivalent to the calculation result of "80% of the breaking tension multiplied by 40%)); when the daytime temperature rises to 28℃, due to the elastic modulus of the aluminum stranded wire... As the temperature rises, the elastic modulus decreases by 2%. The module automatically updates the elastic modulus parameter in the model, recalculates the "deformation control term," and thus lowers the upper limit of tension by 2% to 33.0 kN to prevent conductor relaxation at high temperatures. At night, when the temperature drops to -3°C, the elastic modulus... The temperature rises by 3%, and the module synchronously updates and recalculates the elastic modulus parameters in the model, raising the upper limit of tension to 34.6 kN to prevent the conductor from hardening and breaking at low temperatures. Simultaneously, considering the issue of strong ultraviolet radiation at high altitudes easily causing conductor aging, the module fine-tunes the dynamic calibration coefficient every 100 hours based on the cumulative sunshine duration. (Compensation coefficient -0.3%) compensates for minor plastic deformation caused by aging of the conductor. When encountering a strong wind of 8 m / s, the module further incorporates the conductor's wind load resistance characteristics and introduces a temporary reduction based on the model output, temporarily lowering the upper limit of tension by 4% to 32.2 kN to reduce fatigue damage to the conductor material caused by wind vibration. Through this adjustment logic of "substituting basic material parameters into the model + dynamically adjusting model parameters (elastic modulus, dynamic calibration coefficient, etc.) based on environmental factors," the conductor tension fluctuation is controlled within ±0.8 kN throughout the process, ensuring undamaged and stable laying of the conductor in the complex environment of the plateau.

[0064] In this embodiment of the invention, the fault self-diagnosis and fault tolerance unit 400 includes, as follows: Figure 5 As shown, the system includes a status monitoring module, a fault diagnosis engine, and a fault-tolerant switching unit.

[0065] The status monitoring module is used to monitor the unit's motor current, hydraulic system pressure, and sensor signal strength in real time; the fault diagnosis engine is used to locate the fault type through fault tree analysis; and the fault-tolerant switching unit is used to activate the standby unit and load the current control parameters when the main unit fails, ensuring tension stability.

[0066] It is understood that the embodiments of the present invention monitor key operating parameters such as generator motor current, hydraulic system pressure, and sensor signal strength in real time through the status monitoring module, laying a solid data foundation for fault identification; relying on the fault tree analysis method of the fault diagnosis engine, the fault type can be accurately located, enabling rapid fault investigation and tracing; when the main unit fails, the fault-tolerant switching unit can immediately activate the standby unit and load the current control parameters to ensure that the tension remains stable. This not only realizes real-time monitoring of the unit's operating status, accurate fault diagnosis and efficient response, but also avoids operational interruption by seamlessly switching to the standby unit, effectively reducing downtime losses caused by faults, significantly improving the continuity and stability of unit operation and the fault tolerance of the overall system, and providing strong support for the reliable operation of production.

[0067] It should be noted that fault tree analysis method:

[0068]

[0069]

[0070] in, The problem is a tension control malfunction in the generator unit. Drive system failure; To detect system faults; This is the OR gate logic symbol; The motor current exceeds the limit; Insufficient pressure in the hydraulic system; The sensor signal strength is weak; This is due to pressure overload in the hydraulic system. This is the AND gate logic symbol.

[0071] In this embodiment of the invention, the security protection unit 500 includes, as follows: Figure 6 As shown, there are a multi-dimensional risk assessment unit, a dynamic risk early warning module, and a safe operation strategy generation unit.

[0072] The multi-dimensional risk assessment unit is used to quantify the risk weights of conductor damage risk, equipment overload risk, and personnel safety risk through the analytic hierarchy process; the risk dynamic early warning module is used to monitor the risk indicators of tension exceeding the threshold and speed change, and trigger multi-level early warnings based on the risk weights; the safe operation strategy generation unit is used to iteratively optimize the basic protection strategy by combining historical line laying fault data, and generate a safe operation strategy adapted to the current working conditions using the decision tree algorithm.

[0073] Understandably, the multi-dimensional risk assessment unit in this embodiment of the invention uses the analytic hierarchy process (AHP) to quantify the weights of three core risks: conductor damage, equipment overload, and personnel safety. This allows for accurate identification of key risk sources during operations, avoiding ambiguity and one-sidedness in risk assessment. The dynamic risk warning module monitors key risk indicators such as tension exceeding thresholds and sudden speed changes in real time and triggers multi-level warnings. This provides timely reminders and control at the risk nascent stage, effectively preventing risks from turning into accidents. The safe operation strategy generation unit iteratively optimizes basic protection strategies by combining historical line-laying fault data and generates safe operation strategies adapted to the current working conditions. This makes the protection measures both targeted and practical, reducing safety hazards caused by unsuitable strategies. It achieves accurate risk assessment and real-time warning, while also ensuring dynamic optimization of safety strategies. This significantly improves the safety and controllability of tension line-laying operations, reduces the probability of equipment damage and personnel injury, and builds a solid safety defense for the stable operation of the entire process.

[0074] It should be noted that the decision tree algorithm formula is as follows:

[0075]

[0076] in, For dataset The Gini coefficient; This is the current dataset of historical line-laying faults being analyzed. This represents the total number of fault categories in the dataset; For dataset The Middle The percentage of samples with the same type of fault; k is the index variable; For use of features Split the dataset The Gini index after; To divide the dataset based on working condition characteristics; Features Dataset The number of subsets into which it is divided; For index variables; Features The first division A subset; For subset The number of samples in the sample; For the original dataset The total number of samples; For subset The Gini coefficient.

[0077] The dynamic risk early warning module captures key risk indicators directly related to conductor integrity, equipment operational stability, and on-site personnel safety in real time, such as tension exceeding thresholds and sudden speed changes. It continuously tracks the dynamic trends of these indicators and combines them with the quantified risk weights of the multi-dimensional risk assessment unit (such as the relative importance ranking of conductor damage risk, equipment overload risk, and personnel safety risk) to accurately determine the risk level corresponding to different abnormal indicators. For example, when the tension slightly exceeds the threshold and the corresponding risk weight is low, a level one warning is triggered (such as on-site audio-visual prompts and system pop-up reminders), requiring only operator attention and adjustment. If a sudden speed change occurs and is superimposed with a high-weight personnel safety risk, the highest level warning is immediately activated (such as emergency stop signals, strong reminders from remote monitoring terminals, and linkage emergency communication), forcibly triggering the emergency response mechanism. This avoids the mechanical nature of single threshold warnings and matches differentiated handling intensity according to the actual severity of the risk, ensuring accurate identification and graded response at the risk bud stage. This reduces unnecessary work interruptions and enables rapid intervention in high-risk situations, thereby minimizing the probability of risk escalation and providing a dynamic and intelligent safety barrier for tension laying operations.

[0078] The safe operation strategy generation unit system collects historical cable laying fault data—covering not only the specific types of past faults (such as conductor tensile breakage, tensioner unit overload shutdown, conductor jump-out due to mismatch between laying speed and tension, etc.), but also the operating conditions at the time of the fault (such as conductor material parameters, laying environment temperature, humidity / wind speed, unit load status), fault cause analysis (such as unreasonable parameter settings, unpredicted environmental interference), and the effectiveness of past protection strategies (such as whether the tension threshold in the original strategy was too low, and whether emergency adjustments were timely). It also considers pre-set basic protection strategies (such as general tension control range, laying speed range, equipment load warning values, etc.). The applicability of the system is verified by using historical fault data. For example, if historical data shows that a certain type of steel-cored aluminum stranded wire has a 15% failure rate due to conductor fatigue damage when operating at the tension limit set by the basic strategy under high-temperature conditions in summer, the tension safety threshold of this type of wire under high-temperature conditions will be adjusted based on this data. At the same time, the corresponding speed coordination parameters will be optimized to avoid insufficient adaptability caused by the basic strategy. If the faults in the past have repeatedly shown that "sudden changes in wind speed during wire laying in mountainous areas cause excessive conductor sway", the "wire laying speed attenuation coefficient when the wind speed exceeds 5m / s" will be added to the basic strategy to achieve iterative improvement of the basic strategy and reduce the recurrence of similar faults. Finally, after optimizing the strategy, the unit will combine the specific operating conditions of the current cable laying operation—including the material properties of the conductor used (such as tensile strength and modulus of elasticity), on-site environmental conditions (such as altitude and real-time weather), unit operating status (such as main unit load rate and standby unit readiness), and operational objectives (such as cable laying mileage and conductor erection height)—to transform the optimized strategy into concrete safety operating parameters. For example, for 240mm² steel-cored aluminum stranded wire in a plain with a wind speed of 3m / s, based on historical failure lessons and actual operational needs, the core parameters are precisely set: tension control range of 18-22kN. Historical data shows that tension below 18kN easily causes the conductor to sag and touch low vegetation, while tension above 22kN can cause partial strand breakage. This range can balance safety and sag control. Line speed is 0.8-1.2 m / s. In plain terrain with no complex obstacles, wind speeds of 3 m / s can affect conductor stability. Historically, speeds exceeding 1.2 m / s have been prone to conductor jumping, while speeds below 0.8 m / s result in excessively low work efficiency. This speed strikes a balance between efficiency and operability. Tension calibration is performed every 30 minutes. Although the working conditions in plains are stable, conductor deformation and slight equipment displacement can cause tension drift. Historically, calibrations with intervals exceeding 30 minutes have resulted in tension deviations exceeding 5%. Timed calibration ensures parameter accuracy and fully adapts to current operational needs. This avoids the subjectivity of relying on experience to formulate strategies and solves the problem that general strategies cannot cope with complex working conditions. It can effectively reduce the risk of failure caused by parameter mismatch. At the same time, continuous iteration allows the protection strategy to continuously accumulate operational experience, providing scientific and accurate safety guidance for tension laying operations.

