Intelligent hydraulic monitoring and adjusting method and system for vertical snakelike laying of extra-high voltage cable

Abstract

The invention provides an intelligent hydraulic monitoring and adjusting method and system for vertical snakelike laying of an extra-high voltage cable, and the method comprises the steps: transporting laying equipment integrated with various parts to a construction site for installation during equipment deployment, and detecting and initializing a hydraulic system; the multi-source data is acquired by the sensor and then transmitted to the control unit for preprocessing; hydraulic pressure is adjusted through a self-adaptive PID algorithm, and closed-loop control is achieved; meanwhile, a data optimization strategy is fused, a threshold value is updated, and safety is guaranteed; and fixing the cable and moving the equipment in circular laying, generating an acceptance report after all operations are completed, and judging whether the standard is reached or not. According to the invention, multiple sensors and an intelligent algorithm are integrated, full-process dynamic monitoring and accurate adjustment of vertical snakelike laying of the extra-high voltage cable are realized, and the problem of a traditional mode is solved; through dynamic strategy optimization and hierarchical protection, safety and adaptability are enhanced, intelligent closed-loop management is realized, and construction efficiency and acceptance normalization are improved.

Description

Technical Field

[0001] This application relates to the field of ultra-high voltage cable laying technology, specifically to an intelligent hydraulic monitoring and adjustment method for vertical serpentine laying of ultra-high voltage cables, and also to a corresponding computer terminal and computer-readable storage medium. Background Technology

[0002] As the power industry develops towards ultra-high voltage (UHV) and long-distance power transmission, UHV cables, as the core carrier of energy transmission, directly affect the safe and stable operation of the power system due to their laying quality. In projects such as urban power grid upgrades and inter-regional energy transmission, vertical serpentine laying has become an important laying method in special scenarios such as tunnels and shafts because it can effectively compensate for the stress caused by the thermal expansion and contraction of cables and reduce mechanical damage during cable operation. This laying method requires precise control of hydraulic system output, cable stress state, and the relative position of equipment and supports. At the same time, it needs to cope with complex factors such as changes in tunnel ambient temperature and slope differences, placing extremely high demands on dynamic monitoring and real-time adjustment of the laying process. Traditional laying methods that rely on manual operation can no longer meet the stringent standards of laying accuracy and safety for UHV cables, and there is an urgent need for technical solutions that integrate intelligent monitoring and automatic adjustment functions.

[0003] Traditional UHV cable vertical serpentine laying technology has several shortcomings. In the monitoring stage, it often relies on single sensors to collect localized data, failing to comprehensively acquire multi-dimensional information such as hydraulic pressure, cable stress, and ambient temperature. This leads to biased judgments of the laying status and is prone to adjustment lags due to data gaps. During adjustment, hydraulic parameters are often set based on manual experience, lacking adaptive control algorithms and making it difficult to dynamically adjust outputs according to real-time operating conditions. This can easily result in excessive cable bending and uneven stress, increasing the risk of cable damage. Furthermore, regarding safety protection mechanisms, traditional technologies often use fixed safety thresholds, failing to consider the cumulative effects of cable bending and ambient temperature changes on safety standards, leading to insufficient accuracy in safety warnings. Additionally, fault response is often limited to a single shutdown operation, lacking a tiered handling mechanism. This can result in either overreaction affecting construction efficiency or delayed response causing safety accidents.

[0004] A search revealed that invention CN119994723A discloses an intelligent control method for high-voltage cable laying, dividing the laying process into multiple nodes, each independently controlled according to the specific environment and construction plan. This solves the problems of insufficient monitoring and poor equipment synchronization in traditional construction processes, achieving refined management of the construction process. Simultaneously, tension sensors are placed at different locations on the cable to monitor changes in cable traction force in real time, ensuring the traction force remains within a safe and controllable range. Real-time monitoring of cable lateral pressure and adjustment of the traction machine's power output based on data prevent cable damage. This addresses the lack of lateral pressure monitoring in traditional construction processes, effectively preventing cable damage and improving construction safety. While this patent collects multiple force data points, it does not address environmental temperature data or employ intelligent algorithms, thus failing to solve the aforementioned problems. Summary of the Invention

[0005] This application addresses one of the aforementioned deficiencies in the prior art by providing an intelligent hydraulic monitoring and adjustment method for vertical serpentine laying of ultra-high voltage cables.

[0006] According to one aspect of this application, an intelligent hydraulic monitoring and adjustment method for vertical serpentine laying of ultra-high voltage cables is provided, comprising: Equipment deployment and initialization: Deploy laying equipment integrating hydraulic propulsion unit, moving unit, sensing unit and control unit, and complete hydraulic system initialization; Real-time acquisition of multi-source data: The sensing unit collects data on hydraulic pressure of the hydraulic propulsion unit, extension and retraction displacement of the drive shaft, cable contact force, relative position of the laying equipment and cable support, slope of the laying site and ambient temperature to form multi-source data; PID closed-loop hydraulic regulation: The multi-source data is fused to calculate the total fusion error and its rate of change that characterize the overall state of the laying equipment. Based on this, the hydraulic pump drive control quantity is generated through an adaptive PID control algorithm to dynamically adjust the output of the hydraulic propulsion unit. Dynamic safety management and control: Based on real-time sensing of cable and environmental status changes, a hydraulic loading force compensation algorithm is used to dynamically correct the target control parameters of the hydraulic propulsion unit, and a safety threshold dynamic correction algorithm is used to synchronously update the safety threshold. Based on the data collected in real time by the sensing unit, when the monitored parameters exceed the safety threshold, a graded safety response strategy is executed.

[0007] Optionally, the hydraulic system is initialized using a dynamic initialization algorithm for safety thresholds, which calculates the initial safety thresholds in conjunction with the cable foundation safety parameters, and the hydraulic system's working status is monitored.

