Cable lifting and conveying device, control method and cable laying system and method

Abstract

The invention discloses a cable lifting and conveying device, a control method and a cable laying system and method.Through collaborative design of a walking chassis, a lifting device, a slidable lifting platform and a cable conveyor and unified regulation and control by a control module, synchronous development of cable laying and racking operation is achieved, extra manpower or equipment is not needed to transfer a cable, and the working efficiency is improved. Working procedure connection time consumption is greatly reduced, manpower and material resource investment is reduced, and laying efficiency is remarkably improved; moreover, by means of transverse sliding of the sliding block base and accurate conveying of the cable conveyor, and in cooperation with height adjustment of the lifting device, snakelike cable arrangement can be accurately completed, arrangement accuracy and consistency are effectively improved, and the strict requirement of engineering for accuracy is met; and meanwhile, the crawler-type clamping structure of the cable conveyor endows the equipment with an autonomous clamping and conveying function, the moving capacity of the walking chassis is combined, the cable conveying flexibility is improved, the equipment can adapt to complex and changeable laying scenes, and the automation degree and adaptability of cable laying engineering are integrally improved.

Description

Technical Field

[0001] This application relates to the field of cable accessories, and in particular to a cable lifting and conveying device, control method, and cable laying system and method. Background Technology

[0002] In existing cable laying projects, the laying and mounting operations are separated, requiring additional manpower or equipment to transport cables. This process is time-consuming, inefficient, and involves significant investment of manpower and resources. Furthermore, the serpentine layout relies on manual adjustments, making it difficult to guarantee accuracy and consistency, and thus failing to meet the precision requirements of the project. Summary of the Invention

[0003] This application aims to provide a cable lifting and conveying device, control method, and cable laying system and method, which can reduce reliance on manual labor and improve the accuracy and consistency of cable laying.

[0004] The cable lifting and conveying device according to a first aspect embodiment of this application includes: Walking chassis; A lifting device is mounted on the walking chassis, and the lifting device has a lifting mounting base that moves along the height direction of the lifting device; A lifting platform is mounted on the lifting mounting base and arranged parallel to the traveling chassis. The lifting platform has a slider base that can slide in a direction parallel to the width of the traveling chassis. A cable conveyor, mounted on the slider base, is used to convey cables in a length direction parallel to the traveling chassis; The control module is electrically connected to the walking chassis, the lifting device, the lifting platform, and the cable conveyor, respectively.

[0005] A cable laying system according to a second aspect embodiment of this application includes: Multiple cable lifting and conveying devices as described in the first aspect embodiment; Cable transport vehicle, used for transporting cables.

[0006] The cable lifting and conveying device control method according to the third aspect embodiment of this application is applied to the cable lifting and conveying device as described in the first aspect embodiment, the cable lifting and conveying device control method comprising: Acquire image data of the area surrounding the cable lifting and conveying device collected by the vision unit; The cable tray position information on the preset path is determined based on the image data, and the device position information of the cable lifting and conveying device is determined based on the tray position information. Based on the device location information and the preset path, determine the device displacement deviation information; If the displacement deviation information of the device exceeds the preset allowable displacement deviation range, the chassis is controlled to adjust its posture so that the cable lifting and conveying device travels along the preset path. When the cable lifting and conveying device reaches the end position in the preset path, the walking chassis is controlled to stop moving and the lifting strategy is executed; The lifting strategy includes: The relative position information between the lifting platform and the support column of the target cable tray is acquired by the spatial relationship determination unit. Based on the relative position information, control the walking chassis to move until the horizontal distance between the lifting platform and the target cable tray is within the preset horizontal distance deviation range and the horizontal deviation angle is within the preset angle deviation range; When the horizontal distance is within the preset horizontal distance deviation tolerance range and the horizontal deviation angle is within the preset angle deviation tolerance range, the platform height information collected by the platform height detection unit is obtained, and the lifting platform is controlled to rise according to the platform height information until the lifting platform reaches the preset platform height; When the lifting platform reaches the preset platform height, the slider base of the lifting platform is controlled to move until the deviation between the output port of the cable conveyor and the center of the support arm of the cable bracket is less than the preset distance deviation tolerance range, and a calibration completion signal is generated.

[0007] A cable laying method according to a fourth aspect of this application includes: The cable serpentine path information is obtained, which includes at least the position coordinates and height information corresponding to each peak and trough position; wherein each peak or trough position corresponds to a cable lifting and conveying device. The travel information of each cable lifting and conveying device is determined based on the cable serpentine path information, and the travel information includes the preset path and preset platform height corresponding to the cable lifting and conveying device; The travel information corresponding to each of the cable lifting and conveying devices is sent to each of the cable lifting and conveying devices so that each of the cable lifting and conveying devices executes the cable lifting and conveying device control method as described above. Upon receiving calibration completion signals from all cable lifting and conveying devices, a cable conveying command is sent to each of the cable lifting and conveying devices, causing the cable lifting and conveying devices to convey the cable according to a preset conveying speed. The cable lifting and conveying device, control method, and cable laying system and method of this application, through the coordinated design of the walking chassis, lifting device, sliding lifting platform, and cable conveyor, and unified control by the control module, realize the simultaneous operation of cable laying and scaffolding. This eliminates the need for additional manpower or equipment to transfer cables, significantly reducing the time spent on process connections, lowering manpower and material input, and significantly improving laying efficiency. Furthermore, by utilizing the lateral sliding of the slider base and the precise conveying of the cable conveyor, combined with the height adjustment of the lifting device, the serpentine cable arrangement can be accurately completed, effectively improving the layout accuracy and consistency, and meeting the stringent precision requirements of engineering projects. Simultaneously, the crawler-type clamping structure of the cable conveyor gives the equipment autonomous clamping and conveying capabilities, which, combined with the mobility of the walking chassis, enhances the flexibility of cable transportation, adapting to complex and varied laying scenarios, and overall improving the automation and adaptability of cable laying projects.

