Intelligent wiring method for signal machine room

Abstract

The invention discloses an intelligent wiring method for a signal machine room, and the method comprises the following steps: 1, receiving an engineering drawing by an upper computer system, converting the engineering drawing into a wiring table and a layout diagram, determining the number of cables through the wiring table, and determining the direction of each cable through the layout diagram; 2, generating a wiring table including wiring path planning and wiring priority planning according to the cable trend of the layout diagram; step 3, performing visual correction on the real coordinate and the measurement coordinate of the wiring target point; 4, the wiring robot is operated to an avoidance point; 5, the auxiliary robot clamps and fastens the wire fixing device, and installation of the wire fixing device on the current layer is completed; according to the intelligent wiring method for the signal machine room, automatic wiring of cables of different specifications is achieved, the construction quality and the construction efficiency are improved, the labor intensity of workers and personnel allocation are reduced, and high automation and intelligence of construction in the signal room are achieved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent construction technology for high-speed railways, and relates to an intelligent wiring method for signal room. Background Technology

[0002] With the in-depth application of intelligent construction technology in my country's high-speed rail, railway signaling engineering also urgently needs to develop a batch of specialized intelligent equipment. The signal room is a key hub of the railway signaling system, and the automated laying of its cables is an important part of realizing intelligent signaling construction. It is not only an application practice of intelligent planning of cable paths in the room, but also connects functions such as intelligent cable detection and automated wire bonding.

[0003] Currently, cable routing in signal control rooms is done manually, with no precedent for the application of automated equipment. On-site workers manually determine the cable routing between cabinets and perform manual wiring based on the wiring diagram and the placement of the control cabinets. Summary of the Invention

[0004] In order to overcome at least one deficiency of the prior art, the present invention provides a method for intelligent cabling in signal control rooms.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a smart cabling method for signal control rooms, based on a smart cabling system for signal control rooms, the smart cabling system for signal control rooms including a cable storage bin, an auxiliary robot, a cabling robot, a visual inspection device, and a host computer system, the method comprising the following steps:

[0006] Step 1: The host computer system receives the engineering drawings and converts them into a wiring table and layout diagram. The wiring table determines the number of cables, and the layout diagram determines the route of each cable.

[0007] Step 2: Based on the cable routing in the layout diagram, generate a cabling table that includes cabling path planning and cabling priority planning;

[0008] Step 3: Perform visual correction on the actual coordinates and measured coordinates of the wiring target points;

[0009] Step 4: Move the wiring robot to the avoidance point;

[0010] Step 5: The robot assists in gripping and securing the wire fasteners to complete the installation of the wire fasteners for the current layer;

[0011] Step 6: The cabling robot receives the cabling list and obtains the parameters of the cable to be cabled;

[0012] Step 7: The cabling robot performs the cabling task for the current layer;

[0013] Step 8: Determine if all layer cables have completed the cabling task. If yes, reset the system and the cabling is finished. If not, return to step 4.

[0014] Furthermore, the wiring path planning method includes:

[0015] Step S1: Grid-process the layout of the signal cabinets in the signal control room to generate a grid-based layout diagram of the signal cabinets;

[0016] Step S2: Record the current status of the cable, including the current waypoint, the previous waypoint, and the entry point.

[0017] Given the total cost of the direction and route, the state = [P(x,y), FP(x,y), dir, f(P)];

[0018] P(x,y): Coordinates of the current waypoint; FP(x,y): Coordinates of the previous waypoint of the current waypoint; dir: Direction to enter the current waypoint; f(P): Total cost of the route;

[0019] Step S3: Data preparation: Take out the cable Ln to be planned from the cable list, start point P(xstart,ystart), end point P(xend,yend), clear the open set O{}, and clear the closed set C{};

[0020] Step S4: Initialization: Place the state of the starting point P(xstart,ystart) into the open set, the open set O{[P(Xstart,Ystart),-1,-1,fP]};

[0021] Step S5: Generate several paths based on the starting point P(xstart,ystart) and the ending point P(xend,yend), calculate the total cost of each path, and sort the open set O according to the total cost, and take out the waypoint with the smallest total cost.