[0008] Optionally, the sensing unit includes: The pressure sensor installed on the hydraulic pipeline on the side wall of the hydraulic cylinder of the hydraulic propulsion unit captures the pressure fluctuation data, i.e., hydraulic pressure, in real time during the operation of the hydraulic system. This data can directly reflect the magnitude of the thrust of the hydraulic propulsion device on the cable. A distance sensor installed at the end of the hydraulic drive shaft of the hydraulic propulsion unit records the extension and retraction displacement of the drive shaft. The displacement change can be used to determine the propulsion progress and position deviation during the cable laying process. A force sensor embedded in the concave rubber pad of the front push plate collects the force situation when the cable contacts the baffle in real time. The position sensor installed on the mobile unit acquires the relative position data between the laying equipment and the cable support in the laying site in real time, ensuring that the laying equipment always moves along the preset laying path. A temperature sensor fixed to the side wall of the laying site and at a preset distance from the cable can accurately monitor the ambient temperature within the laying site. The slope sensor integrated into the control unit collects real-time data on slope changes at the laying site.

[0009] Optionally, in the dynamic security management step: The hydraulic loading force compensation algorithm integrates the effects of the real-time slope of the laying site, the deviation of the real-time cable diameter from the design diameter, and the deviation of the real-time ambient temperature from the standard temperature.

[0010] The dynamic correction algorithm for the safety threshold integrates the cumulative effects of the current number of bends, temperature deviation, and diameter deviation on the cable's withstand capability.

[0011] Optionally, the tiered security response strategy includes: Level 1 warning: Triggered when the monitored parameters reach a preset proportion of the dynamic safety threshold, providing warning prompts and intermittent alarms; Level 2 warning: Triggered when the monitored parameters exceed the dynamic safety threshold, immediately cut off the hydraulic power output, lock the system control authority, and start a continuous alarm. Reset after authorized manual intervention.

[0012] Optionally, the method further includes: iterative laying and quality assessment, specifically: after the overall status of the current laying section meets the standard, fix the cable and record the data, control the moving unit to move to the next laying section, iteratively execute the multi-source data real-time acquisition, PID closed-loop hydraulic adjustment and dynamic safety control until all laying operations are completed, and generate an acceptance report containing key data of each section. Optionally, in the iterative laying and quality assessment: Use clamps to secure the cables, and use a torque control device to control the tightening torque of the clamp bolts within a preset range; When the mobile unit moves, it automatically plans the movement path based on a preset serpentine pitch and avoids obstacles in the path in real time by fusing position perception and lidar detection data.

[0013] A second aspect of this application provides an intelligent hydraulic monitoring and control system for vertical serpentine laying of ultra-high voltage cables, comprising: The mobile unit includes a Mecanum wheel chassis for moving the system within the laying site; The sensing unit includes a pressure sensor for acquiring hydraulic pressure, a distance sensor for acquiring drive shaft displacement, a force sensor for acquiring cable contact force, a position sensor for acquiring the relative position of the system and the support, a temperature sensor for acquiring ambient temperature, and a slope sensor for acquiring the slope of the laying site. The control unit is configured to implement an intelligent hydraulic monitoring and regulation method for vertical serpentine laying of ultra-high voltage cables.

[0014] A third aspect of this application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the intelligent hydraulic monitoring and adjustment method for vertical serpentine laying of ultra-high voltage cables.

[0015] Compared with the prior art, this application has at least one of the following beneficial effects: This application integrates multi-source data and intelligent algorithms through a sensing unit to achieve dynamic monitoring and precise adjustment of the entire process of vertical serpentine laying of UHV cables. In the data acquisition stage, it integrates multi-dimensional information such as hydraulic pressure, displacement, force, and ambient temperature to provide comprehensive data support for adjustment decisions. With the help of an adaptive PID control algorithm, it can calculate the hydraulic pump drive control quantity in real time and dynamically correct the hydraulic oil output to ensure that the parameters always approach the target value during the laying process. This effectively solves the problems of traditional laying methods relying on manual experience and low adjustment accuracy, improves the stability and accuracy of cable laying, and avoids cable damage or substandard laying quality caused by parameter deviations.

[0016] This application achieves dynamic strategy optimization and hierarchical safety protection through dynamic safety management and control, significantly enhancing the safety and adaptability of the laying process. Based on multi-sensor data correlation analysis, it judges changes in the environment and cable status in real time, uses a hydraulic loading force compensation algorithm to correct the target pressure, and combines a safety threshold dynamic correction algorithm to update safety standards, ensuring that the hydraulic system output matches the actual working conditions. It also sets up a hierarchical safety response strategy to respond promptly when parameters approach or exceed safety thresholds, quickly cut off dangerous operations and lock permissions, and reduce the risk of safety accidents.

[0017] Other technical effects resulting from additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0018] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a flowchart of an intelligent hydraulic monitoring and adjustment method for vertical serpentine laying of ultra-high voltage cables in one embodiment of this application; Figure 2 This is a flowchart of an intelligent hydraulic monitoring and adjustment method for vertical serpentine laying of ultra-high voltage cables in a preferred embodiment of this application; Figure 3 This is a diagram showing the relationship between data and parameters at each stage of ultra-high voltage cable laying in a preferred embodiment of this application. Detailed Implementation

[0019] The embodiments of this application are described in detail below: These embodiments are implemented based on the technical solution of this application, and provide detailed implementation methods and specific operation processes. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application.

[0020] Existing vertical serpentine laying methods for ultra-high voltage (UHV) cables suffer from problems such as low hydraulic adjustment precision, poor efficiency in integrating multi-source data, high construction risks due to fixed safety thresholds, and reliance on manual experience for laying quality judgment. This application's embodiment integrates a multi-sensor sensing unit and intelligent algorithms to achieve dynamic monitoring and precise adjustment throughout the entire vertical serpentine laying process of UHV cables, solving the problems of traditional methods. Through dynamic strategy optimization and hierarchical protection, it enhances safety and adaptability, achieves intelligent closed-loop management, and improves construction efficiency and acceptance standardization.