[0008] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. Attached Figure Description

[0009] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 Electrical system diagram of the cable lifting and conveying device provided in the embodiments of this application; Figure 2 A side view of the cable lifting and conveying device provided in an embodiment of this application; Figure 3 An isometric view of the cable lifting and conveying device provided in the embodiments of this application; Figure 4 A front view of the cable lifting and conveying device provided in an embodiment of this application; Figure 5 A front view of the cable transport vehicle provided in an embodiment of this application; Figure 6 A top view of the cable transport vehicle provided in an embodiment of this application; Figure 7 A schematic diagram of a cable laying system provided in an embodiment of this application; Figure 8 A flowchart illustrating the control method for the cable lifting and conveying device provided in this application embodiment; Figure 9 A flowchart illustrating a cable laying method provided in an embodiment of this application.

[0010] Figure label: Cable lifting and conveying device 100, traveling chassis 110; lifting device 120; vertical guide frame 121; lifting mounting base 122; lifting mechanism 123; lifting platform 130; lifting base 131; slider base 132; sliding drive assembly 133; cable conveyor 140; transmission support 141; crawler conveyor assembly 142; transmission drive assembly 143; control module 150; vision unit 160; spatial relationship determination unit 170; platform height detection unit 180; cable conveying vehicle 200, traveling mechanism 210; lifting mechanism 220; cable conveying platform 230; cable guide support 240. Detailed Implementation

[0011] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0012] In the description of this application, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0013] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0014] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0015] The technical solution of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of this application, not all embodiments.

[0016] See Figures 1 to 4 , Figure 7 As shown, one embodiment of this application provides a cable lifting and conveying device 100, which includes: Chassis 110; The lifting device 120 is mounted on the walking chassis 110 and has a lifting mounting seat 122 that moves along the height direction of the lifting device 120. The lifting platform 130 is mounted on the lifting mounting base 122 and arranged parallel to the traveling chassis 110. The lifting platform 130 has a slider base 132, which can slide in a direction parallel to the width of the traveling chassis 110. A cable conveyor 140 is mounted on a slider base 132 and is used to convey cables in a length direction parallel to the traveling chassis 110. The control module 150 is electrically connected to the walking chassis 110, the lifting device 120, the lifting platform 130, and the cable conveyor 140, respectively.

[0017] In this embodiment, through the coordinated design of the walking chassis 110, lifting device 120, sliding lifting platform 130, and cable conveyor 140, and unified control by the control module 150, the simultaneous implementation of cable laying and scaffolding operations is achieved. No additional manpower or equipment is needed to transfer cables, significantly reducing the time spent on process connections, lowering manpower and material input, and significantly improving laying efficiency. Furthermore, with the lateral sliding of the slider base and the precise conveying of the cable conveyor 140, combined with the height adjustment of the lifting device 120, the serpentine cable arrangement can be accurately completed, effectively improving the layout accuracy and consistency, and meeting the stringent precision requirements of engineering projects. Simultaneously, the tracked clamping structure of the cable conveyor 140 gives the equipment autonomous clamping and conveying capabilities. Combined with the mobility of the walking chassis 110, this enhances the flexibility of cable transportation, adapting to complex and varied laying scenarios, and overall improving the automation and adaptability of cable laying projects.

[0018] The aforementioned walking chassis 110 can adopt a tracked or wheeled structure. The chassis has a built-in servo drive motor and steering mechanism, both of which are electrically connected to the control module 150. It can receive displacement commands from the control module 150 to realize actions such as straight-line walking and steering adjustment. The drive motor has a speed adjustment function to adapt to different laying speed requirements.

[0019] The aforementioned lifting device 120 can be vertically fixed to the walking chassis 110 by means of bolt connection, welding or other assembly methods, and has a guide component (such as guide column, guide rail, etc.) to provide guidance, and a transmission mechanism (such as lead screw, gear rack, hydraulic cylinder, etc.) driven by a power source (such as motor, hydraulic pump, etc.). The lifting mounting base slides with the guide component and is connected to the transmission mechanism. Under the power drive, it moves smoothly along the height direction of the guide component, providing vertical lifting function for subsequent components.

[0020] The aforementioned lifting platform 130 can be mounted on the lifting mounting base 122 and parallel to the traveling chassis 110. Meanwhile, the slider base can slide along the width direction of the traveling chassis 110 to achieve fine adjustment of the lateral position of the cable conveyor 140, so as to accurately align it with the cable support.

[0021] The cable conveyor 140 is fixed to the slider base by bolts or other means, and has a pair of conveying components. These components are driven by a power mechanism to clamp the cable and drive it to be stably conveyed in a direction parallel to the length of the traveling chassis 110.

[0022] The aforementioned control module 150 can be any of a PLC, microcontroller, or ARM processor. It can be installed in an electrical control cabinet mounted on the chassis 110. The control module 150 is electrically connected via wired cables to the servo drive motor, lifting drive motor, servo motor of the sliding drive assembly 133, geared motor of the transmission drive assembly 143, and position detection unit of the chassis 110 to transmit signals. In cases where wiring is difficult, a wireless communication module can be used for wireless data transmission. The control module 150 can preset parameters such as the walking path, lifting height, slider movement position, and cable conveying speed. It can also receive remote control commands via a wireless communication module to coordinate the actions of various components in real time, enabling coordinated cable laying, lifting adjustment, lateral alignment, and autonomous conveying.