[0022] Step S6: Determine if the waypoint is the destination. If yes, backtrack the path and return to step S3 until all cable path planning is completed. If no, generate neighbor status and check if the upper, lower, left, and right adjacent waypoints have been traversed. If the traversal is completed, put the waypoint into the closed set C, re-sort the open set O, and return to step S5. If the traversal is not completed, generate adjacent waypoints in sequence.

[0023] Step S7: Determine if adjacent waypoints are valid. If so, for each valid waypoint, determine the new direction new_dir based on the relative position; determine the turning cost: if prev_dir == -1 or new_dir == prev_dir, the cost = 1, otherwise the cost = 1 + 9; calculate the total cost; generate a new waypoint state; if not, discard the adjacent waypoints and return to step S6 to traverse the adjacent waypoints again.

[0024] Step S8: Determine whether the new waypoint is in the closed set or the open set. If yes, discard the new waypoint; otherwise, add the new waypoint to the open set.

[0025] Step S9: After all the neighbor states of the current waypoint have been generated, put the waypoints into the closed set and reorder the open set O according to the cost.

[0026] Step S10: Determine whether all cable path planning is complete. If yes, end path planning; otherwise, return to step S3.

[0027] Furthermore, the wiring priority planning method includes...

[0028] Step Y1: Divide and number the columns containing the signal cabinets on the signal cabinet layout grid diagram;

[0029] Step Y2: Classify the cable routing routes in each zone to obtain a routing route classification list;

[0030] Step Y3: Based on the non-crossing rules of cables, adjust the routing route classification list and formulate a multi-level cabling plan.

[0031] Furthermore, the visual correction in step 3 includes the following steps:

[0032] Step 31: Offline calibration to establish a systematic error model;

[0033] Step 32: Perform independent calibration for each individual marker point online;

[0034] Step 33: Calculate the coordinates of the target point.

[0035] Furthermore, the method for assisting the robot in gripping and securing the wire fastener includes...

[0036] Step 51: The gripping mechanism of the auxiliary robot grips the wire holder from the wire storage compartment;

[0037] Step 52: Place the cable holder in the designated position on the signal cabinet. During the placement process, use a visual correction method to correct the placement of the cable holder until it is placed in the designated position.

[0038] Step 53: The robot is assisted in switching the fastening mechanism. The visual correction method is used to correct the pre-set bolts at both ends of the fastening mechanism and the wire fastener until the fastening mechanism contacts the bolts and the fastening mechanism tightens the bolts.

[0039] Step 54: Complete the current cable installation;

[0040] Step 55: Determine whether the current layer wire fastener has been installed. If yes, assist the robot to move to the avoidance point. If not, return to step 51.

[0041] Furthermore, the routing task method for the current layer includes...

[0042] Step 71: Determine whether the cable needs to be replaced. If yes, perform the cable replacement operation and then move the cable to the starting point of the wiring. If no, move the cable directly to the starting point of the wiring.

[0043] Step 72: The cabling robot controls the cable to the cable starting position of the target node. The cabling robot guides the end of the cable to the top of the starting position signal cabinet and feeds in the cable of the set length; and makes the cable run along the target cabling trajectory.

[0044] Step 73: Use visual correction method to position and correct the cable holder and cable. After correction, the cabling robot presses the cable into the slot of the cable holder and clamps it tightly.

[0045] Step 74: Control the cable to run along the target wiring trajectory, guide the tail cable to the termination position signal cabinet and cut it to complete the current cable layout;

[0046] Step 75: Determine whether the current layer has been deployed. If yes, proceed to step 8; otherwise, return to step 6.

[0047] Furthermore, the partition number in step Y1 is:

[0048] The first row numbers each zone from left to right as A1, A2, A3...Az; the second row numbers each zone from left to right as B1, B2, B3...Bz, where z is the column number. The signal cabinets within each zone are numbered a1, a2...aq, where q is the number of signal cabinets in the zone, and the numbers gradually decrease from top to bottom.

[0049] Furthermore, the route in step Y2 is classified into 5 categories, including:

[0050] Category 1: Wiring paths between signal cabinets within each zone;

[0051] Category 2: The cabling path is between signal cabinets in the same column / zone;

[0052] Category 3: Cabling paths between signal cabinets in adjacent zones within the same row;

[0053] Category 4: Cabling paths between signal cabinets that span multiple zones within the same row;

[0054] Category 5: Cabinets located between signal cabinets in non-row and non-column sections.