[0021] Specifically, one embodiment of this application provides an intelligent hydraulic monitoring and adjustment method for vertical serpentine laying of ultra-high voltage cables, referring to... Figure 1 As shown, the method specifically includes S11-S14: S11, Equipment Deployment and Initialization: Deploy laying equipment integrating hydraulic propulsion unit, moving unit, sensing unit and control unit, and complete hydraulic system initialization; The sensing unit may include various sensors, and the moving unit may be a mechanism or component capable of moving the laying equipment. The control unit may be a component with computing and control functions, such as a main control board.

[0022] In this step, the hydraulic system is initialized by deploying laying equipment, primarily to establish a precise initial state and safety baseline for intelligent laying. Specifically, an integrated laying system is deployed, and key parameters such as serpentine pitch and amplitude are preset based on cable specifications and design requirements. More preferably, the basic safety threshold is dynamically attenuated based on the cable's real-time ambient temperature and the number of bends it has endured, to obtain an initial safety threshold that changes with operating conditions. In some embodiments, the dynamic attenuation calculation uses a dynamic initialization algorithm to calculate an adaptive safety threshold by combining the cable's real-time temperature and the number of bends, and performs state monitoring and calibration of the hydraulic system, laying the foundation for subsequent precise control and safety protection.

[0023] S12, Real-time acquisition of multi-source data: The sensing unit acquires data on hydraulic pressure of the hydraulic propulsion unit, extension and retraction displacement of the transmission shaft, cable contact force, relative position of the laying equipment and cable support, slope of the laying site and temperature of the laying site, forming multi-source data. In this step, real-time acquisition of multi-source data is used to achieve multi-source information perception. Specifically, multiple types of dedicated sensors deployed at key nodes synchronously and in real-time collect multi-source data such as hydraulic pressure, drive shaft displacement, cable contact stress, relative position of equipment and supports, slope of the laying site (tunnel or shaft), and ambient temperature during the laying process. The acquired data is transmitted to the control unit via fieldbus and can also undergo further preprocessing such as filtering and noise reduction before being used to provide a comprehensive and reliable real-time data foundation for subsequent intelligent decision-making and precise control.

[0024] S13, PID closed-loop hydraulic regulation: The multi-source data is fused to calculate the total fusion error and its rate of change that characterize the overall state of the laying equipment. Based on this, the hydraulic pump drive control quantity is generated through an adaptive PID control algorithm to dynamically adjust the output of the hydraulic propulsion unit. In this step, the PID closed-loop hydraulic regulation is equivalent to constructing a real-time dynamic control system based on multi-source data fusion. This step uses multi-source data such as hydraulic pressure, displacement, force, and position collected by S12 as a foundation. Through weighted fusion and fluctuation analysis, a total fusion error and its rate of change that comprehensively characterize the laying status are calculated. The core adaptive PID control algorithm utilizes this total error and rate of change, combined with an integral term determined by the error direction and a nonlinear differential term modulated by the total error, to dynamically generate a high-precision hydraulic pump drive control quantity. This control quantity drives the hydraulic propulsion device, and its execution effect is collected and fed back by sensors in real time, forming a continuously calculated and dynamically corrected closed loop, thereby ensuring that the laying parameters accurately and stably approach the target value.

[0025] In some embodiments, the total fusion error is a weighted sum of the normalized deviations between the real-time values ​​and the target values ​​of four types of parameters: pressure, displacement, force, and position. The weights of each parameter are dynamic weights, and the normalized deviations incorporate a fluctuation compensation term based on the standard deviation of the parameter's historical data.

[0026] In some embodiments, the adaptive PID control algorithm includes a proportional term based on the total fusion error, an integral term determined by the error integral and the direction of the error rate of change, and a derivative term modulated by the error rate of change and the total fusion error.

[0027] S14, Dynamic Safety Management: Based on real-time sensing of cable and environmental status changes, a hydraulic loading force compensation algorithm is used to dynamically correct the target control parameters of the hydraulic propulsion unit, and a safety threshold dynamic correction algorithm is used to synchronously update the safety threshold. Based on the data collected in real time by the sensing unit, when the monitored parameters exceed the safety threshold, a graded safety response strategy is executed.

[0028] In some embodiments, the hydraulic loading force compensation algorithm integrates the effects of the real-time tunnel slope, the deviation of the real-time cable diameter from the design diameter, and the deviation of the real-time ambient temperature from the standard temperature.

[0029] In some embodiments, the safety threshold dynamic correction algorithm integrates the cumulative effects of the current number of bends, temperature deviation, and diameter deviation on the cable's tolerance.

[0030] In this step, dynamic safety management continuously analyzes multi-sensor data to determine the changing trends of the environment and cable conditions, and executes dynamic safety management accordingly. In some embodiments, dynamic safety management mainly includes dual dynamic optimization: First, a hydraulic loading force compensation algorithm is used to provide real-time feedforward compensation for the target pressure by comprehensively considering tunnel slope, cable diameter deviation, and ambient temperature; second, a dynamic safety threshold correction algorithm is used to calculate the dynamic safety threshold based on the cumulative number of cable bends, temperature, and diameter deviation, so that the safety standard matches the actual cable fatigue and environmental conditions. When the monitored parameters reach different levels of the dynamic threshold, the system triggers a graded safety response strategy, from early warning to forced shutdown and access control, achieving proactive protection throughout the entire process from risk warning to danger prevention. In this embodiment, the above-mentioned safety protection mechanism solves the problem that traditional technologies often use fixed safety thresholds and do not consider the impact of cumulative cable bends and changes in ambient temperature on safety standards, resulting in insufficient accuracy of safety warnings.

[0031] In the above embodiments of this application, steps S11-S14 are used to integrate multi-source data such as hydraulic pressure, displacement, force, and ambient temperature to provide comprehensive data support for adjustment decisions. With the help of an adaptive PID control algorithm, the hydraulic pump drive control quantity can be calculated in real time and the hydraulic oil output can be dynamically corrected to ensure that the parameters always approach the target value during the laying process. This effectively solves the problems of traditional laying methods relying on manual experience and low adjustment accuracy, improves the stability and accuracy of cable laying, and avoids cable damage or substandard laying quality caused by parameter deviation. It can be applied to intelligent hydraulic monitoring and adjustment of vertical serpentine cable laying in special scenarios such as tunnels and shafts.