[0079] In this embodiment of the invention, the remote collaborative interaction module 600 includes, as follows: Figure 7 As shown, the BIM-AR interface fusion module, the full-process data sharing unit, and the dual-end collaborative interaction component are included.

[0080] The BIM-AR interface fusion module is used to overlay the BIM 3D model of the laying path with the AR real-world scene at the pixel level, and to mark the real-time tension value, laying progress and fault location in the interface; the full-process data sharing unit is used to share tension data, speed data, fault logs and early warning information between the on-site operation terminal and the remote monitoring terminal in real time via the network; the dual-terminal collaborative interaction unit is used to issue tension adjustment commands and laying condition switching commands through the remote monitoring terminal, and the on-site operation terminal provides feedback on the execution results and real-world photos, enabling two-way collaborative decision-making.

[0081] It is understood that the BIM-AR interface fusion module in this embodiment of the invention overlays the BIM 3D model of the layout path with the AR real-world scene at the pixel level, and annotates the real-time tension value, layout progress, and fault location. Personnel on both ends can intuitively compare the model and the real-world scene without relying on textual descriptions, quickly locate fault points, and grasp the work progress, effectively avoiding judgment errors or operational delays caused by information transmission discrepancies. The full-process data sharing unit synchronizes tension data, speed data, fault logs, and early warning information in real time via the network, eliminating information barriers between the field and remote locations. This ensures that the remote monitoring end can formulate scientific instructions based on complete and dynamic work data, and the field operation end can also clearly understand the data. Clearly understanding the underlying working conditions behind instructions avoids blind execution. The dual-end collaborative interaction unit supports the remote monitoring terminal to issue instructions for tension adjustment and line laying condition switching, while the on-site operation terminal can provide real-time feedback on instruction execution results and real-time photos. This reduces the time cost of cross-end communication and avoids the drawbacks of remote one-way command or passive on-site response. Especially in key aspects such as fault handling and parameter fine-tuning, it can achieve rapid linkage and collaborative decision-making between the two ends. This not only significantly improves the cross-end collaborative efficiency of tension line laying operations and ensures the accuracy of decision-making and the safety of operations, but also provides complete data support for the traceability, review, and experience accumulation of subsequent operation data, helping to continuously optimize the operation process.

[0082] It should be noted that the BIM-AR interface fusion module first calls the BIM 3D model containing the geometric and attribute data of the layout path, collects the actual scene through AR devices, and then uses computer vision algorithms to achieve accurate overlay of the two. At the same time, based on the data collected in real time by tension sensors and progress tracking, key information is marked in the overlay interface: real-time tension value (including current value, design threshold and green, yellow and red color warnings), layout progress (presented as progress bar, segment color indicators or percentage to show the overall and segment completion status), and fault location (fault points are marked with red flashing icons and pop-up windows displaying the type and handling suggestions).

[0083] For example, in the tensioning and laying project of a 35kV high-voltage transmission line in a mountainous area, the BIM-AR interface fusion module plays a key role in addressing the construction difficulties caused by steep terrain, scattered tower distribution, and vegetation obstruction. First, a LOD300 precision BIM model is constructed, including the latitude and longitude of the towers, the altitude of the hanging point (up to 1200m), the sag curve of the conductor, and the contour lines of the mountainous area. Construction parameters such as the tensioning threshold and pulley type are integrated. On-site workers wear industrial-grade AR glasses to collect real-time images of the tower foundation, conductor direction, and surrounding trees. The images are then overlaid with the BIM model at the pixel level (overlay error ≤3cm) via a 5G network. After being overlaid, the AR interface dynamically annotates real-time data—such as the conductor tension at the hanging point of tower #1 being 28kN (green for normal display, automatically turning red when exceeding 35kN), and the cumulative laying distance being 1.8km (progress bar showing 52%). If the conductor is about to deviate from the path due to hillside obstruction, the interface will pop up a "leftward deviation warning" and indicate the adjustment direction. Personnel climbing the tower can also view the "conductor threading guide" through AR, clearly seeing the deviation between the design angle of the pulley in the BIM model and the actual position, and complete the precise threading by following the annotation "adjust downward by 5°". The remote monitoring terminal, relying on the fusion interface, combines the real scene and the BIM model to deduce the changes in conductor sag, and pushes the instruction "current wind speed 6m / s, it is recommended to reduce the tension to 26kN" to the site, realizing the visualization, precision and collaboration of the laying operation in complex terrain scenarios.

[0084] This invention proposes a tensioning linkage system for tension wire laying. Through a multi-dimensional tension sensing layer, it comprehensively and in real-time collects tension, speed, and conductor posture, laying a data foundation for precise control. A multi-unit collaborative control center, relying on a dual-closed-loop synchronous control algorithm, enhances the correlation of unit operating parameters, significantly improving the accuracy of multi-unit synchronous cooperation and avoiding wire laying problems caused by single-unit operational deviations. A dynamic tension adjustment unit dynamically adjusts its output based on conductor material and operating conditions, effectively ensuring the adaptability of tension and speed during wire laying, reducing the risk of conductor damage, and improving wire laying quality. A fault self-diagnosis and fault-tolerance unit, through real-time monitoring and seamless switching with backup units, significantly reduces the probability of downtime due to faults, enhancing system reliability and continuity. A safety protection unit uses the analytic hierarchy process (AHP) to quantify multiple risk weights and combines them with historical data to generate safety strategies, comprehensively avoiding equipment overload, conductor damage, and personnel safety hazards, thus strengthening the safety defense line. A remote collaborative interaction module achieves full-process data sharing and interaction through the overlay of BIM and AR interfaces, breaking down information barriers between on-site and remote locations, improving operational collaboration efficiency and process transparency, and enhancing the efficiency of tension wire laying operations. This solves the problems of low control precision and poor scene adaptability in existing technologies.