[0055] Furthermore, the multi-level cabling plan includes

[0056] First-level cable route planning: Start with A1 as the starting zone, and use each of the other zones as the ending zone for cabling.

[0057] Second-level cabling route planning: Except for A1, A2 is the starting zone, and the other zones are the ending zones for cabling.

[0058] Planning of the third-level cabling route: Except for A1 and A2, A3 is used as the starting zone, and the other zones are used as the ending zones for cabling. ...

[0060] Planning of the z-level cable route: Except for A1, A2...A(z-1), take Az as the starting partition and use the other partitions as the ending partitions for cabling;

[0061] Planning of the z+1 level cabling route: cabling between each zone in the last row;

[0062] Multi-level cabling route planning interference: When a single layer of the same level of cabling is insufficient for planning, multiple layers are created;

[0063] Gaps in multi-level cable routing planning: Integrate Category 2 and 3 routes into different levels of cabling.

[0064] Furthermore, the cable replacement operation includes

[0065] Step 711: The cable storage compartment lifts the cable to the cable retrieval station;

[0066] Step 712: The cabling mechanism of the cabling robot moves to the cable retrieval station to retrieve the cable;

[0067] Step 713: The cable robot's dual-clamp structure grips the cable end and straightens it;

[0068] Step 714: The double-clamp structure feeds the cable into the cable feeding mechanism;

[0069] Step 715: The cabling robot moves to the cabling start point.

[0070] In summary, the advantages of this invention are:

[0071] This invention enables automated cabling of cables of different specifications through a smart cabling method for signal control rooms, improving construction quality and efficiency, reducing labor intensity and staffing, and achieving a high degree of automation and intelligence in signal room construction. Attached Figure Description

[0072] Figure 1 This is an isometric view of the intelligent cabling system for signal control rooms according to the present invention.

[0073] Figure 2This is a side view of the intelligent cabling system for signal control rooms according to the present invention.

[0074] Figure 3 This is a schematic diagram of the cable storage compartment of the present invention.

[0075] Figure 4 This is a schematic diagram of the transfer bracket assembly of the present invention.

[0076] Figure 5 This is a schematic diagram of the wire fastener of the present invention.

[0077] Figure 6 This is a partial schematic diagram of the auxiliary robot of the present invention.

[0078] Figure 7 This is a partial schematic diagram of the auxiliary robot of the present invention.

[0079] Figure 8 This is a partial schematic diagram of the wiring robot of the present invention.

[0080] Figure 9 This is a schematic diagram of the double-clamp structure of the present invention.

[0081] Figure 10 This is a partial schematic diagram of the wiring mechanism of the present invention.

[0082] Figure 11 This is a partial schematic diagram of the wiring mechanism of the present invention.

[0083] Figure 12 This is a flowchart of the intelligent cabling method for signal control rooms according to the present invention.

[0084] Figure 13 This is a schematic diagram of the signal room layout according to the present invention.

[0085] Figure 14 This is a schematic diagram of the grid layout of the signal room according to the present invention.

[0086] Figure 15 This is a schematic diagram of the route planning for this invention.

[0087] Figure 16 This is a schematic diagram of the signal cabinet partitioning of the present invention.

[0088] Figure 17 This is a schematic diagram of the first-level cable route planning of the present invention.

[0089] Figure 18 This is a schematic diagram of the second-level cable route planning of the present invention.

[0090] Figure 19 This is a schematic diagram of the planning of the third-level cable route of the present invention.

[0091] Figure 20This is a schematic diagram of the planning of the fourth-level cable route of the present invention.

[0092] Figure 21 This is a flowchart of the wiring priority planning process of the present invention. Detailed Implementation

[0093] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0094] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0095] In this embodiment of the invention, all directional indicators (such as up, down, left, right, front, back, lateral, longitudinal, etc.) are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indicator will also change accordingly.

[0096] Due to installation errors and other reasons, the parallel relationship referred to in the embodiments of the present invention may actually be an approximate parallel relationship, and the perpendicular relationship may actually be an approximate perpendicular relationship.