[0032] In existing technologies, fault response is mostly a single shutdown operation, lacking a tiered handling mechanism. This can lead to either overreaction affecting construction efficiency or delayed response causing safety accidents. To address this issue, some embodiments of this application further include the following after step S14: S15, Iterative Laying and Quality Assessment Steps: After the overall status of the current laying section meets the standards, fix the cable and record the data, control the moving unit to move to the next laying section, iteratively execute the multi-source information sensing step, adaptive hydraulic control step and dynamic safety management step until all laying operations are completed, and generate an acceptance report containing key data of each section.

[0033] Specifically, in the iterative laying and quality assessment steps: the cable is fixed with clamps, and the tightening torque of the clamp bolts is controlled within a preset range by a torque control device; when the moving unit moves, the moving path is automatically planned based on the preset serpentine pitch, and obstacles in the path are avoided in real time by fusing position perception and lidar detection data.

[0034] In the preferred embodiment of this application, including S15, basic construction conditions are established through equipment deployment and parameter preset. Multi-sensor data such as hydraulic pressure, displacement, force, and ambient temperature are collected in real time. Adaptive PID control algorithm is used to achieve PID closed-loop hydraulic regulation, dynamically correcting the hydraulic output. Combined with hydraulic loading force compensation algorithm and safety threshold dynamic correction algorithm optimization strategies, two-level early warning is set to ensure safety. Multi-wave section construction is completed through cyclic laying, and finally, an acceptance report is generated to determine compliance, forming a complete data archive. This solves the problems in existing UHV cable vertical serpentine laying construction, such as low hydraulic adjustment accuracy, poor multi-source data integration efficiency, high construction risks due to fixed safety thresholds, reliance on manual experience for laying quality judgment, lack of graded fault response mechanisms, and lack of systematic archiving.

[0035] To address the issue of single shutdown operations in existing technologies, in some embodiments of this application, a tiered safety response strategy includes two levels of early warning, wherein: Level 1 warning: Triggered when the monitored parameters reach a preset proportion of the dynamic safety threshold, providing warning prompts and intermittent alarms; Level 2 warning: Triggered when the monitored parameters exceed the dynamic safety threshold, immediately cut off the hydraulic power output, lock the system control authority, and start a continuous alarm. Reset after authorized manual intervention.

[0036] The two-level early warning mechanism responds promptly when parameters approach or exceed safety thresholds, quickly cutting off dangerous operations and locking permissions to reduce the risk of safety accidents. At the same time, it automatically plans paths and detects obstacles during cyclic laying, and generates detailed data reports during the acceptance phase, realizing intelligent closed-loop management of the laying process and improving construction efficiency and acceptance standardization.

[0037] Based on the same technical concept, in another embodiment of this application, an intelligent hydraulic monitoring and adjustment system for vertical serpentine laying of ultra-high voltage cables is provided to implement the intelligent hydraulic monitoring and adjustment method for vertical serpentine laying of ultra-high voltage cables described in any of the above embodiments.

[0038] Specifically, the intelligent hydraulic monitoring and control system for the vertical serpentine laying of ultra-high voltage cables in this embodiment includes: A mobile unit is used to move the system within the laying site (such as tunnels, shafts, etc.); The sensing unit includes a pressure sensor for acquiring hydraulic pressure, a distance sensor for acquiring drive shaft displacement, a force sensor for acquiring cable contact force, a position sensor for acquiring the relative position of the system and the support, a temperature sensor for acquiring ambient temperature, and a slope sensor for acquiring the slope of the laying site (such as tunnels, shafts, etc.). The control unit, including a main control board, is configured to implement an intelligent hydraulic monitoring and adjustment method for the vertical serpentine laying of ultra-high voltage cables. Specifically, the control unit performs functions including, but not limited to, the following: - Receive and process multi-source data from the sensing unit; -Based on the processed multi-source data, the total fusion error and its rate of change of the overall state of the system are characterized by data fusion calculation; -Based on the total fusion error and its rate of change, the hydraulic pump drive control quantity is generated by an adaptive PID control algorithm; - Based on real-time sensing of cable and environmental conditions, the target control parameters and safety thresholds of the hydraulic propulsion unit are dynamically adjusted; - When monitored parameters exceed safety thresholds, a tiered safety response strategy is implemented; - And, generate an acceptance report.

[0039] The moving unit in the above embodiments can be a Mecanum wheel chassis, used to move the entire laying equipment to the required position.

[0040] The hydraulic system in the above embodiments is a complete functional system, which typically includes power components (such as hydraulic pumps), actuators (such as hydraulic propulsion units), control components (such as valves and controllers), and auxiliary components (such as oil tanks and pipelines).

[0041] The hydraulic propulsion unit in the above embodiments is an execution-type functional unit in the hydraulic system. Its core function is to convert hydraulic energy into mechanical energy and directly complete propulsion, driving and other actions.

[0042] In the sensing unit of the above embodiments: a pressure sensor captures real-time pressure fluctuation data, i.e., hydraulic pressure, during the operation of the hydraulic system; a distance sensor records the extension and retraction displacement of the drive shaft, and the progress and position deviation during cable laying can be determined by the displacement changes; a force sensor collects real-time force data when the cable contacts the baffle; a position sensor acquires real-time relative position data between the laying equipment and the cable support in the laying site, ensuring that the laying equipment always moves along the preset laying path; a temperature sensor accurately monitors the ambient temperature in the laying site; and a slope sensor collects real-time slope change data of the laying site. The sensing unit uses multiple types of dedicated sensors to collect multi-dimensional physical quantities such as hydraulic pressure, displacement, force, position, slope, and temperature in real-time and synchronously, providing a comprehensive and accurate perception data foundation for subsequent data fusion, intelligent decision-making, and closed-loop control.