[0085] The following will illustrate a tensioning linkage system for tension wire release through a specific embodiment, such as... Figure 8 As shown, it includes: The 110kV suburban high-voltage transmission line tensioning project covers a total length of 3.2km, including 12 towers. It utilizes JL / G1A-630 / 45 steel-cored aluminum stranded wire (elastic modulus 70GPa, breaking tensile strength 120kN), and is equipped with "2 traction machines + 2 tensioning machines + 1 intelligent guide plate." Based on equipment parameters, the project aims to achieve a tensioning accuracy of ±5%, a fault switching time ≤3 seconds, and a remote collaborative response time ≤100ms. Core hardware configuration includes a multi-dimensional tension sensing layer using a CYL-103 high-precision tension sensor (range 0-100kN, precision...). A 0.1 degree laser sensor is installed at the clamping ends of tension wheels 1-4 of the tension machine to collect real-time tension values ​​of each wheel; paired with an LD-800 laser speed measurement module (speed range 0.1-10m / min, cumulative length accuracy ±0.5m), it is installed at the wire output end of the tension machine to collect wire release speed and cumulative mileage; the conductor attitude monitoring module uses an AHRS-600 (measurement range: swing angle ±30°, sag ±0.5m, torsion angle ±180°), integrated into the intelligent guide plate (device ID: 866804050923695) to capture the spatial attitude of the conductor. The multi-unit collaborative control center uses an Advantech IPC-610 industrial-grade computer as the control host, equipped with a Windows 10 IoT system and running the ZyrhClient.exe client program, such as... Figure 9 As shown; a Huawei RH2288HV5 server (IP: 112.54.97.178, port 33530) is used to store the unit's operating data and historical fault logs. The server platform address is set to http: / / 112.54.97.178:81, as shown. Figure 10As shown, the login username is znzbys. The dynamic tension adjustment unit uses a Bosch 4WRLE16 hydraulic valve control system (response time ≤ 50ms) to control the hydraulic output of the tension machine / traction machine, and a Siemens S120 motor drive module (compatible with a 55kW traction machine motor) supports proportional speed adjustment; the fault self-diagnosis and fault-tolerant unit is equipped with an ACS712 current sensor (range 0-200A, monitoring traction machine motor current) and a PT2100 hydraulic pressure sensor (range 0-30MPa, monitoring tension machine hydraulic system pressure); the remote collaborative interaction module uses Huawei VRGlass2AR glasses (1080P real-scene acquisition) and a Huawei 5GCPE5731 industrial router (bandwidth ≥ 100Mbps, latency ≤ 20ms) to achieve on-site and remote data interaction; software initialization configuration: double-click to run ZyrhC In the lient.exe program, complete the parameter settings according to the "Initialization Configuration" interface in the document: Set the traction machine ID to 867523076041394, the linkage control interval to 3 seconds, and the traction speed ratio to 20%; set the main tensioner ID to 867523076037152, activate the backup tensioner (ID: 867523076041386), and adjust the tension upper limit to 40% and the lower limit to 20%; in the board travel configuration, set the initial deceleration distance to 15m, the automatic stop distance to 10m, and the position offset threshold to 10m; import the BIM model (accuracy LOD400) containing the coordinates of 12 towers and the conductor direction into the remote collaborative interaction module to complete the software initialization. After completing the software initialization, enter the ZyrhClient.exe client main interface. The interface's various functional areas and operation logic are as follows... Figure 11 As shown, this interface includes core modules such as 'Connect to Server / Equipment', 'Unit Start / Stop', 'Parameter Control', 'Data Display', and 'Electronic Map'. It serves as the operational platform for subsequent 'Real-time Data Acquisition', 'Unit Collaborative Control', and 'Fault Handling'. The first step requires clicking '1—Connect to Server' (matching the server IP configured in the initialization: 112.54.97.178). The second step involves clicking '2—Connect Tensioner / Traction Machine' (selecting the tensioner ID: 867523076037152 and the traction machine ID: 867523076041394). After the 'STOP' icon disappears from the interface, the unit can be controlled via '3—Start / Shut Down'. Subsequent data acquisition and control operations are all completed through this interface.

[0086] Real-time data acquisition: The multi-dimensional tension sensing layer serves as the core of the system's data input. Through a triple design of "high-precision sensing + stable transmission + real-time feedback," it ensures that no key data is missed or delayed during the laying process. Specifically, the CYL-103 high-precision tension sensor is flange-fixed to the bearing housing at the clamping end of tension wheels #1-#4 on the tension machine. The sensor probe directly contacts the tension wheel journal, acquiring the deformation signal of the journal through strain gauges. The internal signal conditioning circuit converts the deformation into a 0-5V analog signal, which is then transmitted to the control host via a 485 bus (using Modbus-RTU protocol, baud rate 9600bps, 8 data bits, 1 stop bit). To avoid sensing errors caused by conductor vibration, the sensor also has a built-in damping filter algorithm to filter the collected tension data at a frequency of 10Hz. Finally, the "Tension (1)-(4)kN" area on the client interface is refreshed in real time at a frequency of 1 second / time, and the data display accuracy reaches 0.1kN (e.g., 18.0kN for wheel #1 and 17.8kN for wheel #2). If a sensor malfunctions (e.g., signal interruption), the corresponding tension display area will turn red and flash, and a prompt box will pop up saying "Tension sensor for wheel #1 is offline, please check the wiring". At the same time, an audible and visual alarm will be triggered (buzzer frequency 1kHz, red light flashing period 1 second). The LD-800 laser speed measurement module is installed 1.5 meters directly above the outlet of the tension machine. It uses diffuse reflection laser detection. The laser beam is at a 30° angle to the conductor axis to avoid the conductor blocking or reflection affecting the measurement accuracy. The module not only collects the instantaneous speed of conductor laying (measurement range 0.1-10m / min, accuracy ±0.05m / min) and cumulative mileage (resolution 0.1m), but also has a "distance prediction" function: by reading the "start deceleration distance 15m" parameter configured in the client initialization, it calculates the remaining distance between the current cumulative mileage and the tower anchor point in real time (remaining distance = cumulative mileage at the anchor point - current cumulative mileage). When the remaining distance is ≤15m, the module sends a deceleration signal to the PLC of the multi-unit collaborative control center via Ethernet (TCP / IP protocol), with a signal transmission delay ≤50ms. If the cumulative mileage needs to be cleared (such as when changing sections of the conductor laying), the "layout mileage clearing" button must be clicked on the client. The clearing operation can only be triggered when the unit is in the "stop" state to prevent mileage data corruption caused by misoperation during operation. The AHRS-600 conductor attitude monitoring module is integrated in the middle of the smart track (50cm from each end of the track). The module has a built-in three-axis gyroscope, three-axis accelerometer and three-axis magnetometer, which captures the spatial attitude data of the conductor at a sampling frequency of 10Hz: swing angle (left and right offset angle along the vertical direction of the line, range ±30°), sag (vertical distance between the lowest point of the conductor and the hanging point, calculated by the accelerometer to obtain the height difference), and torsion angle (rotation angle of the conductor around its own axis, range ±180°).When the swing angle exceeds the "horizontal tilt threshold of 5°" configured by the client, the module will trigger an abnormal attitude warning (a yellow reminder will be displayed in the "conductor attitude" area of ​​the client) and send a linkage signal to the dynamic tension adjustment unit to "reduce the laying speed". It is recommended to reduce the laying speed from 3m / min to 2m / min. If the swing angle exceeds 8° for 10 seconds, the "emergency speed reduction" command will be triggered directly, forcing the unit speed to be reduced to 1m / min to prevent the conductor from hitting the tower or jumping out of the trough due to excessive swing. Dual-loop synchronous control: The multi-unit collaborative control center uses "inner loop for stable tension and outer loop for synchronized speed" as its core logic. Through refined algorithms and reliable command transmission, it achieves seamless coordination between two traction machines and two tension machines. Specifically, the inner loop (tension deviation control loop) of the synchronous control algorithm unit employs a PID control strategy, with the adjustment cycle dynamically adjusted according to the tension deviation: when the tension deviation of a single unit is ≤±1kN, the adjustment cycle is 200ms / time; when the deviation is >±1kN, the adjustment cycle is shortened to 100ms / time, ensuring rapid correction of the deviation. Taking tension machine #1 wheel as an example, if the preset tension is 17kN and the actual collected tension is 18kN (deviation +1kN), the algorithm first calculates the PID output value (proportional coefficient Kp=0.5, integral coefficient Ki=0.1, derivative coefficient Kd=0.05), outputs a hydraulic valve control signal "reduce tension output by 0.5kN", and collects the tension value again after 100ms. If the actual tension drops to 17.2kN (deviation +0.2kN), the output signal is adjusted to "reduce tension output by 0.2kN" until the deviation returns to the allowable range of ±2kN. The outer loop (speed synchronization control loop) aims for a synchronization rate of ≥95% for the multi-unit wire laying speed. The synchronization rate calculation formula is "synchronization rate = (actual speed of slower unit / actual speed of faster unit) × 100%". For example, when the actual speed of traction machine A is 3 m / min and the actual speed of traction machine B is 2.8 m / min, the synchronization rate is approximately 93.3% (2.8 / 3) × 100% (below the 95% threshold). The algorithm calls the "traction speed ratio 20%" parameter configured on the client and calculates the speed that traction machine B needs to increase: target speed = 3 m / min × 95% = 2.85 m / min, speed adjustment = 2.85 m / min - 2.8 m / min = 0.05 m / min. By sending a drive signal to the Siemens S120 inverter of traction machine B to "increase the frequency from 45 Hz to 45.5 Hz" (the inverter frequency and motor speed are linearly related; for every 1 Hz increase in frequency, the speed increases by 0.1 m / min), the speed of traction machine B increases to 2.85 m / min after 1 second, and the synchronization rate reaches 95%. If the synchronization rate still does not meet the standard, the algorithm will continue to fine-tune the frequency, with each adjustment increment ≤ 0.5 Hz, to avoid sudden speed changes causing conductor tension fluctuations exceeding ±1 kN.The control command generation engine is responsible for converting the collaborative control logic into executable hardware signals for each unit. During the conversion process, a dual mechanism of "command verification" and "feedback confirmation" is added: When generating a command, the current unit status parameters are first compared (e.g., the current hydraulic pressure of the tension machine is 15MPa, to avoid issuing valve control commands exceeding 25MPa), and then the logical command is converted into specific signal values ​​(e.g., "reduce tension output by 0.5kN" corresponds to the Bosch 4WRLE16 hydraulic valve opening decreasing from 35% to 30%, "lifting speed 0.05m / min"). (Corresponding to the Siemens S120 inverter frequency being increased from 45Hz to 45.5Hz); after the command is sent via the 5G network (using independent networking SA slicing, bandwidth guaranteed 50Mbps, transmission delay ≤20ms), each unit must return a "command received successfully" confirmation signal within 10ms. If no confirmation is received or a "command execution failed" signal is received, the engine will resend the command within 50ms, up to 3 times. After 3 failures, a "command transmission failure" warning will be triggered, and the faulty unit ID, command content, and failure reason will be recorded in the control log.