[0097] Example:

[0098] The signal room contains several signal cabinets, arranged in multiple rows depending on the size of the room and the scale of the base station. The main passageway is in the middle of the entrance and exit, while the auxiliary passageways are located on both sides near the windows. Cable trays are installed on top of the signal cabinets and auxiliary passageways, and cable holders 5 are stacked on the cable trays, with cables placed inside the cable holders 5.

[0099] like Figures 1-11As shown, an intelligent cabling method for signal control rooms includes a cable storage bin 1, an auxiliary robot 2, a cabling robot 3, a vision inspection device, and a host computer system. The cable storage bin 1 stores a roll of cable and cable fasteners 5. The auxiliary robot 2 moves between the cable storage bin 1 and the signal cabinets in the control room, transferring the cable fasteners 5 and installing them on the signal cabinets. The cabling robot 3 moves between the cable storage bin 1 and the signal cabinets, collecting the rolls of cable and laying the cables between the signal cabinets along a preset path. The host computer system sends the cabling task to the cable storage bin 1, the auxiliary robot 2, the cabling robot 3, and the vision inspection device, and controls the cable storage bin 1, the auxiliary robot 2, the cabling robot 3, and the vision inspection device to perform the cabling work.

[0100] The cable storage compartment 1 includes a transfer device 11, a cable storage device 12, a cable fixing device 13, and a gripper device 14. The cable storage device 12 loads a whole roll of cable, and the cable fixing device 13 loads a cable fixing device 5. The cable storage device 12 and the cable fixing device 13 are connected to the transfer device 11, and the transfer device 11 drives the cable storage device 12 and the cable fixing device 13 to move.

[0101] The transfer device 11 includes a transfer power component (not shown), a transfer transmission component 111, a transfer guide rail 112, and a transfer bracket assembly 113. The transfer power component is the power source for the transfer transmission component 111, driving the transfer transmission component 111 to drive. The transfer bracket assembly 113 is connected to the transfer transmission component 111 and is slidably connected to the rotating guide rail 112. The transfer bracket assembly 113 carries the cable storage device 12 and the cable fixing device 13. When the transfer power component is started, the transfer transmission component 111 drives the transfer bracket assembly 113 to slide along the rotating guide rail 112, thereby driving the cable storage device 12 and the cable fixing device 13 to move synchronously, realizing the movement of the entire roll of cable and the cable fixing device 5 at different positions.

[0102] The wire storage compartment 1 also includes a transfer platform 10, which is used to install a transfer device 11, a wire storage device 12, a wire fixing device 13, and a gripper device 14.

[0103] like Figure 3 As shown, the transmission path of the transfer drive assembly 111 is set as a racetrack-shaped structure, and the transfer guide rail 112 is set as a racetrack-shaped structure and is placed outside the transfer drive assembly 111. The transmission path has a wire changing position. When the wire storage device 12 and the wire fixing device 13 are moved to the wire changing position, the gripper device 14 clamps the wire storage device 12 and the wire fixing device 13 and moves them to the unloading position to wait for the subsequent flow of the whole roll of cable and the wire fixing device 5.

[0104] The transfer transmission assembly 111 includes two sets of synchronous pulleys 1111 and a synchronous belt 1112. The two sets of synchronous pulleys 1111 are rotatably connected to the transfer platform 10. The two sets of synchronous pulleys 1111 are connected by the synchronous belt 1112. The transfer power assembly is connected to the synchronous pulleys 1111 and drives the synchronous pulleys 1111 to rotate, thereby driving the synchronous belt 1112.

[0105] The power unit for the transfer can be a conventional rotary motor or other power equipment with the same function.

[0106] The transfer bracket assembly 113 includes a bracket base 1131, bracket rollers 1132, a bracket connecting plate 1133, and a limiting component. The bracket rollers 1132 are installed on the bracket base 1131 and are located on the inner and outer sides of the transfer guide rail 112 and are in rolling connection with the transfer guide rail 112, thereby enabling the bracket base 1131 to roll along the transfer guide rail 112. The bracket connecting plate 1133 is installed on the bracket base 1131 and supports the wire storage device 12 and the wire fixing device 13. The limiting component is installed on the bracket base 1131 to limit the wire storage device 12 and the wire fixing device 13, preventing the wire storage device 12 and the wire fixing device 13 from detaching from the transfer bracket assembly 113 during the movement of the transfer bracket assembly 113.