[0023] In some implementations, reference Figure 1 The aforementioned cable lifting and conveying device 100 further includes: The vision unit 160 is mounted on the walking chassis 110 and is electrically connected to the control module 150; The spatial relationship determination unit 170 is installed on the lifting platform 130 and electrically connected to the control module 150, and is used to determine the relative position information between the lifting platform 130 and the support column of the target cable tray. The platform height detection unit 180 is installed on the lifting platform 130 and electrically connected to the control module 150 to determine the platform height information of the lifting platform 130.

[0024] The aforementioned vision unit 160 can be fixed to the front or top of the chassis 110 via a bracket. It employs an image acquisition device with environmental perception capabilities and is connected to the control module 150 via a data line. It collects real-time environmental image data around the device, including initial position images of path markers, obstacles, and cable trays, providing environmental visual reference to the control module 150. It should be noted that to acquire spatial position information of objects within the image data, a binocular vision system, a depth camera with depth detection capabilities, or a LiDAR device can be used. The specific choice can be flexibly selected based on actual needs.

[0025] The aforementioned spatial relationship determination unit 170 is installed at the edge of the lifting platform 130. It employs a sensor capable of detecting distance and angle and is electrically connected to the control module 150. By transmitting detection signals and receiving reflected signals, it calculates the relative position information, such as the horizontal distance and horizontal deviation angle, between the lifting platform 130 and the target cable tray support column. For example, the spatial relationship determination unit 170 can use a laser ranging unit for ranging and be combined with a high-precision pan-tilt unit to detect objects within a certain area. Alternatively, it can use a lidar device to directly scan the area, or it can use a combination of multiple ultrasonic ranging units to determine the spatial position.

[0026] The aforementioned platform height detection unit 180 is installed at the bottom or side of the lifting platform 130. It employs a height detection sensor and is electrically connected to the control module 150. It collects the current height data of the lifting platform 130 in real time and feeds the data back to the control module 150, forming a closed-loop height control. For example, a laser ranging unit, an ultrasonic ranging unit, etc., can be used.

[0027] In this embodiment, the vision unit 160 enables autonomous path recognition, reducing manual guidance; the spatial relationship determination unit 170 accurately positions the bracket, improving alignment efficiency; and the platform height detection unit 180 corrects height deviations in real time. These three components work together to achieve automated, precise alignment and dynamic adjustment of cable laying and mounting, solving the problems of low precision and efficiency in manual operation, significantly improving laying efficiency, accuracy, and operational stability, and adapting to complex laying scenarios.

[0028] In some implementations, reference Figures 2 to 4 The lifting device 120 includes: A vertical guide frame 121 is vertically mounted on the chassis 110. Lifting mounting base 122; The lifting mechanism 123 is installed via the vertical guide frame 121 and is used to drive the lifting mounting base 122 to move along the height direction of the vertical guide frame 121. A lifting drive motor is mounted on the vertical guide frame 121 and electrically connected to the control module 150. It is used to drive the lifting mechanism 123 to move the lifting mounting base 122 along the height direction of the vertical guide frame 121.

[0029] The aforementioned vertical guide frame 121 can be made of high-strength alloy material, vertically fixed in the middle of the walking chassis 110, and has a rectangular frame structure. The inner side is provided with a vertical guide rail to provide a guiding reference for the lifting movement.

[0030] The aforementioned lifting mounting base 122 can be a flat plate structure, which slides with the vertical guide rail and is connected to the lifting mechanism 123.

[0031] The aforementioned lifting mechanism 123 can adopt a chain drive structure, including a driving sprocket, a driven sprocket, a high-strength transmission chain, and a tension adjustment component. The driving sprocket is rotated by a lifting drive motor, and the transmission chain meshes with the sprocket, thereby pulling the lifting platform 130 to complete vertical movement along the main frame. Compared to traditional structures, chain drives have higher load-bearing redundancy and can accommodate heavier cable and equipment loads. Simultaneously, the chain tension adjustment component ensures the stability and position control accuracy of the lifting process.

[0032] In this embodiment, the vertical guide frame 121 provides a stable vertical guide for the lifting mounting base 122, effectively improving the straightness and stability of the lifting process. The lifting drive motor is connected to the control module 150 to realize automated and precise control of the lifting action, replacing manual operation, significantly reducing labor intensity, and improving work efficiency. The overall structural design is reasonable, and the operation is stable and reliable, providing strong support for the synchronous laying and mounting of cables.

[0033] In some implementations, reference Figures 2 to 4 The lifting platform 130 includes: The lifting base 131 is mounted on the lifting mounting base 122 and is arranged parallel to the walking chassis 110; The guide rail is mounted on the lifting base 131 and is parallel to the width direction of the traveling chassis 110; The slider base 132 can slide along the guide rail; The sliding drive assembly 133 is disposed on the lifting base 131 and / or the guide rail and is electrically connected to the control module 150 for driving the slider base 132 to slide along the guide rail; The position detection unit, electrically connected to the control module 150, is used to detect the position of the slider base 132 on the guide rail.

[0034] The aforementioned slider base and guide rail adopt a rolling friction fit and have built-in wear-resistant ball bearings, which can greatly reduce the moving resistance and make the slider base run smoothly along the guide rail without jamming.