[0087] Working conditions and material adaptation: The dynamic tension adjustment unit achieves precise tension control in different laying stages and environments through "working condition self-adaptation + precise material matching + overload safety protection". The working condition identification module uses a two-dimensional approach of "mileage ratio + sag data" to determine the laying stage: when the cumulative mileage is ≤80% of the total mileage (in this embodiment, the total mileage is 3200m, i.e., ≤2560m) and the conductor sag is <0.5m, it is determined to be in the "laying stage". The "low-speed stable tension" strategy is matched, with a preset tension of 18kN and a laying speed of 3m / min. The focus of this stage is to avoid conductor slack or excessive swing. When the cumulative mileage is >80% of the total mileage (>2560m) or the conductor sag is ≥0.5m, it automatically switches to the "tightening stage" and enables the "high-precision tension control" strategy. The preset tension is increased to 22kN (close to 90% of the conductor design tension), the laying speed is reduced to 1.5m / min, and the tension sampling frequency is increased to 20Hz to ensure that the conductor tension is stable within the design range and to avoid insufficient tension during tightening, which could lead to excessive line sag later. In addition to calculating the upper and lower limits of tension based on the basic parameters of the conductor (JL / G1A-630 / 45 steel-cored aluminum stranded wire, elastic modulus 70GPa, breaking tension 120kN), the material adaptation adjustment module also introduces an "environmental factor correction coefficient" to ensure that the tension control is adapted to the field environment: for every 10℃ increase in ambient temperature, the elastic modulus of the conductor decreases by 1%, and the upper limit of tension is correspondingly lowered by 1% (e.g., in summer, when the field temperature is 35℃, which is 10℃ higher than the standard temperature of 25℃, the upper limit of tension = 120kN × 0.8 (industry safety factor) × 40% × (1 - 0.01 × 1) = 38.016kN); when the wind speed exceeds 6m / s, the tension fluctuation of the conductor increases due to the wind load, and the upper limit of tension is lowered by 5% (e.g., when the wind speed is 7m / s, the upper limit of tension = 38.4kN × 0.95 = 36.48kN), and at the same time, a "wind speed warning" is triggered to remind on-site operators to pay attention to the swaying of the conductor. In addition, the module will dynamically adjust the tension according to the laying mileage: for every 10% of the total mileage completed, the upper limit of tension will be slightly adjusted by +0.5% (for example, when the mileage of 320m is completed, the upper limit of tension = 38.4kN × 1.005 = 38.592kN), to compensate for the slight plastic deformation of the conductor caused by stretching, and to ensure that the tension is always within a safe range throughout the laying process.The overload protection unit is the last line of defense for tension safety. When the tension sensor detects that the tension exceeds the upper limit (such as a sudden gust of wind causing the tension to reach 40kN, exceeding the upper limit of 38.4kN), the unit immediately activates the "graded protection action": The first stage (0-100ms) controls the hydraulic valve opening to quickly close from the current value to 30%, reducing the rate of tension increase; the second stage (100-200ms) completely closes the hydraulic valve to achieve emergency braking and avoid excessive braking that could cause the conductor to be impacted; the third stage (200-300ms) cuts off the power supply to the motors of the traction machine and tensioner, the diesel engine automatically stops, the "diesel engine" status on the client interface changes from "start" to "stop", and a red pop-up window appears saying "Overload protection triggered! Current tension 40kN, wind speed 8m / s, please check the wind load and conductor clamping status", and automatically records the fault time, current tension, wind speed, and laying distance to the "fault log" for easy fault analysis later. If the overload is caused by wire obstruction (such as a wire stuck on a pulley at a tower hanging point), the protection unit will also send a "manual intervention required" signal to the remote collaborative interaction module to remind the remote monitoring dispatcher to handle the situation on-site.

[0088] Fault Location and Switching: The fault self-diagnosis and fault-tolerant unit, through a full-process design of "real-time monitoring - precise diagnosis - seamless switching," minimizes the impact of faults on line laying and ensures continuous system operation. The status monitoring module performs high-frequency sampling and anomaly warning for key unit parameters: The motor current monitoring point is located at the stator winding output end of the traction motor, using a Hall current sensor (accuracy class 0.5) to collect current at a frequency of 5Hz. The normal operating range is 80-150A. When the current exceeds 180A (1.2 times the rated current), the client's "emergency stop protection" area changes from "green normal" to "yellow warning," a buzzer sounds at a frequency of 1kHz, and a "motor current abnormality" signal is sent to the fault diagnosis engine. If the current continues to exceed 200A (1.3 times the rated current) for 10 seconds, an emergency stop is directly triggered, cutting off the motor power supply. The hydraulic pressure monitoring point is located at the hydraulic pump outlet, using a PT2100 pressure sensor (range 0-30MPa, accuracy 0.25) to collect pressure in real time, with a normal range of 10-20MPa. When the pressure is below 8MPa, the module automatically starts the hydraulic pump to replenish pressure (replenishment flow rate 10L / min). If the pressure is still below 8MPa after 30 seconds of replenishment, it is determined that "the hydraulic system is short of oil or leaking," triggering a fault warning. When the pressure is above 25MPa, it is determined that "hydraulic overload" occurs, and the hydraulic pump is immediately shut down to prevent damage to hydraulic components. Sensor signal strength monitoring is performed every 5 seconds, reading the sensor communication signal strength via the 485 bus. If it is below -85dBm (communication instability threshold), the module first attempts to reinitialize the sensor (sending a "restart command"). After 3 failed restarts, it is determined that "sensor communication failure" occurs, triggering a warning and marking the faulty sensor ID for easy on-site troubleshooting. The fault diagnosis engine constructs a three-level diagnostic model based on fault tree analysis (FTA): "top event - intermediate event - bottom event". The top event is "tension control fault". The intermediate events include "drive system fault (M1)", "sensing system fault (M2)" and "control command fault (M3)". Each intermediate event is associated with 3-4 bottom events (e.g., M1 is associated with "motor current over-limit (X1)", "hydraulic pressure insufficient (X2)", "hydraulic overload (X4)" and "motor speed abnormal (X5)"). When the top event is triggered, the engine reasons in the order of "middle event first, bottom event last": first, it checks the bottom event M1. If X2 (hydraulic pressure 7MPa) is true, X1 (current 120A) is false, X4 (pressure 22MPa) is false, and X5 (speed 1450rpm normal) is false, then M1 is determined to be true, and the fault type is further located as "hydraulic system oil shortage". At the same time, it calls the historical fault database. If the tensioner has had two "hydraulic system oil shortage" faults in the past 3 months, the diagnosis result will be supplemented with the maintenance prompt "It is recommended to check the hydraulic oil tank level (≥2 / 3 of the tank volume) and the sealing of the oil inlet pipe, and check for any leakage points", which improves the efficiency of fault handling.The fault-tolerant switching unit enables seamless switching between the faulty unit and the standby unit, with a switching time of ≤3 seconds: When the main tension machine (ID: 867523076037152) stops due to a "hydraulic system oil shortage" fault, the unit immediately retrieves the complete control parameters of the main tension machine in the 10 seconds prior to the fault from the server (preset tension 18kN, wire laying speed 3m / min, hydraulic pressure 15MPa, braking status "released"), and synchronizes them to the standby tension machine (ID: 867523076041386) via the 5G network; after receiving the parameters, the standby unit completes initialization (hydraulic pump start, electrical...) within 500ms. (Preheating of the machine) First, start with a low speed of 15kN tension (speed 0.5m / min), and gradually increase the tension to 18kN and the speed to 3m / min within 1 second to avoid the conductor fluctuation caused by sudden tension increases and decreases; after the switch is completed, the client's "Tension Machine" status changes from "Disconnected" to "Connected (Backup)", the "STOP" icon disappears, and at the same time, the "Control Record" area records "2025-06-26 17:02:30, Main tension machine failure, backup unit activated, switching time 2.8 seconds, tension fluctuation ±0.8kN", to ensure the continuous laying process and the tension deviation is controlled within the allowable range.