[0043] In this embodiment, the technologies implemented by each unit, especially the control unit, in the intelligent hydraulic monitoring and regulation system for vertical serpentine laying of ultra-high voltage cables described above can be referred to the description in the embodiment of the intelligent hydraulic monitoring and regulation method for vertical serpentine laying of ultra-high voltage cables, and will not be repeated here.

[0044] The embodiments described above in this application can effectively improve the accuracy and safety of cable laying, reduce errors caused by human intervention, and provide data support for subsequent construction quality traceability and optimization through the systematic acceptance report generation and export function, thereby realizing the intelligent, safe and efficient vertical serpentine laying of UHV cables.

[0045] The following detailed embodiments will further illustrate the above-mentioned technical solutions of this application in order to better understand the above-mentioned technical solutions of this application. It should be understood that the following are merely some examples and are not intended to limit this application.

[0046] Specifically, such as Figure 2As shown, the intelligent hydraulic monitoring and adjustment method for vertical serpentine laying of ultra-high voltage cables provided in this embodiment is specifically applied to the vertical serpentine laying of 110kV ultra-high voltage cables in urban underground tunnels. Specifically, it may include the following operating steps: (1) Equipment deployment and parameter initialization: Equipment Deployment: The laying equipment, integrating a hydraulic propulsion device (hydraulic propulsion unit), a Mecanum wheel chassis (mobile unit), multiple sensors (sensing unit), and a main control board (control unit), will be transported to the designated construction area in the urban underground tunnel using tunnel transport equipment. Utilizing pre-set hoisting points and matching tooling within the tunnel, the equipment will be smoothly hoisted onto the construction platform and secured. This process ensures that the equipment will not shift due to vibrations from vehicles passing through the tunnel or its own movement during subsequent laying operations, providing a fundamental guarantee for laying accuracy. Subsequently, the equipment's built-in level sensor will calibrate its overall levelness to prevent uneven stress or positional deviations during subsequent cable laying caused by equipment tilting.

[0047] Parameter initialization: On the main control board operation interface, accurately input the specifications such as the outer diameter of the cable, insulation layer thickness, and conductor cross-sectional area according to the construction drawings and the technical parameter table of the 110kV cable. At the same time, based on the tunnel space dimensions and the thermal expansion and contraction characteristics of the cable, set the serpentine laying pitch and serpentine amplitude that meet the engineering requirements, as well as the hydraulic loading safety threshold and PID control initial parameters to ensure the safety of the cable and equipment.

[0048] Based on the above parameter initialization, the dynamic initialization algorithm for safety thresholds is invoked. Combined with the basic safety parameters of the 110kV cable in this embodiment, the initial safety thresholds are calculated for the hydraulic system's oil circuit unobstructedness, pressure sensor sensitivity, and hydraulic pump start-stop response speed. The hydraulic system's working status is then monitored to complete the initialization, ensuring that the initial state of the hydraulic system meets the power output and safety control requirements for cable laying. This mitigates construction risks caused by abnormal initial equipment conditions from the outset. Figure 3 As shown.

[0049] Specifically, in this embodiment, the calculation formula for the dynamic initialization algorithm of the safety threshold is as follows: in, To ensure maximum dynamic safety under stress, Based on the maximum safe load, Real-time temperature of the tunnel. For standard reference temperature, This is the temperature influence coefficient. The cable has withstood a certain number of bends. The maximum number of bends allowed for the cable. This represents the fatigue effect coefficient.

[0050] (2) Real-time acquisition of multi-source data: The system activates sensors at all preset locations on the laying equipment, initiating a real-time multi-source data acquisition phase. This includes: Pressure sensors installed on the hydraulic pipelines on the side wall of the hydraulic cylinder can capture pressure fluctuation data in real time during the operation of the hydraulic system. This data can directly reflect the magnitude of the thrust of the hydraulic propulsion device on the cable, providing a core basis for subsequent adjustment of hydraulic output. The distance sensor installed at the end of the hydraulic drive shaft can accurately record the extension and retraction displacement of the drive shaft. By measuring the displacement changes, the progress and positional deviation during cable laying can be determined, making it easier to adjust the laying rhythm in a timely manner. The force sensor embedded in the concave rubber pad of the front push baffle can collect the force situation when the cable contacts the baffle in real time, avoiding damage to the cable insulation layer due to excessive contact force or slippage of the cable during laying due to insufficient contact force; the front push baffle is a component of the existing cable laying positioning or guiding actuator, and is the functional component responsible for limiting and guiding the cable in the mechanism. The position sensor installed on the side of the Mecanum wheel chassis can acquire the relative position data between the equipment and the cable support in the tunnel in real time, ensuring that the equipment always moves along the preset laying path and ensuring the installation alignment accuracy of the cable and the support. A temperature sensor fixed to the tunnel sidewall and kept 50-100mm away from the cable can accurately monitor the ambient temperature inside the tunnel. This temperature data is of great significance for judging the stability of cable insulation performance and changes in hydraulic oil viscosity, and can assist in subsequent temperature compensation adjustment. The slope sensor integrated into the main control board mounting housing can collect real-time data on tunnel slope changes, avoiding uneven stress on cable laying due to sudden changes in tunnel slope, and even the risk of cable sagging.

[0051] All the multi-source data collected above are transmitted to the main control board at high speed via the CAN bus. The main control board performs preprocessing operations such as filtering, noise reduction, and normalization on the data to eliminate abnormal data caused by instantaneous interference from the sensors, ensuring that the data transmitted to the subsequent adjustment module is accurate and reliable, and providing high-quality data support for PID closed-loop hydraulic regulation.