[0035] The aforementioned sliding drive assembly 133 includes a stepper drive unit and a transmission gear set. The stepper drive unit is meshed with the transmission gear set and the precision rack on the side of the guide rail, which can convert the rotational motion of the stepper drive unit into the linear motion of the slider, resulting in high driving accuracy and rapid response.

[0036] The aforementioned position detection element can collect the lateral position data of the slider in real time, forming a closed-loop control with the control system to improve the accuracy of the slider's movement position.

[0037] In this embodiment, the slider base of the lifting platform 130 can move left and right along the slide rail. Without relying on the fine adjustment of the walking wheel set, the cable conveyor 140 can be accurately positioned laterally by the sliding drive component 133, so that the outlet end of the cable conveyor 140 can be accurately aligned with the preset laying path or cable support position, laying a precision foundation for subsequent serpentine layout.

[0038] In some implementations, reference Figures 4 to 6 The cable conveyor 140 includes: The transmission bracket 141 is mounted on the slider base 132; Two tracked conveyor assemblies 142 are arranged in parallel on the transmission bracket 141 and are used together to clamp the cable. The transmission drive assembly 143 is mounted on the transmission bracket 141 and electrically connected to the control module 150. It is used to drive the two tracked conveyor assemblies 142 to transport cables in a direction parallel to the length of the walking chassis 110.

[0039] The track surface of the aforementioned tracked conveyor assembly 142 can be made of anti-slip and wear-resistant composite material and have a textured surface. On the one hand, this can enhance the friction with the cable sheath and prevent the cable from slipping during the conveying process. On the other hand, it can buffer the clamping force and prevent damage to the cable insulation layer.

[0040] The aforementioned transmission drive assembly 143 includes a drive motor and a reduction mechanism, which can be fixed on the cable conveying platform 230 and connected to the cable conveyor 140 through a transmission component to provide power for cable conveying.

[0041] The aforementioned independent system is also equipped with a tensioning mechanism that can be adjusted manually or semi-automatically. Operators can adjust the spacing between the two sets of tracks according to the preset cable diameter parameters. Stable clamping can be achieved for both small-diameter control cables and large-diameter power cables without relying on external traction equipment, thus meeting the needs of autonomous conveying.

[0042] In some implementations, reference Figure 3 The aforementioned vertical guide frame 121 is also equipped with handles. Using handles facilitates some manual operations and increases the redundancy of the entire device.

[0043] In some implementations, reference Figure 2 , Figure 3 A dust cover is also provided on one side of the aforementioned vertical guide frame 121 to provide protection to a certain extent.

[0044] In some implementations, reference Figure 2 , Figure 3 The aforementioned cable lifting and conveying device 100 also includes a locking structure for manually locking the lifting platform.

[0045] See Figure 7 As shown, Figure 7 This is a schematic diagram of a cable laying system provided in one embodiment of this application. The cable laying system includes: Multiple cable lifting and conveying devices 100 as described above; Cable transport vehicle 200, used for transporting cables.

[0046] In this embodiment, multiple cable lifting and conveying devices 100 are arranged at intervals along the cable laying direction according to a preset cable serpentine path. Each device corresponds to the peak or trough position of the serpentine path, and the control modules 150 of each device are interconnected through wireless communication modules to achieve coordinated operation. The cable conveying vehicle 200 carries a cable reel, and its output end is connected to the cable conveyor 140 inlet of the first cable lifting and conveying device 100 through a guide component for continuously conveying cables to the system. During operation, the cable conveying vehicle 200 releases the cable, which is then fed into the first lifting and conveying device through the guide component. Each lifting and conveying device synchronously adjusts its walking position, lifting height, and lateral offset according to the preset path information, working together to lay the cable into a preset serpentine structure and simultaneously mount it onto the frame.

[0047] It should be noted that there are no specific limitations on the location and number of cable conveyor vehicles 200. They can be added at the beginning or end of multiple cable lifting and conveying devices 100, or even in the middle, according to actual needs.

[0048] In this embodiment, through the coordinated operation of multiple cable lifting and conveying devices 100, combined with the continuous cable supply from the cable conveying vehicle 200, long-distance and continuous cable laying and mounting are achieved, significantly improving laying efficiency. Each device precisely matches the peak and trough positions of the serpentine path, effectively improving the accuracy and consistency of the serpentine layout. In addition, the system is adaptable to complex laying scenarios, reduces manual intervention, lowers labor intensity, and meets the automation requirements of large-scale cable laying projects.

[0049] In this embodiment, automated guided vehicles can replace manual operation of forklifts and overhead cranes for transport, realizing automated loading of cabinets, avoiding the problem of uncontrolled transport trajectory, reducing cabinet collision damage, improving transport efficiency and safety, providing stable preconditions for subsequent precise splicing, and reducing labor costs.

[0050] In some implementations, reference Figure 6 , Figure 7 The cable transport vehicle 200 includes: Walking mechanism 210; The lifting mechanism 220 is mounted on the traveling mechanism 210; The cable conveying platform 230 is mounted on the lifting mechanism 220 and is arranged parallel to the chassis of the traveling mechanism 210; Cable conveyor 140 is mounted on cable conveying platform 230; Two transmission drive components 143 are disposed at the input and output ends of the cable conveyor 140 for guiding the cables entering and exiting the cable conveyor 140.

[0051] The aforementioned cable conveyor 200 uses the walking mechanism 210 as its mobile base and can adopt a tracked or wheeled structure to adapt to complex terrain at the laying site. Its drive unit is electrically connected to the control module 150 to achieve flexible movement and precise positioning.