[0107] The limiting assembly includes a telescopic drive structure, a guardrail 1134, a rear guardrail 1135, and a first slide rail 1136, according to Figure 4 From a visual angle, the rear guardrail 1135 is fixedly installed on the rear side of the support plate 1133, and the guardrail 1134 is telescopically installed on the front side of the support plate 1133 through a telescopic drive structure, thereby limiting the front and rear directions of the wire storage device 12 and the wire fixing device 13. The first slide rail 1136 is fixed on the left and right positions of the support plate 1133, and the wire storage device 12 and the wire fixing device 13 are slidably connected to the first slide rail 1136, thereby limiting them in the left and right directions.

[0108] The barrier 1134 is a telescopic structure. During the circulation of the wire storage device 12 and the wire fixing device 13, the barrier 1134 remains in an extended state to limit the wire storage device 12 and the wire fixing device 13. When the material is changed, the barrier 1134 remains in a retracted state. Under the action of the gripper device, the wire storage device 12 and the wire fixing device 13 move along the first slide rail 1136 to the unloading position.

[0109] In this embodiment, the telescopic drive structure of the barrier 1134 is configured as an elastic device 1137 and a top rod (not shown in the figure). The elastic device 1137 presses the barrier 1134 on both sides. The top rod is a ring structure and is located outside the transfer guide rail 112. The top rod contacts the barrier 1134 and lifts the barrier 1134 upward to make it in an extended state. The elastic device 1137 compresses and stores energy. The top rod has a notch at the material changing position. When the transfer bracket assembly 113 moves to the material changing position, the barrier 1134 loses the upward lifting power, and the elastic device 1137 releases energy and presses down on the barrier 1134, so that the barrier 1134 remains in a contracted state.

[0110] In other embodiments, the telescopic drive structure of the barrier 1134 may also be a cylinder.

[0111] The cable storage device 12 includes a cable storage rack 121, a cable storage support crossbar 122, and a cable storage support 123. The cable storage rack 121 is fixedly mounted on the cable storage support 123. The cable storage support crossbar 122 is movably mounted on the cable storage rack 121. After the outer film of the entire roll of cable is removed manually, it is placed on the cable storage support crossbar 122. During circulation, the cable storage support crossbar 122 is moved to move the entire roll of cable. The cable storage support 123 is supported on the transfer support assembly 113 and is slidably connected to the first slide rail 1136. The cable storage support 123 is provided with a handle 1231.

[0112] The cable securing device 13 includes a storage box 131 and a storage bracket 132. The storage box 131 is fixedly mounted on the storage bracket 132. The storage box 131 is equipped with the cable securing device 5. The storage bracket 132 is supported on the transfer bracket assembly 113 and is slidably connected to the first slide rail 1136. The storage bracket 132 is provided with a handle 1231.

[0113] The gripper device 14 includes a gripper transverse conveying mechanism 141, a gripper longitudinal conveying mechanism 142, a gripper 143, a gripper cylinder assembly 144, a loading platform 145, and a lifting cylinder 146. The gripper 143 is fixed to the gripper cylinder assembly 144, which is installed on the gripper transverse conveying mechanism 141. The gripper transverse conveying mechanism 141 is installed on the gripper longitudinal conveying mechanism 142. The lifting cylinder 146 is fixed to the transfer platform 10, and the loading platform 145 is fixed to the lifting cylinder 146. The loading platform 145 is located in the material changing position. The gripper longitudinal conveying mechanism 142 drives the gripper transverse conveying mechanism 141, the gripper 143, and the gripper cylinder assembly 146. The cylinder assembly 144 moves longitudinally, and the gripper transverse conveying mechanism 141 drives the gripper 143 and the gripper cylinder assembly 144 to move laterally. The gripper 143 is driven to move to the position opposite to the handle 123 by the gripper transverse conveying mechanism 141 and the gripper longitudinal conveying mechanism 142. The gripper cylinder assembly 144 controls the gripper 143 to clamp the handle 123, and moves the wire storage device 12 and the wire fixing device 13 to the unloading platform 145 by the gripper longitudinal conveying mechanism 142. The lifting cylinder 146 is activated to lift the unloading platform 145 and the wire storage device 12 and the wire fixing device 13 on it to the wire picking station, waiting for the subsequent unloading of the whole roll of cable and the wire fixing device 5.