[0089] BIM-AR Fusion and Dual-Terminal Interaction: The remote collaborative interaction module achieves seamless collaboration between the on-site operation terminal and the remote monitoring terminal through "visual fusion + two-way data sharing + collaborative decision-making," breaking the limitations of traditional "isolated on-site operation" in wire laying. The BIM-AR interface fusion module adopts a three-step process of "real-scene acquisition - model overlay - data annotation" to achieve deep integration of digital and physical scenes: On-site operators wear Huawei VRGlass2AR glasses, and the glasses' built-in 13-megapixel camera captures the real-time wire laying scene (tower anchor points, conductor routing, and on-site equipment) and transmits it to the remote terminal via a 5G network; the remote terminal displays the pre-processed real-scene image and the wire laying path BIM model (accuracy LOD400, including tower coordinates N30°15′, E114°30′, conductor anchor point height 2) The module performs pixel-level overlay (details such as 5m and pulley model), with an overlay error ≤5cm. After overlay, the module marks key data on the AR interface: real-time tension (1# pulley 18.0kN, 2# pulley 17.8kN, font color changes with tension, green when normal, red when exceeding limit), laying progress (cumulative mileage 850m, total progress 26.6%, displayed as a progress bar at the top of the interface), and fault location (e.g., if the tension sensor of 1# pulley fails, the sensor installation location is marked with a flashing red icon, and "Sensor signal is weak, it is recommended to check the wiring"). For tower climbing personnel, the AR interface also displays "auxiliary operation guidance": such as the deviation between the designed position and the actual position of the tower hanging point pulley (when the deviation is 2cm, it displays "adjust to the left by 2cm"), and the optimal angle for the conductor to enter the pulley ("It is recommended that the angle between the conductor and the pulley axis be ≤15°"), to help operators work accurately and reduce human error. In addition, the module supports real-time updates of the BIM model. If the project changes (such as a minor adjustment to the tower location), the BIM model can be modified remotely and synchronized to the AR glasses on site within 5 seconds, ensuring consistency between the on-site and remote models. The end-to-end data sharing unit builds a "real-time two-way transmission channel" based on the 5G network to achieve seamless data flow between the field and remote locations. Data transmitted from the field to the remote location includes: high-frequency real-time parameters (tension, speed, hydraulic pressure, motor current, transmission frequency 1Hz), low-frequency status data (hydraulic oil temperature 55℃, battery charge 80%, transmission frequency 30 seconds / time), fault logs (fault type, trigger time, and processing result, transmitted immediately after the fault occurs), and real-scene photos (automatically taken every 5 minutes, or manually taken by the operator, with automatic addition of time, latitude, longitude, and altitude watermarks). Data pushed from the remote location to the field location includes: early warning information (such as "15m from the tower, prepare to decelerate"), historical fault cases (such as "In 2024, the same model of tensioner experienced insufficient hydraulic pressure, and the solution was to add hydraulic oil to 2 / 3 of the tank"), and parameter adjustment suggestions (such as "Current wind speed 6m / s, it is recommended to lower the upper limit of tension to 36kN").Data transmission employs an encrypted format (AES-256 encryption algorithm) to ensure data security and prevent tampering or leakage. The dual-end collaborative interaction unit constructs a collaborative decision-making closed loop of "remote command - on-site execution - result feedback," supporting hierarchical permission management: the remote monitoring terminal is divided into "viewing permissions" (can view data, no control permissions) and "control permissions" (can issue commands, limited to on-duty engineers and project managers). Users with control permissions can issue commands through the "control record" area of ​​the client, such as "adjust the preset tension from 18kN to 20kN" or "reduce the laying speed from 3m / min to 2.5m / min." After the command is issued, the on-site operation terminal will receive a pop-up notification, and the operator... After confirming the instructions are correct, click the "Increase" or "Decrease" control buttons on the client (area 4 in the document interface) to execute the adjustment. During the adjustment process, parameter changes are transmitted to the remote end in real time (e.g., the tension gradually increases from 18kN to 20kN, updating every 0.1kN). After the adjustment is completed, the operator uses AR glasses to take a picture of the conductor (focusing on the tension and sway of the conductor), and sends the picture back to the remote end. After the remote end confirms the actual tension is 20.1kN (deviation 0.1kN, meeting the requirements), it marks "Instruction Execution Completed" in the "Collaboration Record," completing one collaborative decision. For complex decisions (such as fault handling), both ends can also conduct "real-time voice calls + real-scene annotation" through AR glasses. The remote end annotates the fault location and handling suggestions on the real-scene photo, and the on-site end executes according to the annotation, greatly improving collaboration efficiency and reducing decision delays caused by information asymmetry.

[0090] In summary, this invention utilizes a high-precision tension sensor, dual closed-loop PID control, and a laser speed measurement module to stably control the wire laying accuracy, effectively avoiding the problems of conductor slack or excessive sag caused by tension fluctuations and asynchronous speeds in traditional wire laying. Furthermore, by seamless switching of faulty units, graded overload protection, and precise fault tree diagnosis, it significantly reduces the interference of equipment failures on the project, ensuring continuous and safe wire laying and minimizing project delays caused by downtime. Simultaneously, relying on the real-scene fusion interaction of 5G networks and AR glasses, it breaks the traditional "isolated on-site operation" mode, achieving real-time data sharing, collaborative decision-making, and precise operation guidance between remote and on-site operations, reducing human error and on-site workload. In addition, through adaptive switching between "layout-tensioning" working conditions, environmental factor tension correction, and conductor plastic deformation compensation, it ensures that the conductor tension remains within a safe range throughout the entire wire laying cycle, ultimately achieving a comprehensive improvement in project quality, work efficiency, and safety protection.

[0091] Next, referring to the accompanying drawings, a working method of a tensioning linkage system for tension wire release according to an embodiment of the present invention is described.

[0092] like Figure 12 As shown, the working method of the tensioning linkage system for tension wire release includes the following steps: In step S101, real-time tension data, conductor laying speed data, and conductor spatial attitude data of the multi-tensioning unit are acquired.

[0093] It is understood that, by acquiring real-time tension data, the embodiments of the present invention can accurately monitor the tension output status of each unit, avoiding conductor damage due to tension overload or conductor slack caused by insufficient tension, and providing a basis for subsequent closed-loop tension adjustment; the conductor laying speed data can reflect the synchronization of multiple units in real time, preventing uneven conductor stress due to speed differences and ensuring tension coordination accuracy; the conductor spatial attitude data can capture abnormal states such as conductor swaying, sag, and torsion in a timely manner, avoiding safety risks such as conductor collision with towers and jumping out of the trench in advance, providing real working condition support for subsequent linkage control and parameter adjustment, and can also perform dynamic monitoring and risk prediction of the laying process, ensuring the safety, stability and accuracy of tension laying, and reducing downtime and engineering errors caused by lack of working condition perception.

[0094] In step S102, the real-time tension data, conductor laying speed data, and conductor spatial attitude data of the multiple tensioning units are analyzed and processed. The operating parameters of the multiple units are associated through a dual closed-loop synchronous control algorithm to generate coordinated control commands.

[0095] Among them, the dual closed-loop synchronous control algorithm is a control strategy that uses the inner loop stable tension and the outer loop synchronous speed as the core, and achieves the coordinated operation of multiple units through dynamic adjustment.

[0096] It is understood that the embodiments of the present invention, through precise stabilization of the tension of each unit in the inner loop and synchronous coordination of the speed of multiple units in the outer loop, can transform the real-time collected tension, speed and attitude data into precisely correlated collaborative control commands. This effectively solves problems such as tension fluctuations and speed asynchrony in the operation of multiple units, ensures uniform and stable conductor stress, avoids the risk of conductor damage, slack or slippage caused by tension overload or insufficient tension or speed differences, improves the accuracy and stability of multi-unit collaborative operation, and provides core algorithm support for the safe and efficient conduct of the tensioning and laying process.

[0097] For example, in the tensioning and laying project of 220kV underground cable tunnels in cities, the dual closed-loop synchronous control algorithm achieves precise control for the characteristics of tunnels with multiple curves, limited space, and cable aluminum sheath tensile strength ≤40kN: the inner loop uses PID regulation as the core. When the tension sensor detects that the actual tension reaches 42kN (5% above the upper limit), the algorithm immediately shortens the adjustment cycle to 100ms. Through the hydraulic valve control signal, the tension is adjusted back to the safe range of 38kN within 200ms, while filtering tunnel vibration interference. The outer loop dynamically calibrates the speed of the two traction machines through the frequency converter. If traction machine A is running at 8m / min and traction machine B lags behind to 7.6m / min (synchronization rate 95%), the algorithm issues a frequency adjustment command at a ratio of 0.1Hz to 0.2m / min, which increases the speed of machine B to 7.8m / min within 1 second, and the synchronization rate is improved to 97.5%. This "tension stabilization-speed coordination" mechanism not only meets the specification requirement of traction speed ≤15m / min, but also controls the tension fluctuation of curves within ±1.2kN, enabling damage-free laying of long-distance tunnel cables.