[0052] (3) PID closed-loop hydraulic regulation: The main control board periodically reads preprocessed multi-source data according to a preset sampling cycle. Based on the logic of the total fusion error calculation formula, it compares and analyzes four core parameters—pressure, displacement, force, and position—with their corresponding target parameters. Combining the influence weights of each parameter on cable laying quality, it calculates the total fusion error and the error change rate. Simultaneously, based on the logic of the error change rate calculation formula, it calculates the error change rate by comparing the total fusion error of the current sampling cycle with that of the previous sampling cycle. Based on the calculated total fusion error and error change rate, it invokes an adaptive PID control algorithm. This adaptive PID control algorithm automatically adjusts the control coefficients of the proportional, integral, and derivative components according to the magnitude and trend of the error, accurately calculating the hydraulic pump drive control quantity. This control quantity is converted into an electrical signal and transmitted to the hydraulic pump. The hydraulic pump adjusts the output quantity and speed of the hydraulic oil according to the signal command, thereby driving the hydraulic propulsion device to achieve telescopic movement, completing the adjustment of the cable laying thrust and propulsion speed.

[0053] During the adjustment process, the main control board receives the latest data from each sensor in real time, continuously corrects the total fusion error and error change rate based on the feedback data, recalculates the hydraulic pump drive control quantity, and forms a PID closed-loop adjustment cycle to ensure that the cable laying parameters continuously approach the target value, achieve precise control of the cable laying process, and ensure that the laying quality of each section of cable meets the engineering standards.

[0054] Specifically, the formula for calculating the total fusion error is as follows: in, It is the total fusion error. These correspond to pressure, displacement, force, and position parameters, respectively. For dynamic weights and , These are real-time parameter values. For the target parameter value, This is the maximum safety parameter value. For fluctuation coefficient, This represents the standard deviation of the parameter's first 5 collected values. An error value ≤0.1 is considered acceptable. This error value can comprehensively reflect the degree of deviation between the current cable laying status and the ideal status. Specifically, the formula for calculating the rate of change of error is: in, It is the rate of change of total fusion error. It is the total fusion error of the previous sampling period. The sampling period is As a smoothing coefficient, this rate of change reflects the development trend of the error and provides a key basis for judging the direction and magnitude of adjustment.

[0055] Specifically, the expression for the adaptive PID control algorithm is: in, It is the hydraulic pump drive control quantity. It is the total fusion error. It is the rate of change of total fusion error. The basic proportional coefficient, It is the integral term of the rate of change of error. It is a sign function, taking the value 1 when the rate of change of error is positive and -1 when it is negative, used to determine the direction of integration. This is the integral adjustment coefficient. The differential adjustment coefficient is... This represents the total fusion error. Let τ be the rate of change of error, and τ be the integral variable.

[0056] (4) Dynamic strategy optimization and hierarchical security protection: The main control board continuously receives and integrates real-time data collected by various sensors, performs correlation analysis on the data, and thereby determines the current environmental and cable status changes. Specifically: By analyzing the temperature data collected by temperature sensors, it is possible to determine whether the ambient temperature inside the tunnel is within a stable range. If the temperature continues to rise or fall, it is possible to promptly detect temperature anomalies caused by tunnel ventilation system malfunctions or external environmental influences, providing a basis for subsequent temperature compensation of hydraulic loading force. By collecting slope data from slope sensors, it is possible to determine whether there are sudden changes in local slope in the tunnel, thus avoiding a sudden increase in stress on cable laying due to the failure to detect slope changes in time. By analyzing the correlation between force and displacement data collected by force sensors and distance sensors, it can be determined whether abnormal deformation occurs during cable laying. For example, if the force increases suddenly but the displacement changes slowly, it may be that the cable has encountered an obstacle or the insulation layer is stuck, and it needs to be investigated in time.

[0057] Based on the above state judgment results, and in accordance with the hydraulic loading force compensation algorithm, combined with factors such as tunnel slope changes, actual cable diameter deviation, and ambient temperature deviation, the target pressure of the hydraulic system is corrected to ensure that the thrust of the hydraulic propulsion device on the cable is always within a reasonable range under different environments and cable conditions. At the same time, the total error is recalculated to provide an updated error benchmark for subsequent adjustments.

[0058] Specifically, the expression for the hydraulic loading force compensation algorithm is as follows: ,in, To compensate for the pressure of the target, As the initial target pressure, This is the slope compensation coefficient. For the real-time slope of the tunnel, This is the diameter compensation coefficient. For cable diameter deviation, Design the diameter of the cable. This is the temperature compensation coefficient. Real-time temperature of the tunnel. For standard reference temperature, At the same time, by combining a dynamic safety threshold correction algorithm, the hydraulic loading safety threshold is dynamically updated based on parameters such as the number of bends the cable has endured, real-time temperature deviation, and cable diameter deviation, so that the safety threshold always matches the current cable and environmental conditions, thereby improving the accuracy of safety control.

[0059] Specifically, the expression for the dynamic adjustment algorithm for the safety threshold is: in, For dynamic security thresholds, Based on the basic safety force value, The fatigue effect coefficient is... This represents the current number of bends. For the maximum number of bends allowed, This is the temperature influence coefficient. For real-time temperature, Standard temperature This is the influence coefficient of diameter deviation. For real-time diameter deviation, For the design diameter.

[0060] If a parameter is detected to exceed the updated safety threshold, the main control board immediately issues a command to shut down the hydraulic pump, cut off the hydraulic power output, and trigger the alarm system; a tiered safety response strategy is employed: If the parameter reaches 90% of the dynamic safety threshold, a level one warning is triggered. A yellow warning icon is displayed on the operation interface, and a buzzer sounds once every 2 seconds to remind the operator to pay attention to the parameter change trend and promptly investigate potential risks. If the parameters exceed the safety threshold, a level two warning will be triggered. In addition to shutting down the hydraulic pump, the hydraulic pipeline shut-off valve will also be closed to prevent hydraulic oil backflow from causing equipment malfunction. The buzzer will sound a continuous alarm, and the main control board will lock the hydraulic control permissions. Operators need to investigate the cause of the fault on-site. After confirming that the fault has been eliminated, click "Fault Reset" and enter the preset password to unlock the system and restart the adjustment process, thus maximizing the safety of cables and construction personnel.