[0052] The aforementioned lifting mechanism 220 can be installed in the middle of the traveling mechanism 210. It can adopt a hydraulic or screw drive structure and be fixedly connected to the cable conveying platform 230 at the top. The height of the conveying platform can be adjusted according to the operation requirements.

[0053] The cable conveying platform 230 is made of high-strength alloy material and is horizontally arranged on the lifting mechanism 220, parallel to the chassis, providing a stable installation reference for the cable conveyor 140 and the guide bracket.

[0054] The cable conveyor 140 mentioned above adopts a paired conveyor roller or crawler structure, installed in the middle of the conveying platform, and has the function of clamping the cable and driving it to move. The conveying speed can be adjusted by the control module 150.

[0055] The two transmission drive components 143 mentioned above are respectively installed at the input end and the output end of the cable conveyor 140. Their surfaces are covered with a wear-resistant rubber layer. They can flexibly adjust their guiding posture according to the cable diameter and the conveying angle, and play a guiding and limiting role for the cables entering and exiting the conveyor.

[0056] It should be noted that the cable conveyor 140 in the cable conveyor vehicle 200 and the cable conveyor 140 in the cable lifting and conveying device 100 can have the same structure, which will not be elaborated here. Alternatively, existing cable conveying equipment on the market can be selected according to requirements.

[0057] In some embodiments, the cable conveyor 140 is also provided with an adjusting screw for adjusting the spatial position of the cable conveyor 140.

[0058] See Figure 8 As shown, Figure 8 This is a flowchart of a cable lifting and conveying device control method provided in one embodiment of this application. The cable lifting and conveying device control method is applied to the cable lifting and conveying device 100 described above, and includes steps S110 to S150. S110, acquire image data of the area around the cable lifting and conveying device 100 collected by the vision unit 160; S120, determine the bracket position information of the cable tray on the preset path based on the image data, and determine the device position information of the cable lifting and conveying device 100 based on the bracket position information. S130, determine the device displacement deviation information based on the device location information and the preset path; S140, when the device displacement deviation information exceeds the preset displacement deviation allowable range, control the walking chassis 110 to adjust its posture so that the cable lifting and conveying device 100 can travel along the preset path. S150, when the cable lifting and conveying device 100 reaches the end position in the preset path, the walking chassis 110 is controlled to stop walking and the lifting strategy is executed; Lifting strategies include: The spatial relationship determination unit 170 acquires the relative position information between the lifting platform 130 and the support column of the target cable tray. Based on the relative position information, control the walking chassis 110 to move until the horizontal distance between the lifting platform 130 and the target cable tray is within the preset horizontal distance deviation range and the horizontal deviation angle is within the preset angle deviation range. When the horizontal distance is within the preset horizontal distance deviation range and the horizontal deviation angle is within the preset angle deviation range, the platform height information collected by the platform height detection unit 180 is obtained, and the lifting platform 130 is controlled to rise according to the platform height information until the lifting platform 130 reaches the preset platform height. When the lifting platform 130 reaches the preset platform height, the slider base of the lifting platform 130 is controlled to move until the deviation between the output port of the cable conveyor 140 and the center of the support arm of the cable bracket is less than the preset distance deviation allowable range, and a calibration completion signal is generated.

[0059] The cable lifting and conveying device control method in this application embodiment can be applied to the control module 150 within the cable lifting and conveying device 100.

[0060] The cable lifting and conveying device control method in this embodiment is based on the cable lifting and conveying device 100 described above, which has been described in detail above and will not be repeated here.

[0061] In this embodiment, the vision unit 160 acquires images in real time and locates the path and device position. Combined with a deviation adjustment mechanism, the device moves precisely along the preset path, reducing manual guidance errors and improving path following stability. Upon reaching the destination, a layered control strategy involving spatial relationship determination, horizontal / angle calibration, height adjustment, and slider fine-tuning achieves multi-dimensional precise matching between the lifting platform 130 and the target cable tray, ensuring millimeter-level alignment between the output port of the cable conveyor 140 and the center of the cable tray's support arm. The entire process replaces manual positioning and adjustment with automated collaboration, significantly reducing labor intensity and avoiding accuracy fluctuations and safety hazards associated with manual operation. Closed-loop feedback control continuously corrects deviations, ensuring the accuracy and consistency of the laying position, shortening calibration time, improving cable racking efficiency and project quality, and adapting to the high-efficiency laying requirements in complex scenarios.

[0062] The aforementioned vision unit 160 can be fixed to the front or top of the walking chassis 110 via an adjustable bracket. It employs an environmentally adaptable image acquisition device, with its acquisition field of view covering key areas such as cable trays, path markings, and ground obstacles in front of and to the sides of the device. During the movement and operation of the cable lifting and conveying device 100, the vision unit 160 continuously acquires image data of the surrounding environment at a preset frequency, including information such as the position of the cable tray arms, the distribution of support columns, ground path markings, and the outlines of potential obstacles. After preprocessing (such as noise reduction and distortion correction), the acquired image data is transmitted in real time to the control module 150 via wired or wireless transmission.