[0098] In step S103, based on the coordinated control instructions and combined with the characteristics of the conductor material and the wire laying conditions, the tension output and wire laying speed of the tensioning unit are adjusted in real time, the unit's operating status is monitored in real time, the fault tree analysis method is used to locate the fault type, and when the main unit fails, the standby unit is switched and the current control parameters are loaded.

[0099] Fault tree analysis is an analytical method that starts from the top event and traces back to the bottom event layer by layer through logical relationships in order to identify the cause of system failure.

[0100] It is understood that the embodiments of the present invention trace back to specific underlying events layer by layer through logical relationships, accurately locating the type and root cause of faults in unit operation. This avoids the blindness of traditional fault diagnosis and can quickly pinpoint the core of the problem (such as hydraulic system oil shortage, sensor communication failure, etc.), providing a clear direction for fault handling. At the same time, combined with historical fault data, targeted maintenance suggestions can be generated, significantly shortening fault diagnosis and handling time, reducing downtime delays caused by faults, ensuring that the tensioning unit can quickly switch to the standby unit and operate stably when the main unit fails, and significantly improving the system's fault tolerance and operational continuity.

[0101] For example, in the tensioning project of a 110kV suburban high-voltage transmission line, Fault Tree Analysis (FTA) was used to construct an analysis model with "tension control failure" as the top event. Logic gates were used to decompose the top event layer by layer into intermediate events such as "hydraulic system anomaly" and "motor current over-limit," and then further traced back to basic events such as "hydraulic oil shortage" and "sensor communication failure." For instance, when the system detected that the hydraulic pressure dropped to 7MPa (below the normal threshold of 10-20MPa) and the motor current was within the normal range (120A), the AND gate logic determined that "hydraulic oil shortage" was the root cause. Historical data was then used to provide maintenance suggestions such as "checking the oil level in the tank and the inlet pipe." If the main generator stopped due to this fault, the system quickly triggered a standby unit switching mechanism based on the FTA analysis results, completing parameter synchronization before the fault within 500ms and restoring tension control within 2.8 seconds. This achieved efficient handling of the entire process from fault location to fault-tolerant response, significantly improving the reliability of the tensioning process.

[0102] In step S104, based on the fault type, the risks of conductor damage, equipment overload, and personnel safety are assessed. The risk weights are quantified using the analytic hierarchy process (AHP). Combined with historical stringing fault data, a safe operation strategy is generated. The BIM 3D model of the stringing path is overlaid with the on-site AR real-world view at the pixel level. Real-time tension values, stringing progress, and fault locations are marked on the interface. This allows the on-site operator and the remote monitoring terminal to share and interact on the entire tension stringing process data and the safe operation strategy. The remote monitoring terminal issues tension adjustment commands and stringing condition switching commands, while the on-site operator provides feedback on the execution results and real-world photos, enabling two-way collaborative decision-making.

[0103] Among them, BIM 3D model is a digital 3D model that integrates information on the entire life cycle of a building or project. It can intuitively present structural details and support full-process information management and collaborative applications.

[0104] It is understood that the embodiments of the present invention utilize BIM 3D models to integrate the entire lifecycle information of the laying path and intuitively present engineering details. The pixel-level overlay with the on-site AR real scene provides a digital annotation carrier for key information such as real-time tension values, laying progress, and fault locations. This not only breaks down the information barriers between the on-site and remote ends and efficiently shares full-process data and safety strategies, but also provides accurate spatial reference and information support for two-way collaborative decision-making (such as remote command issuance and on-site result feedback), greatly improving the visualization, collaborative efficiency, and decision-making accuracy of the tension laying process.

[0105] It should be noted that the formula for the Analytic Hierarchy Process (AHP) is as follows:

[0106]

[0107]

[0108] in, For the judgment matrix; For feature vectors; To determine the largest eigenvalue of a matrix; As a consistency indicator; The order of the matrix; The consistency ratio; It is a random consistency index.

[0109] For example, in the tensioning and laying project of a 110kV suburban high-voltage transmission line, the BIM 3D model played a core technical support role: a 3D model containing the coordinates of 12 towers (N30°15′, E114°30′), a hanging point height of 25m, and conductor parameters was constructed with LOD400 precision. This model was then matched with the actual project at millimeter-level accuracy via laser point cloud scanning. The model integrated all-element data, including conductor breaking tension and environmental correction coefficients, and served as a digital twin base, overlaying pixel-level data (error ≤5cm) with the real-world scene collected by Huawei VRGlass2 AR glasses. It dynamically labeled key information such as real-time tension values, laying progress, and fault locations. During construction, tower climbers could use the AR interface to view "pulley fine-tuning guidance" (e.g., "2cm to the left") for precise operation. The remote team relied on the model for emergency simulations and collaborative decision-making. From electrical clearance verification in the design phase to intelligent board-walking posture monitoring during construction, and rapid fault location in the operation and maintenance phase, the seamless integration of data throughout the entire lifecycle improved fault response speed by 40% and controlled operational accuracy to the centimeter level.

[0110] According to an embodiment of the present invention, a working method for a tension-based wire laying system is proposed. This system comprehensively and in real-time collects tension, speed, and conductor posture data through a multi-dimensional tension sensing layer, laying a data foundation for precise control. A multi-unit collaborative control center, relying on a dual-closed-loop synchronous control algorithm, strengthens the correlation of unit operating parameters, significantly improving the accuracy of multi-unit synchronous cooperation and avoiding wire laying problems caused by single-unit operational deviations. A dynamic tension adjustment unit dynamically adjusts its output based on conductor material and operating conditions, effectively ensuring the adaptability of tension and speed during the wire laying process, reducing the risk of conductor damage, and improving wire laying quality. A fault self-diagnosis and fault-tolerance unit, through real-time monitoring and seamless switching with backup units, significantly reduces the probability of downtime due to faults, enhancing the reliability and continuity of system operation. A safety protection unit uses the analytic hierarchy process (AHP) to quantify the weights of multiple risk types and generates safety strategies based on historical data, comprehensively avoiding equipment overload, conductor damage, and personnel safety hazards, thus strengthening the safety defense line. A remote collaborative interaction module achieves full-process data sharing and interaction through the overlay of BIM and AR interfaces, breaking down information barriers between the field and remote areas, improving operational collaboration efficiency and process transparency, and enhancing the efficiency of tension-based wire laying operations. This solves the problems of low control precision and poor scene adaptability in existing technologies.

[0111] The following will illustrate the working method of a tension-linked system for tension wire release through a specific embodiment, such as... Figure 13 As shown, it includes: In the tensioning and laying project of the 110kV suburban high-voltage transmission line, the total length of the line is 3.2km, including 12 iron towers, and JL / G1A-630 / 45 steel-cored aluminum stranded wire (elastic modulus) is used. Breaking tension The system is configured with "2 traction machines + 2 tension machines + 1 intelligent guide plate". Relying on the traction and tension linkage system, it aims to achieve a wire laying accuracy of ±5%, fault switching ≤3 seconds, and remote response ≤100ms. After the system starts up, it first completes key data acquisition through a multi-dimensional sensing layer to provide a basis for subsequent control. The CYL-103 high-precision tension sensor (range 0-100kN, accuracy 0.1 grade) installed at the clamping ends of tension wheels 1#-4# of the tension machine directly contacts the wheel journal through flange fixing and uses strain gauges to collect the force deformation signal of the journal. After the signal is converted into a 0-5V analog quantity by the internal conditioning circuit, it is transmitted to the Advantech IPC-610 control host through the 485 bus (Modbus-RTU protocol, baud rate 9600bps). The sensor has a built-in 10Hz damping filter algorithm to filter out conductor vibration interference. Finally, the “tension (1)-(4)kN” area on the ZyrhClient client interface is refreshed at a frequency of 1 second / time, and the display accuracy reaches 0.1kN (such as real-time display of “1# wheel 18.0kN, 2# wheel 17.8kN”). The LD-800 laser speed measurement module located 1.5 meters directly above the tension machine’s output end emits diffuse reflection laser at a 30° angle to the conductor, and collects the laying speed (range 0.1-10m / min, accuracy ±0.05m / min) and cumulative mileage (resolution 0.1m) in real time. The data is transmitted to the control center via Ethernet (TCP / IP protocol), and the remaining distance to the tower hanging point is calculated in real time based on the initial configuration of “start deceleration distance 15m” (remaining distance = cumulative mileage of hanging point - current cumulative mileage). When the remaining distance is ≤15m, a deceleration signal is immediately sent to the PLC (transmission delay ≤50ms). The AHRS-600 module integrated in the center of the intelligent conductor rail (Device ID: 866804050923695) uses a three-axis gyroscope, accelerometer, and magnetometer to collect the conductor's spatial attitude at a frequency of 10Hz: swing angle (±30° range), sag (±0.5m range), and torsion angle (±180° range). The data is transmitted to the control host via a 5G network. When the swing angle exceeds 5°, a yellow warning is displayed in the "Conductor Attitude" area on the client side, and a "Speed ​​Reduction Suggestion" is triggered (from 3m / min to 2m / min); if it continues for 10 seconds and exceeds 8°, the speed is forcibly reduced to 1m / min to prevent the conductor from colliding with the tower.