[0061] (5) Cyclic laying and data acceptance: When the main control board detects that the total fusion error has reached the qualified standard for multiple consecutive sampling cycles, it indicates that the current cable laying status is stable and meets the engineering requirements. At this time, the hydraulic propulsion device is stopped and the cable is fixed with clamps.

[0062] During the fixing process, the tightening torque of the clamp bolts must be strictly controlled between 20-25N. This torque range (m) ensures the clamp's secure fixation to the cable, preventing displacement due to vibration or thermal expansion and contraction during subsequent use, while also preventing clamp deformation and damage to the cable insulation due to excessive torque.

[0063] Once fixed, the main control board automatically records key data such as the maximum and average pressure of the current wave section, the total displacement of the drive shaft, the peak value of cable contact force, and the total fusion error change curve, forming the laying file for that wave section.

[0064] Subsequently, the equipment is moved to the next construction section position via the Mecanum wheel chassis. The main control board automatically plans the equipment's movement path based on the pre-set serpentine pitch. During the movement, position sensors and lidar work together to detect in real time whether there are any obstacles such as construction materials or protruding pipelines left in the tunnel. If an obstacle is detected, the main control board immediately generates a detour path based on the size and location of the obstacle and controls the Mecanum wheel chassis to move smoothly along the detour path. At the same time, it ensures that the deviation between the equipment center and the vertical centerline of the cable laying is ≤±10mm during the movement, ensuring the starting position accuracy of the next laying section.

[0065] Upon reaching the next section construction location, update the number of bends the cable has endured, restart the multi-source data real-time acquisition process, and sequentially execute the PID closed-loop hydraulic adjustment and dynamic strategy optimization steps until the current section is laid.

[0066] Following the above process, the cable laying work for all sections within the tunnel is completed iteratively. Once all laying is finished, the main control board automatically summarizes the laying data for each section, generating an acceptance report containing pressure data, displacement data, stress data, and the average total fusion error for each section. This acceptance report is compared with the preset cable laying acceptance standards to determine whether the cable laying is qualified. Simultaneously, this acceptance report can be exported to Excel or PDF format via USB interface, facilitating archiving by the construction unit, review by the supervision unit, and subsequent project acceptance and maintenance reference, providing complete data support for quality traceability of the entire cable laying project.

[0067] The intelligent hydraulic monitoring and adjustment method for vertical serpentine laying of ultra-high voltage cables provided in the above embodiments of this application can accurately control the hydraulic output and positional accuracy during cable laying by combining the synergistic effect of real-time acquisition of multi-source data and PID closed-loop hydraulic adjustment, along with the total fusion error calculation formula, error change rate calculation formula, and adaptive PID control algorithm. This allows for early avoidance of laying quality problems caused by parameter deviations. Furthermore, the adjustment strategy can be optimized based on real-time monitoring data to maximize cable laying accuracy. Based on the dynamic initialization algorithm of safety thresholds in the equipment deployment and parameter preset stages, and combined with cable specifications and construction design requirements, the initial safety thresholds are calculated, enabling efficient hydraulic system initialization and safety parameter setting. This makes the early debugging of laying equipment more convenient. Moreover, through the dynamic strategy optimization and hydraulic loading force compensation algorithm and safety threshold dynamic correction algorithm in the safety protection stage, the safety thresholds and target pressures can be updated in real time. This allows for optimization of the control strategy based on changes in the environment and cable status, maximizing the safety and efficiency of the cable laying process.

[0068] Of course, the intelligent hydraulic monitoring and adjustment method for vertical serpentine laying of ultra-high voltage cables in the above embodiments can also be applied to similar cable laying scenarios with common requirements for other vertical serpentine laying methods.

[0069] An embodiment of this application also provides a computer terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it can be used to perform any of the methods described in the above embodiments of this application.

[0070] Optionally, the memory is used to store programs; the memory may include volatile memory, such as random access memory (RAM), such as static random access memory (SRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), etc.; the memory may also include non-volatile memory, such as flash memory. The memory is used to store computer programs (such as application programs, functional modules, etc. that implement the above methods), computer instructions, etc., and the aforementioned computer programs, computer instructions, etc., can be partitioned and stored in one or more memories. Furthermore, the aforementioned computer programs, computer instructions, data, etc., can be accessed by the processor.

[0071] The aforementioned computer programs, computer instructions, etc., can be stored in partitions within one or more memory locations. Furthermore, the aforementioned computer programs, computer instructions, data, etc., can be accessed by a processor.

[0072] A processor is used to execute a computer program stored in memory to implement the various steps of the methods involved in the above embodiments. For details, please refer to the relevant descriptions in the preceding method embodiments.

[0073] The processor and memory can be separate structures or integrated structures. When the processor and memory are separate structures, they can be coupled together via a bus.

[0074] An embodiment of this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can be used to perform the methods of any of the above embodiments of this application.

[0075] Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of computer programs from one place to another. Storage media can be any available medium accessible to a general-purpose or special-purpose computer. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can reside in a user device. Of course, the processor and storage medium can also exist as discrete components in a communication device.

[0076] Any matters not covered in the above embodiments of this application are well-known in the art.

[0077] The foregoing has described some specific embodiments of this application. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. An intelligent hydraulic monitoring and adjustment method for vertical serpentine laying of extra-high voltage cables, characterized in that, The application relates to a cable laying equipment and a control method thereof. The equipment deployment and initialization: deploying the laying equipment integrated with a hydraulic propulsion unit, a moving unit, a sensing unit and a control unit, and completing hydraulic system initialization; Real-time acquisition of multi-source data: acquiring the hydraulic pressure of the hydraulic propulsion unit, the telescopic displacement of a transmission shaft, the cable contact stress, the relative position between the laying equipment and a cable support, the slope of a laying site and the environmental temperature data through the sensing unit, and forming multi-source data; PID closed-loop hydraulic regulation: fusing the multi-source data, calculating a total fusion error and a change rate of the total fusion error representing the comprehensive state of the laying equipment, and generating a hydraulic pump driving control amount through an adaptive PID control algorithm to dynamically regulate the output of the hydraulic propulsion unit; Dynamic safety control: based on the real-time sensing of the cable state and the environmental state change, a hydraulic loading force compensation algorithm is used to dynamically correct the target control parameters of the hydraulic propulsion unit, and a safety threshold dynamic correction algorithm is used to synchronously update the safety threshold, and when the monitoring parameters exceed the safety threshold, a hierarchical safety response strategy is executed based on the data acquired by the sensing unit in real time.