[0063] After receiving the image data collected by the vision unit 160, the control module 150 starts an image recognition algorithm to process the data. For example, by extracting the features of the cable tray (such as the outline of the support column and the geometry of the support arm), matching the preset tray feature template, the pixel coordinates of each cable tray on the preset path in the image are located. Then, combined with the installation parameters (focal length, pitch angle) of the vision unit 160, the pixel coordinates are converted into actual three-dimensional spatial coordinates to obtain the tray position information. At this time, the obtained tray position information is the spatial coordinate of the cable tray relative to the vision unit 160. However, in actual construction, each cable tray is predetermined and can be set with unique marking information. That is, the actual coordinate information of the cable tray in the image data can be known in advance. Thus, the coordinate information of the vision unit 160 can be deduced in reverse using the actual coordinate information and the calculated tray position information. This coordinate information can be directly used as the device position information, or after further translation and transformation, the device position information can be obtained.

[0064] It should be noted that when using a lidar device as the vision unit 160, the position information of the bracket relative to the vision unit 160 can be determined first using lidar point cloud data, and then the device position information can be determined in the same way.

[0065] The aforementioned control module 150 first retrieves the three-dimensional coordinate data of the preset path to establish a benchmark. Then, it compares the real-time acquired device position information with the coordinates of the corresponding mileage points on the preset path (the specific number of mileage points can be flexibly set according to actual needs) point by point. Through the spatial coordinate difference algorithm, it calculates the distance deviation of the device in the length direction (longitudinal) and width direction (lateral) of the chassis 110, as well as the angular deviation of the device's direction from the preset path. The longitudinal deviation, lateral deviation, and angular deviation are integrated to form complete device displacement deviation information, which is synchronously fed back to the decision unit of the control module 150.

[0066] The aforementioned preset displacement deviation tolerance range can be flexibly set according to accuracy requirements. For example, longitudinal deviation ≤10cm, lateral deviation ≤5cm, and angular deviation ≤1°. When the device displacement deviation information is detected to exceed this range, the control module 150 immediately generates an adjustment command to adjust the walking position and direction. During the adjustment process, the vision unit 160 continuously collects image data and provides real-time feedback on the device position. The control module 150 dynamically corrects the command until the deviation returns to the tolerance range, ensuring that the device walks in a straight line along the preset path.

[0067] The control module 150 compares the device's position information with the endpoint coordinates of the preset path in real time. When the deviation between the two falls within the endpoint determination threshold (e.g., the deviation of all three-dimensional coordinates is ≤3cm), it determines that the device has reached the endpoint position. At this time, the control module 150 sends a stop command to the drive unit of the chassis 110, immediately brakes and locks the wheel set to ensure that the device stops accurately.

[0068] The aforementioned spatial relationship determination unit 170 can transmit detection signals, such as laser or ultrasonic waves, to the support column at a preset frequency. After receiving the signals reflected by the column, it calculates the relative position information between the lifting platform 130 and the support column, including the horizontal distance, horizontal offset angle, and relative height difference, using a built-in algorithm. The collected information is transmitted in real time to the control module 150 via a data interface as the basis for subsequent position adjustments.

[0069] The control module 150 receives relative position information from the spatial relationship determination unit 170, extracts horizontal distance and horizontal deviation angle data, and compares them with preset allowable ranges for horizontal distance deviation (e.g., less than or equal to 5cm) and preset allowable ranges for angle deviation (e.g., less than or equal to 0.5°). If the horizontal distance exceeds the tolerance, the driving chassis 110 is moved closer to or further away from the support column. If the angle exceeds the tolerance, the steering mechanism is controlled to fine-tune the wheel angle. During the adjustment process, the spatial relationship determination unit 170 updates the data in real time, and the control module 150 dynamically corrects the commands until both indicators fall within the allowable range, at which point the driving chassis 110 is controlled to stop moving.

[0070] When the control module 150 determines that both the horizontal distance and the horizontal deviation angle fall within the preset allowable range based on the relative position information, the platform height detection unit 180 activates the real-time acquisition mode, continuously acquiring the current platform height information of the lifting platform 130 and transmitting the data to the control module 150 in real time. The control module 150 retrieves the preset platform height, calculates the difference between the current platform height and the preset platform height, and sends a lifting command to the lifting drive motor, driving the lifting mechanism 123 (such as a chain drive structure) to raise the lifting platform 130. During the process, the platform height detection unit 180 dynamically updates the height information, and the control module 150 compares it in real time until it detects that the height of the lifting platform 130 has reached the preset platform height. At this point, it immediately sends a stop command, the lifting mechanism 123 brakes, and the lifting action is completed.

[0071] It should be noted that the preset platform height can be determined in advance based on the engineering BIM model, or it can be determined in real time using the 160 vision unit.

[0072] Once the lifting platform 130 reaches the preset platform height, the control module 150 will initiate the slider base calibration program. At this time, the position detection unit collects the deviation distance data between the output end of the cable conveyor 140 and the center of the support arm of the target cable tray in real time and feeds it back to the control module 150. The control module 150 compares the deviation distance data with the preset allowable deviation range (for example, less than or equal to 1 cm). If the deviation exceeds the limit, a drive command is sent to the sliding drive component 133 to drive the slider base to move along the guide rail. During the adjustment, the position detection unit continuously updates the deviation data until the deviation is less than the preset range. The control module 150 then generates a calibration completion signal and locks the current position simultaneously.

[0073] In some embodiments, the above-mentioned cable lifting and conveying device control method further includes: In response to a cable conveying command, the cable conveyor 140 is controlled to convey the cable according to a preset conveying speed.

[0074] In this embodiment, upon receiving a cable conveying command, the cable conveyor 140 is controlled to operate at a preset speed, achieving automated and precise control of the conveying process. Simultaneously, it coordinates with lifting and positioning actions to ensure a consistent laying rhythm, improve overall work efficiency, and reduce errors and safety hazards caused by manual intervention.