[0114] Preferably, the unloading platform 145 is fixedly provided with a second slide rail 145, which corresponds one-to-one with the first slide rail 1136, so as to facilitate the movement of the wire storage device 12 and the wire fixing device 13 to the unloading platform 145.

[0115] like Figure 5 As shown, the cable fastener 5 has several arrayed slots 51, and the two ends of the cable fastener 5 are provided with fixing parts 52. The fixing parts 52 are pre-set with nuts 53. The nuts 53 are tightened to fix the cable fastener 5 on the signal cabinet.

[0116] like Figures 6-7 As shown, the auxiliary robot 2 includes a fixedly connected auxiliary three-axis traveling mechanism and an auxiliary mechanism. The auxiliary three-axis traveling mechanism controls the movement of the auxiliary mechanism in the lateral, longitudinal, and vertical directions.

[0117] The auxiliary three-axis traveling mechanism is a conventional three-axis conveying structure, including a transverse conveying structure, a longitudinal conveying structure, and a lifting conveying structure. The auxiliary mechanism is connected to the lifting conveying structure, the lifting conveying structure is connected to the transverse conveying structure, and the transverse conveying structure is connected to the longitudinal conveying structure, thereby enabling the auxiliary mechanism to move in the transverse, longitudinal, and vertical directions.

[0118] The transverse conveying structure, longitudinal conveying structure, and lifting conveying structure can adopt conventional transmission structures such as motor ball screw drive, motor rack and pinion drive, motor gear synchronous belt drive, and cylinder, and this application does not limit them.

[0119] The auxiliary mechanism includes an auxiliary rotating mechanism 21, an auxiliary frame 20, and an auxiliary switching mechanism 22, a nut fastening mechanism 23, and an auxiliary gripper mechanism 24 installed on the auxiliary frame 20. The auxiliary rotating mechanism 21 is powered to connect the auxiliary frame 20 and the lifting and conveying structure. The nut fastening mechanism 23 and the auxiliary gripper mechanism 24 are connected to the auxiliary switching mechanism 22.

[0120] The auxiliary rotating mechanism 21 starts and drives the auxiliary frame 20 to rotate, which in turn drives the nut fastening mechanism 23 and the auxiliary gripper mechanism 24 to rotate, so that the auxiliary gripper mechanism 24 can clamp the wire fastener 5 or the nut fastening mechanism 23 can tighten the wire fastener 5.

[0121] The nut fastening mechanism 23 and the auxiliary gripper mechanism 24 are fixedly connected by a rotating rod 25, which is rotatably connected to the auxiliary frame 20. The auxiliary switching mechanism 22 is poweredly connected to the rotating rod 25. The nut fastening mechanism 23 and the auxiliary gripper mechanism 24 are not on the same plane; preferably, they are vertically distributed. When the auxiliary gripper mechanism 24 is needed to grip the wire fastener 5, the auxiliary switching mechanism 22 controls the rotating rod 25 to rotate the auxiliary gripper mechanism 24 to a vertical position for gripping. When the nut fastening mechanism 23 is needed to tighten the wire fastener 5, the auxiliary switching mechanism 22 controls the rotating rod 25 to rotate the nut fastening mechanism 23 to a vertical position for tightening. In this embodiment, the auxiliary switching mechanism 22 drives the auxiliary gripper mechanism 24 to grip the wire fastener 5 or the nut fastening mechanism 23 to tighten the wire fastener 5, thus achieving functional and structural integration.

[0122] The nut fastening mechanism 23 includes a nut fastening bracket 231, a nut fastening motor 232, and a nut fastening end cap 233. The nut fastening bracket 231 is fixedly connected to the rotating rod 25. The nut fastening motor 232 is fixedly mounted on the nut fastening bracket 231. The nut fastening end cap 233 is fixedly mounted on the nut fastening motor 232. The nut fastening end cap 233 matches the preset nut 53 of the wire fastener 5, effectively realizing the engagement of the two. After the nut fastening end cap 233 engages with the preset nut 53, the nut fastening motor 232 starts to rotate, tightening the preset nut 53 and thus fixing the fastener 5 to the signal cabinet.