[0112] After analyzing the collected tension, velocity, and attitude data, the control host generates coordinated control commands through a dual-closed-loop synchronous control algorithm to achieve multi-unit linkage. First, the synchronization error is calculated. And through mean square error Evaluate the stability of traction machine speed synchronization at multiple time points (e.g., traction machine A speed). Traction machine B speed (At the same time, the degree of synchronization deviation is quantified). Using inner-loop PID control as the core, the adjustment cycle is dynamically adjusted according to the tension deviation: when the deviation is ≤ ±1kN, the cycle is 200ms / time; when the deviation is > ±1kN, the cycle is shortened to 100ms / time. For example: if the #1 wheel has a preset tension... Actual collection First calculate the tension error (deviation at this time) Then, the speed correction is calculated using the inner-loop PID controller. Corrected reference speed is Ultimately, through the control quantity formula A hydraulic valve control signal of "reducing tension output by 0.5kN" is generated, which reduces the opening of the Bosch 4WRLE16 hydraulic valve (response time ≤ 50ms) from 35% to 30%. After 100ms, the tension is measured again as 17.2kN (deviation). If the deviation returns to the allowable range of ±1kN, the adjustment command is "reduce by 0.2kN" until the deviation returns to the allowable range of ±1kN. With an outer loop speed synchronization rate of ≥95% as the target, speed fine-tuning is achieved through a Siemens S120 frequency converter. For example, when traction machine A's speed is 3m / min and traction machine B's speed is 2.8m / min, the synchronization rate... (Below the threshold), the algorithm calls the "traction speed ratio 20%" parameter to calculate the target speed. The speed needs to be increased by 0.05 m / min. Since the inverter frequency and speed are linearly related (1 Hz corresponds to 0.1 m / min), a command to "increase the frequency from 45 Hz to 45.5 Hz" is sent to traction machine B. The speed reaches the target after 1 second, and the synchronization rate increases to 95%. If the target is not met, the frequency is fine-tuned by ≤0.5 Hz each time to avoid tension fluctuations exceeding ±1 kN. When generating control commands, the current unit status is first verified (e.g., hydraulic pressure ≤25 MPa) before being converted into hardware signals. After the command is sent via the 5G SA slice network (delay ≤20 ms), the unit must return confirmation within 10 ms; if not received or execution fails, it is resent within 50 ms (maximum 3 times). Failure triggers a "command transmission failure" warning, and the log is recorded to the Huawei RH2288HV5 server (IP: 112.54.97.178).

[0113] Based on the coordinated control commands, combined with the conductor characteristics and dynamic adjustment parameters according to the operating conditions, and through fault tree analysis to achieve rapid fault tolerance, the operating condition identification module is based on the "mileage + sag" determination stage: when the cumulative mileage ≤ 2560m (80% of the total mileage) and the sag < 0.5m, it is the "layout stage," using a preset tension of 18kN and a speed of 3m / min; when the mileage > 2560m or the sag ≥ 0.5m, it switches to the "tensioning stage," increasing the tension to 22kN and reducing the speed to 1.5m / min, while simultaneously increasing the tension sampling frequency to 20Hz. Furthermore, based on the tension upper limit calculation model... (Combined with JL / G1A-630 / 45 steel-cored aluminum stranded wire) , and conductor cross-sectional area Allowable strain New line coefficient Number of splits and The system incorporates an environmental correction factor: for every 10°C increase in temperature, the upper limit of tension is reduced by 1%; when the wind speed exceeds 6 m / s, the upper limit of tension is reduced by 5% and an early warning is triggered. For every 10% of the mileage completed, the upper limit of tension is finely adjusted by +0.5% to compensate for conductor plastic deformation. The fault self-diagnosis unit monitors key parameters through high-frequency sampling: when the motor current (normal 80-150A) exceeds 180A, an early warning is triggered; if it exceeds 200A for 10 seconds, an emergency stop is initiated; when the hydraulic pressure (normal 10-20MPa) is below 8MPa, automatic pressure replenishment is performed; if it does not recover within 30 seconds, "oil shortage and leakage" is determined; when the sensor signal strength is < -85dBm, "communication failure" is marked after 3 failed restarts. Based on fault tree analysis (FTA), "tension control failure" is used as the top event, tracing back to bottom events such as "hydraulic oil shortage" and "current over-limit." For example, if a hydraulic pressure of 7MPa (X2 is true) and a current of 120A (X1 is false) are detected, the system is identified as "hydraulic system oil shortage," and historical data is retrieved to suggest "checking the oil level in the tank and the inlet pipe." When the main tensioner (ID: 867523076037152) stops due to "hydraulic oil shortage," the fault-tolerant unit retrieves the parameters from the server 10 seconds prior to the fault (tension 18kN, speed 3m / min, etc.) and synchronizes them to the backup tensioner (ID: 867523076041386) via 5G. The backup tensioner completes initialization within 500ms, starts with a tension of 15kN and a speed of 0.5m / min, and gradually increases to the target parameters within 1 second. The switching time is 2.8 seconds, with tension fluctuations of ±0.8kN. The client status is updated to "connected (backup)," ensuring continuous cable laying.

[0114] Risk is assessed based on fault type, and remote and on-site collaborative decision-making is achieved through BIM-AR fusion. The analytic hierarchy process (AHP) is used to quantify risk weights: a model is constructed with "target layer (total risk) - criterion layer (conductor damage, equipment overload, personnel safety) - solution layer (specific fault)". The maximum eigenvalue is calculated using a judgment matrix. ,satisfy ( To determine the matrix, (as a weight vector), then calculate the consistency index. Consistency ratio ( To ensure the consistency of the judgment matrix (using the average random consistency index), a judgment matrix with a weight of 0.5 for "personnel safety risk," 0.3 for "equipment overload," and 0.2 for "conductor damage" is used for risk quantification after passing the verification. Combining historical data (e.g., "tension exceeding the upper limit three times resulted in minor conductor damage"), a decision tree algorithm is used to select the optimal splitting feature based on the Gini index: dataset The impurity of the ginni is ( For category exist (proportion in the middle), for features The Gini index is ( for Chinese characteristics Take the first A subset of values ​​is used to calculate the Gini index of features such as tension deviation, speed, and attitude angle, select the optimal dividing point, and generate a safety strategy (e.g., "immediately reduce speed by 30% when tension exceeds the upper limit"). The remote end performs pixel-level overlay (error ≤ 5cm) of the LOD400 precision BIM model (including tower coordinates N30°15′, E114°30′, and hanging point height 25m) with the actual scene (1080P resolution) collected by Huawei VRGlass2AR glasses. The AR interface annotates real-time data: tension value (green for normal, red for exceeding limits), laying progress (displaying 26.6% when cumulative mileage reaches 850m), and fault location (e.g., a flashing red icon marks a fault in wheel #1 sensor). Personnel climbing the tower can view "pulley fine-tuning instructions" (e.g., "2cm to the left") to improve operational precision. On-site and remote terminals share full-process data via a 5G network (AES-256 encryption): on-site transmission of high-frequency parameters (1Hz), fault logs, and real-scene photos (one every 5 minutes); remote push notifications of alerts (e.g., "Slow down 15m from the tower"), historical cases, and parameter suggestions. Remote personnel with control permissions issue commands (e.g., "Adjust tension to 20kN"), which are then executed via client buttons after on-site confirmation. The adjustment process receives real-time feedback (updated every 0.1kN), and upon completion, a real-scene photo is taken and transmitted back. After remote confirmation of a deviation of 0.1kN, it is marked "Execution Complete." In cases of complex faults, both terminals can use AR glasses for "voice communication + real-scene annotation," remotely annotating fault points and handling suggestions, and operating on-site according to the instructions, significantly shortening the decision-making cycle.