[0075] The aforementioned cable conveying instructions can be uniformly sent and issued by an external central control device to each cable lifting and conveying device 100 and cable conveying vehicle 200.

[0076] In some embodiments, the above-mentioned cable lifting and conveying device control method further includes: When the cable conveyor 140 is conveying the cable according to the preset conveying speed, a dynamic height adjustment strategy is implemented. Dynamic height adjustment strategies include: The platform height information collected by the platform height detection unit 180 is obtained, and the lifting platform 130 is raised or lowered according to the platform height information, so that the height difference between the platform height information of the lifting platform 130 and the preset platform height is within the preset platform height difference allowable range.

[0077] In this embodiment, by acquiring platform height information in real time and dynamically controlling the lifting platform 130 to raise or lower, height deviations can be continuously corrected, ensuring the platform height remains stable within a preset range. This reduces height deviations caused by equipment vibration, load changes, etc., during transportation, ensuring that cables are always laid at precise heights, reducing cable damage or misalignment caused by height deviations, improving laying consistency and stability, and enhancing the adaptability of automated control, further reducing the need for manual monitoring.

[0078] See Figure 9 As shown, Figure 9 This is a flowchart of a cable laying method provided in one embodiment of the present application. The cable laying method can be applied to an external central control device, including steps S210 to S240. S210, Obtain cable serpentine path information, which includes at least the position coordinates and height information corresponding to each peak and trough position; wherein, each peak or trough position corresponds to a cable lifting and conveying device 100. S220, determine the travel information of each cable lifting and conveying device 100 based on the cable serpentine path information, the travel information including the preset path and preset platform height corresponding to the cable lifting and conveying device 100; S230, the walking information corresponding to each cable lifting and conveying device 100 is sent to each cable lifting and conveying device 100 so that each cable lifting and conveying device 100 executes the cable lifting and conveying device control method as described above. S240, upon receiving calibration completion signals uploaded by all cable lifting and conveying devices 100, sends a cable conveying command to each cable lifting and conveying device 100 so that the cable lifting and conveying device 100 conveys the cable according to a preset conveying speed.

[0079] The above-mentioned acquisition of cable serpentine path information can be achieved by first exporting preset cable laying serpentine path data from the engineering BIM model. After processing by a dedicated data parsing module, key information is extracted, such as the three-dimensional coordinates of each peak and trough position, as well as the corresponding height parameters (peak height and trough height). Simultaneously, based on the peak and trough distribution density of the serpentine path, each peak and trough position is uniquely numbered according to the path direction, establishing a mapping relationship between position and number. Then, the number is bound one-to-one with the device ID of the cable lifting and conveying device 100, clarifying the peak or trough position responsible for each device, forming a structured serpentine path information table containing position coordinates, height information, and device correspondence, which is stored for subsequent distribution to the control module 150 of the corresponding cable lifting and conveying device 100, providing a data benchmark for subsequent multi-device collaborative operations.

[0080] The aforementioned external central control equipment matches the corresponding peak or trough coordinates of each cable lifting and conveying device 100 based on its device ID, and generates a linear preset path from the initial position of the device to the target position, using these peak or trough coordinates as the target endpoint and combining them with the overall path direction. Simultaneously, it extracts the height information corresponding to the peak or trough position as the preset platform height for that device. The preset path and preset platform height are then combined with the control module 150 of the corresponding cable lifting and conveying device 100 to form dedicated travel information.

[0081] The aforementioned external control device can establish a communication link with each cable lifting and conveying device 100 via an industrial-grade wireless communication module (such as LoRa or a 5G industrial gateway). Before transmission, the external control device can retrieve the walking information (including the three-dimensional coordinate sequence of multiple points along the preset path and preset platform height parameters) corresponding to each cable lifting and conveying device 100 from the database, and package the data according to the unique ID of each cable lifting and conveying device 100, attaching a check code to ensure data integrity. During transmission, data packets are pushed to each device according to the ID of the external control device. After receiving the data, the cable lifting and conveying device 100 verifies the validity of the data through its built-in verification module. If the verification is successful, it returns a "reception successful" confirmation signal. If no confirmation is received or the verification fails, the external control device can automatically trigger a retransmission mechanism until all devices have completed information reception. After storing the received walking information, each cable lifting and conveying device 100 calls its local control program to execute the above control method to perform path walking, position calibration, and lifting operations, realizing the coordinated action of multiple devices until the adjustment work of the cable lifting and conveying device 100 is completed and a calibration completion signal is obtained.

[0082] The aforementioned external central control device can monitor the communication ports of each cable lifting and conveying device 100 in real time, receive and parse the calibration completion signals uploaded by the cable lifting and conveying devices 100, and confirm that all devices have uploaded valid signals. After confirmation, the external central control device retrieves preset cable conveying parameters (for example, it may include a uniform preset conveying speed, which matches the peak-to-trough spacing and laying rhythm of the serpentine path), generates standardized cable conveying instructions, adds a synchronization timestamp to the instructions to ensure coordinated action, and simultaneously pushes the instructions to all cable lifting and conveying devices 100. After receiving the instructions, each cable lifting and conveying device 100 verifies their validity and then starts the cable conveyor 140 to synchronously perform cable conveying operations at a preset speed, ensuring that multiple devices work together to form a regular serpentine path.

[0083] It should be noted that the cable transport vehicle 200 can also receive standardized cable transport instructions to achieve coordinated cable transport operations with multiple cable lifting and transport devices 100.