[0123] The auxiliary gripper mechanism 24 includes an auxiliary gripper frame 241, an auxiliary gripper cylinder 242, and auxiliary grippers 243. The auxiliary gripper frame 241 is fixedly connected to the rotating rod 25. The auxiliary gripper cylinder 242 is fixedly connected to the auxiliary gripper frame 241. The auxiliary grippers 243 are fixedly mounted on the auxiliary gripper cylinder 242. The auxiliary gripper cylinder 242 activates two sets of auxiliary grippers 243 to grip the fixture 5.

[0124] The auxiliary switching mechanism 22 includes an auxiliary switching motor 221, an auxiliary switching drive gear 222, and an auxiliary switching driven gear 223. The auxiliary switching motor 221 is fixed on the auxiliary frame 20, the auxiliary switching drive gear 222 is fixed on the output shaft of the auxiliary switching motor 221, and the auxiliary switching driven gear 223 is fixed on the rotating rod 25. The auxiliary switching drive gear 222 and the auxiliary switching driven gear 223 are meshed and connected.

[0125] like Figures 8-11 As shown, the cabling robot 3 includes a fixedly connected three-axis cabling trolley mechanism and a cabling mechanism. The cabling trolley mechanism controls the movement of the cabling mechanism in the horizontal, vertical and vertical directions, so that it moves to the cable picking station.

[0126] The cabling three-axis trolley mechanism is a conventional three-axis conveying structure, including a cabling lateral conveying structure, a cabling longitudinal conveying structure, and a cabling lifting conveying structure. The cabling mechanism is connected to the cabling lifting conveying structure, which is connected to the cabling lateral conveying structure, and the cabling lateral conveying structure is connected to the cabling longitudinal conveying structure, thereby enabling the cabling mechanism to move in the lateral, longitudinal, and vertical directions.

[0127] The horizontal wiring conveying structure, the vertical wiring conveying structure, and the lifting wiring conveying structure can adopt conventional transmission structures such as motor ball screw drive, motor rack and pinion drive, motor gear synchronous belt drive, and cylinder, and this application does not limit them.

[0128] The cabling mechanism includes a cabling platform 30, a cable feeding mechanism, a cable pick-up hook 33, a double clamp structure 32, and a cable cutting structure 38. The cable pick-up hook 33 is fixed on the cabling platform 30, and the double clamp structure 32 and the cable feeding mechanism are movably installed on the cabling platform 30.

[0129] The cabling platform 30 includes an upper platform 301, a lower platform 302, and a cabling rotary motor 31. The upper platform 301 and the lower platform 302 are arranged in parallel and connected by the cabling rotary motor 31. The wire feeding mechanism includes a wire structure 34, a wire feeding structure 35, a wire tube 36, a positioning pressure roller structure 37, a double clamp structure 32, a wire picking hook 33, the wire structure 34, the wire feeding structure 35, the wire tube 36, the positioning pressure roller structure 37, and a cutting structure 38 installed on the lower platform 302. The cabling rotary motor 31 starts and controls the lower platform 302 to rotate, thereby controlling the related structures to rotate synchronously. The wire picking hook 33 rotates and aligns with the wire storage rack 121. The cabling lifting and conveying structure descends a preset distance, and the cabling longitudinal conveying structure moves a preset distance, moving the wire picking hook 33 to the hooking point to hook the wire storage bracket crossbar 122. The cabling lifting and conveying structure moves upward, and the cable and the wire storage bracket crossbar 122 disengage from the wire storage rack 121.

[0130] The double-clamp structure 32 includes a clamp translation mechanism 321, a clamp feeding mechanism 322, double clamps 323, a clamping mechanism 324, a clamp rotation structure 326, and a cable straightening structure 325. The double clamps 323 are connected to the clamping mechanism 324, which controls the double clamps 323 to clamp and release the cable. The clamping mechanism 324 is connected to the cable straightening structure 325, which controls the two clamping mechanisms 324 to move away from each other, thereby straightening the cable clamped in the double clamps 323. The cable straightening structure 325 is connected to the clamp rotation structure 326. 6. By controlling the horizontal angle of the cable straightening structure 325, the double clamps 323 are rotated to clamp the cable end. The clamp rotation structure 326 is connected to the clamp feeding mechanism 322. The clamp feeding mechanism 322 moves the cable clamped by the double clamps 323 to the wiring position by controlling the movement of the clamp rotation structure 326, so as to deliver the cable to the conductor structure 34. The clamp feeding mechanism 322 is connected to the clamp translation mechanism 321. The clamp translation mechanism 321 moves the double clamps 323 to the cable end position on the cable storage rack by controlling the movement of the clamp feeding mechanism 322. The double clamps 323 clamp the cable end, straighten the cable end, and deliver the cable to the conductor structure 34.