[0115] In summary, this invention achieves real-time control of tension, speed, and conductor attitude through multi-dimensional high-precision data acquisition, effectively mitigating safety risks such as conductor damage and tower collisions. Utilizing a dual-closed-loop synchronous control algorithm, it ensures precise and stable tension in the inner loop and efficient speed synchronization in the outer loop, guaranteeing accurate stringing and orderly multi-unit coordination, reducing engineering errors caused by parameter imbalances. Combined with adaptive adjustment and fault tree analysis fault tolerance mechanisms, it dynamically adapts to stringing stages and environmental changes, quickly locating faults and switching to backup units, ensuring continuous and uninterrupted stringing and reducing downtime delays. Furthermore, by quantifying risks using the analytic hierarchy process (AHP) to generate safety strategies, coupled with BIM-AR visualization fusion and 5G dual-terminal collaboration, it achieves efficient data sharing, precise operational guidance, and collaborative decision-making between on-site and remote locations, significantly reducing human error and workload. Ultimately, it achieves comprehensive improvements in four dimensions: safety protection, engineering accuracy, operational efficiency, and collaborative capabilities, providing stable and reliable technical support for tension stringing projects.

[0116] Figure 14 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. The electronic device may include: The memory 1401, the processor 1402, and the computer program stored on the memory 1401 and executable on the processor 1402.

[0117] When the processor 1402 executes the program, it implements a working method of a tensioning linkage system for tensioning wire release provided in the above embodiments.

[0118] Furthermore, electronic devices also include: Communication interface 1403 is used for communication between memory 1401 and processor 1402.

[0119] The memory 1401 is used to store computer programs that can run on the processor 1402.

[0120] The memory 1401 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0121] If the memory 1401, processor 1402, and communication interface 1403 are implemented independently, then the communication interface 1403, memory 1401, and processor 1402 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 14 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0122] Optionally, in a specific implementation, if the memory 1401, processor 1402, and communication interface 1403 are integrated on a single chip, then the memory 1401, processor 1402, and communication interface 1403 can communicate with each other through an internal interface.

[0123] Processor 1402 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention.

[0124] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for a tensioning linkage system for tension wire release.

[0125] In the description of this specification, the references to "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0126] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0127] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

[0128] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0129] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0130] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A tensioning linkage system for tension wire unloading, characterized in that, include: Multi-dimensional tension sensing layer, multi-unit collaborative control center, dynamic tension adjustment unit, fault self-diagnosis and fault tolerance unit, safety protection unit, and remote collaborative interaction module; The multi-dimensional tension sensing layer is used to collect real-time tension data, conductor laying speed data, and conductor spatial attitude data from multiple tensioning units. The multi-unit collaborative control center is used to receive the collected data from the multi-dimensional tension sensing layer, and to generate collaborative control commands by associating the operating parameters of multiple units through a dual closed-loop synchronous control algorithm. The dynamic tension adjustment unit is used to adjust the tension output and wire feeding speed of the tensioning unit in real time according to the coordinated control command, combined with the characteristics of the conductor material and the wire feeding conditions; The fault self-diagnosis and fault-tolerant unit is used to monitor the unit's operating status in real time, diagnose fault types, and trigger seamless switching of the standby unit. The safety protection unit is used to assess the risks of conductor damage, equipment overload, and personnel safety based on the type of fault. It quantifies the risk weights using the analytic hierarchy process and generates a safe operation strategy by combining historical line laying fault data. The remote collaborative interaction module is used to overlay the BIM 3D model of the laying path with the AR real scene on the interface, so that the on-site operation terminal and the remote monitoring terminal can share and interact on the entire tension laying process data.

2. A tensioning linkage system for tension wire release according to claim 1, characterized in that, The multi-dimensional tension sensing layer includes a high-precision tension sensor module, a laser velocity measurement module, and a conductor attitude monitoring module. The high-precision tension sensor module is used to collect the real-time tension value of the conductor clamping end of each tensioning unit; the laser velocity measurement module is used to collect the instantaneous speed and cumulative length of the conductor release; and the conductor attitude monitoring module is used to capture the spatial swing angle, sag, and torsion state of the conductor.

3. A tensioning linkage system for tension wire release according to claim 1, characterized in that, The multi-unit collaborative control hub includes a synchronization control algorithm unit and a control command generation engine. The synchronization control algorithm unit is used to perform dynamic collaborative control of multiple units under different laying distances based on a dual closed-loop synchronization control algorithm. The inner loop uses the tension deviation of a single unit as the control target, and the outer loop uses the synchronization rate of the laying speed of multiple units as the control target. The control command generation engine is used to convert the collaborative control logic into hydraulic valve control signals and motor drive signals of each unit.

4. A tensioning linkage system for tension wire release according to claim 1, characterized in that, The dynamic tension adjustment unit includes a working condition identification module, a material matching adjustment module, and an overload protection unit. The working condition identification module is used to automatically identify the wire laying stage and match the preset tension control strategy. The material matching adjustment module is used to dynamically adjust the upper limit of tension output according to the elastic modulus and breaking tension of the conductor material. The overload protection unit is used to trigger emergency braking and cut off the unit's power source when the tension exceeds the upper limit.

5. A tensioning linkage system for tension wire release according to claim 1, characterized in that, The fault self-diagnosis and fault-tolerant unit includes a status monitoring module, a fault diagnosis engine, and a fault-tolerant switching unit. The status monitoring module is used to monitor the unit's motor current, hydraulic system pressure, and sensor signal strength operating parameters in real time. The fault diagnosis engine is used to locate the fault type through fault tree analysis. The fault-tolerant switching unit is used to activate the standby unit and load the current control parameters when the main unit fails, ensuring tension stability.

6. A tensioning linkage system for tension wire release according to claim 1, characterized in that, The safety protection unit includes a multi-dimensional risk assessment unit, a dynamic risk early warning module, and a safety operation strategy generation unit. The multi-dimensional risk assessment unit is used to quantify the risk weights of conductor damage risk, equipment overload risk, and personnel safety risk using the analytic hierarchy process (AHP). The dynamic risk early warning module is used to monitor tension exceeding thresholds and speed change risk indicators, and trigger multi-level early warnings based on risk weights. The safety operation strategy generation unit is used to iteratively optimize the basic protection strategy by combining historical line laying fault data, and generate safety operation parameters adapted to the current working conditions.

7. A tensioning linkage system for tension wire release according to claim 1, characterized in that, The remote collaborative interaction module includes a BIM-AR interface fusion module, a full-process data sharing unit, and a dual-end collaborative interaction component. The BIM-AR interface fusion module is used to overlay the BIM 3D model of the layout path with the AR real-world scene at the pixel level, and annotate the real-time tension value, layout progress, and fault location on the interface. The full-process data sharing unit is used to share tension data, speed data, fault logs, and early warning information between the on-site operation terminal and the remote monitoring terminal in real time via the network. The dual-end collaborative interaction unit is used to issue tension adjustment commands and layout condition switching commands through the remote monitoring terminal, and the on-site operation terminal provides feedback on the execution results and real-world photos, enabling two-way collaborative decision-making.

8. A tension-coupling method for tension-releasing wire, characterized in that, include: Acquire real-time tension data, conductor laying speed data, and conductor spatial attitude data from multiple tensioning units; Based on the analysis and processing of real-time tension data, conductor laying speed data and conductor spatial attitude data of multiple tensioning units, the operating parameters of multiple units are correlated through a dual closed-loop synchronous control algorithm to generate coordinated control commands. Based on the coordinated control instructions, combined with the characteristics of the conductor material and the wire laying conditions, the tension output and wire laying speed of the tensioning unit are adjusted in real time, the unit's operating status is monitored in real time, the fault tree analysis method is used to locate the fault type, and when the main unit fails, the standby unit is switched and the current control parameters are loaded. Based on the fault type, assess the risks of conductor damage, equipment overload, and personnel safety. Quantify risk weights using the analytic hierarchy process (AHP). Combined with historical stringing fault data, generate a safe operation strategy. Overlay the BIM 3D model of the stringing path with the on-site AR real-world view at the pixel level. Mark real-time tension values, stringing progress, and fault locations on the interface. This enables the on-site operator and remote monitoring terminal to share and interact on tension stringing data and safe operation strategies throughout the entire process. The remote monitoring terminal issues tension adjustment commands and stringing condition switching commands, while the on-site operator provides feedback on execution results and real-world photos, facilitating two-way collaborative decision-making.

9. The tension-coupling method for tension-releasing wire according to claim 8, characterized in that, The fault tree analysis method: ； ； ； in, The problem is a tension control malfunction in the generator unit. Drive system failure; To detect system faults; This is the OR gate logic symbol; The motor current exceeds the limit; Insufficient pressure in the hydraulic system; The sensor signal strength is weak; This is due to pressure overload in the hydraulic system. This is the AND gate logic symbol.

10. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the working method of the tension linkage system for tension wire laying as claimed in claim 7.

Images