2. The method of claim 1, wherein, The hydraulic system initialization adopts a safety threshold dynamic initialization algorithm, combines cable basic safety parameters to calculate an initial safety threshold, and detects the working state of the hydraulic system; The safety threshold dynamic initialization algorithm is as follows: wherein, is a dynamic maximum safe force, is a base maximum safe force, is an environmental real-time temperature, is a standard reference temperature, is a temperature influence coefficient, is a number of times the cable has been bent, is a maximum number of times the cable is allowed to be bent, is a fatigue influence coefficient, t represents time.

3. The method of claim 1, wherein, The sensing unit comprises: A pressure sensor that can capture pressure fluctuation data, i.e. hydraulic pressure, in the running process of the hydraulic system, and the data can directly reflect the pushing force of the hydraulic propulsion unit on the cable; A distance sensor that records the telescopic displacement of the transmission shaft, and the displacement change can be used to judge the propulsion progress and position deviation in the cable laying process; A force sensor that can acquire the force of the cable when the cable contacts a baffle in real time; A position sensor that can acquire the relative position data between the laying equipment and the cable support in the laying site in real time, and ensure that the laying equipment always moves along the preset laying path; A temperature sensor that can accurately monitor the environmental temperature in the laying site; A slope sensor that can acquire the slope change data of the laying site in real time.

4. The method of claim 1, wherein, The calculation formula of the total fusion error is as follows: In the above formula, is the total fusion error, corresponding to pressure, displacement, force, position parameters, is a dynamic weight and , is a real-time parameter value, is a target parameter value, is a maximum safety parameter value, is a fluctuation coefficient, is the standard deviation of the previous 5 acquisition values of the parameter, ≤0.1 is qualified, t represents time; The calculation formula of the error change rate is as follows: In the above formula, is the total fusion error change rate, is the total fusion error of the previous sampling period, is the sampling period, is the smoothing coefficient.

5. The method of claim 1, wherein, The expression of the adaptive PID control algorithm is as follows: In the above formula, is a hydraulic pump drive control amount, is a total fusion error, is a total fusion error change rate, is a basic proportional coefficient, is an integral term of the error change rate, is a sign function, which is 1 when the error change rate is positive and -1 when the error change rate is negative, and is used to determine the integration direction, is an integral adjustment coefficient, is a differential adjustment coefficient, is a total fusion error, is an error change rate, is an integral variable.

6. The method of claim 1, wherein, The hydraulic loading force compensation algorithm comprehensively considers the real-time slope of the laying site, the deviation of the real-time diameter of the cable relative to the design diameter, and the deviation of the real-time temperature of the environment relative to the standard temperature; wherein the expression of the hydraulic loading force compensation algorithm is as follows: In the above formula, is the post-target pressure, is the initial target pressure, is the slope compensation coefficient, is the real-time slope of the laying site, is the diameter compensation coefficient, is the cable diameter deviation, is the cable design diameter, is the temperature compensation coefficient, is the real-time ambient temperature of the laying site, is the standard reference temperature. The safety threshold dynamic correction algorithm comprehensively considers the cumulative influence of the current bending times, the temperature deviation and the diameter deviation of the cable on the cable tolerance; wherein the expression of the safety threshold dynamic correction algorithm is as follows: In the above formula, is a dynamic safety threshold, is a base safety force value, is a fatigue influence coefficient, is a current bending number, is a maximum allowable bending number, is a temperature influence coefficient, is a real-time temperature, is a standard temperature, is a diameter deviation influence coefficient, is a real-time diameter deviation, is a design diameter.

7. The method of claim 1, wherein, The hierarchical safety response strategy comprises: Primary warning: triggered when the monitoring parameters reach a preset proportion of the dynamic safety threshold, and warning prompts and intermittent alarms are given; Secondary warning: triggered when the monitoring parameters exceed the dynamic safety threshold, the hydraulic power output is immediately cut off, the system control authority is locked, and continuous alarms are started, and the system is reset after authorized manual intervention.

8. The method of claim 1, wherein, The application further comprises: Iterative laying and quality assessment: after the comprehensive state of the current laying wave node meets the standard, the cable is fixed and data is recorded, the mobile unit is controlled to shift to the next laying wave node, the multi-source data real-time acquisition, PID closed-loop hydraulic regulation and dynamic safety control are iteratively executed until the entire laying operation is completed, and an acceptance report containing key data of each wave node is generated; In the iterative laying and quality assessment: The cable is fixed using a hoop, and the tightening torque of the hoop bolt is controlled within a preset range by a torque control device; When the mobile unit shifts, the moving path is automatically planned based on a preset serpentine pitch, and obstacles in the path are avoided in real time by fusing position sensing and laser radar detection data.

9. An intelligent hydraulic monitoring and adjustment system for vertical serpentine laying of EHV cables for implementing the method of any one of claims 1 to 8, characterized in that, Comprise: A mobile unit comprising a Mecanum wheel chassis for driving the system to move within the laying site; A sensing unit comprising a pressure sensor for acquiring hydraulic pressure, a distance sensor for acquiring transmission shaft displacement, a force sensor for acquiring cable contact stress, a position sensor for acquiring the relative position of the system and the support, a temperature sensor for acquiring the ambient temperature, and a slope sensor for acquiring the slope of the laying site; A control unit configured to implement the intelligent hydraulic monitoring and regulation method for the vertical serpentine laying of the ultra-high voltage cable according to any one of claims 1 to 8.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the method according to any one of claims 1 to 8. The computer program is executed by a processor to implement the method according to any one of claims 1 to 8.

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