[0084] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A cable lift conveyor device, characterized by The cable lifting and conveying device comprises a walking chassis, a lifting device arranged on the walking chassis, the lifting device having a lifting mount moving along a height direction of the lifting device, a lifting platform arranged on the lifting mount and parallel to the walking chassis, the lifting platform having a sliding block base capable of sliding in a direction parallel to a width of the walking chassis, a cable conveyor arranged on the sliding block base and used for conveying a cable in a length direction parallel to the walking chassis, and a control module electrically connected with the walking chassis, the lifting device, the lifting platform and the cable conveyor. Further comprising a vision unit arranged on the walking chassis and electrically connected with the control module, a spatial relationship determining unit arranged on the lifting platform and electrically connected with the control module and used for determining relative position information between the lifting platform and a support column of a target cable bracket, and a platform height detecting unit arranged on the lifting platform and electrically connected with the control module and used for determining platform height information of the lifting platform. The lifting device comprises a vertical guide frame vertically arranged on the walking chassis, the lifting mount, a lifting mechanism installed through the vertical guide frame and used for driving the lifting mount to move along a height direction of the vertical guide frame, and a lifting drive motor arranged on the vertical guide frame and electrically connected with the control module and used for driving the lifting mechanism to drive the lifting mount to move along the height direction of the vertical guide frame. The lifting platform comprises a lifting base arranged on the lifting mount and parallel to the walking chassis, a guide rail arranged on the lifting base and parallel to a width direction of the walking chassis, the sliding block base capable of sliding along the guide rail, a sliding drive assembly arranged on the lifting base and / or the guide rail and electrically connected with the control module and used for driving the sliding block base to slide along the guide rail, and a position detecting unit electrically connected with the control module and used for detecting a position of the sliding block base on the guide rail. The cable conveyor comprises a transmission support arranged on the sliding block base, two crawler-type conveying assemblies arranged in parallel on the transmission support and used for clamping the cable together, and a transmission drive assembly arranged on the transmission support and electrically connected with the control module and used for driving the two crawler-type conveying assemblies to operate so as to convey the cable in the length direction parallel to the walking chassis. The cable lifting and conveying device control method applied to the cable lifting and conveying device according to any one of claims 2 to 5 comprises the following steps.

2. The cable lift conveyor of claim 1, wherein, Obtaining image data of surroundings of the cable lifting and conveying device collected by the vision unit, determining bracket position information of a cable bracket on a preset path according to the image data, and determining device position information of the cable lifting and conveying device according to the bracket position information. ​ ​ ​ 3. The cable lift conveyor of claim 1, wherein, ​ ​ ​ ​ ​ 4. The cable lift conveyor of claim 3, wherein, ​ ​ ​ ​ ​ ​ 5. The cable lift conveyor of claim 1, wherein, ​ ​ ​ ​ 6. A cable laying system characterized by, ​ ​ ​ 7. A method of controlling a cable lift conveyor apparatus, characterized by, ​ ​ ​ According to the device position information and the preset path, device displacement deviation information is determined; In the case where the device displacement deviation information exceeds a preset displacement deviation tolerance range, the walking chassis is controlled to adjust the posture, so that the cable lifting conveying device walks along the preset path; In the case where the cable lifting conveying device reaches the endpoint position in the preset path, the walking chassis is controlled to stop walking, and a lifting strategy is executed; The lifting strategy comprises: The relative position information between the lifting platform and the support column of the target cable cradle collected by the spatial relationship determination unit is acquired; According to the relative position information, the walking chassis is controlled to walk until the horizontal distance between the lifting platform and the target cable cradle is within a preset horizontal distance deviation tolerance range and the horizontal deviation angle is within a preset angle deviation tolerance range; In the case where the horizontal distance is within the preset horizontal distance deviation tolerance range and the horizontal deviation angle is within the preset angle deviation tolerance range, the platform height information collected by the platform height detection unit is acquired, and the lifting platform is controlled to lift according to the platform height information until the lifting platform reaches a preset platform height; In the case where the lifting platform reaches the preset platform height, the slider base of the lifting platform is controlled to move until the deviation between the output port of the cable conveyor and the center of the support arm of the cable cradle is less than a preset distance deviation tolerance range, and a calibration completion signal is generated.

8. The cable lift conveyor apparatus control method according to claim 7, wherein, Further comprising: In response to the cable conveying instruction, the cable conveyor is controlled to convey the cable according to a preset conveying speed.

9. The cable lift conveyor apparatus control method according to claim 7, wherein, Further comprising: In the case where the cable conveyor conveys the cable according to the preset conveying speed, a dynamic height adjustment strategy is executed; The dynamic height adjustment strategy comprises: The platform height information collected by the platform height detection unit is acquired, and the lifting platform is controlled to lift or descend according to the platform height information, so that the height difference between the platform height information of the lifting platform and the preset platform height is within a preset platform height difference tolerance range.

10. A method of cable laying, characterized by, Comprising: Cable serpentine path information is acquired, which at least includes position coordinates and height information corresponding to each wave peak position and wave valley position; wherein each wave peak position or wave valley position corresponds to one cable lifting conveying device; According to the cable serpentine path information, the walking information of each cable lifting conveying device is determined, which includes a preset path and a preset platform height corresponding to the cable lifting conveying device; The walking information corresponding to each cable lifting conveying device is sent to each cable lifting conveying device, so that each cable lifting conveying device executes the cable lifting conveying device control method according to any one of claims 7 to 9; In the case where calibration completion signals are received on all cable lifting conveying devices, a cable conveying instruction is sent to each cable lifting conveying device, so that the cable lifting conveying device conveys the cable according to a preset conveying speed.

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