[0131] The tightness of the cable clamping mechanism of the double clamp 323 refers to the ability to move the cable without it coming off, and the ability for the cable to move inside the double clamp 323 under external force.

[0132] The chuck translation mechanism 321 uses a motor ball screw drive to control the movement of the double chucks 323, or it can use a motor rack and pinion drive, a motor gear synchronous belt drive, a cylinder or other transmission structure. This application does not limit it to this.

[0133] The chuck feeding mechanism 322 includes a chuck feeding cylinder 3221 and a chuck feeding frame 3222. The chuck feeding cylinder 3221 is connected to the chuck translation mechanism 321 through a fixed plate. The output end of the chuck feeding cylinder 3221 is fixedly connected to the chuck feeding frame 3222. The chuck translation mechanism 321 drives the chuck feeding cylinder 3221 to move, thereby driving the feeding frame 3222 to move.

[0134] The cable straightening structure 325 is fixed on the feed frame 3222. The cable straightening structure 325 is a bidirectional cylinder. The two sets of output shafts of the bidirectional cylinder are fixed with clamping mechanisms 324.

[0135] The cable feeding mechanism includes a cable feeding translation structure 39, a conductor structure 34, a cable feeding structure 35, a conductor tube 36, and a positioning pressure roller structure 37. The positioning pressure roller structure 37, conductor tube 36, cable feeding structure 35, and conductor structure 34 are distributed in sequence. The conductor structure 34 is connected to the double clamp structure 32. The double clamp structure 32 transports the cable end to the conductor structure 34 to guide the subsequent cable feeding.

[0136] The cable delivery translation structure 39 includes a cable delivery translation force mechanism 391 and a cable delivery translation frame 392. The cable delivery translation force mechanism 391 is fixedly connected to the cabling platform 30. The cable delivery translation frame 392 is connected to the cable delivery translation force mechanism 391. The conductor structure 34, the cable delivery structure 35, the conductor tube 36, and the positioning pressure roller structure 37 are respectively installed on the cable delivery translation frame 392. The cable delivery translation force mechanism 391 starts to drive the cable delivery translation frame 392 to move, thereby moving the conductor structure 34 to the wiring position.

[0137] The wire feeding translational power mechanism 391 uses a motor ball screw drive to control the movement of the wire feeding translational frame 392, or it can use a motor rack and pinion drive, motor gear synchronous belt drive, cylinder or other transmission structures. This application does not limit it to this.

[0138] The conductor structure 34 includes a conductor pressure roller 341, a conductor roller 342, and a pressure roller cylinder (not shown in the figure). The conductor roller 342 is rotatably connected to the cable delivery translation frame 392, and the conductor pressure roller 341 is movably connected to the cable delivery translation frame 392. The conductor pressure roller 341 and the conductor roller 342 are distributed vertically. The pressure roller cylinder is connected to the conductor pressure roller 341 and drives the conductor pressure roller 341 to move vertically. The pressure roller cylinder controls the conductor pressure roller 341 to move upward, thus widening the distance between the conductor pressure roller 341 and the conductor roller 342, making it easier for the double clamp to place the cable on the conductor roller 342. After the cable end is placed, the pressure roller cylinder is activated to move the conductor pressure roller 341 downward, confining the cable between the conductor pressure roller 341 and the conductor roller 342. The conductor pressure roller 341 and the conductor roller 342 are both V-shaped wheels, thereby achieving the function of guiding the cable during transmission.

[0139] The cable delivery structure 35 is located in front of the conductor structure 34. The cable passing through the conductor structure 34 is connected to the cable delivery structure 35. The cable delivery structure 35 includes...

[0140] The wire feeding structure 35 includes a wire feeding pressure roller 351, a wire feeding roller 352, a wire feeding pressure roller cylinder 353, and a wire feeding pressure roller motor (not shown in the figure). The wire feeding roller 352 and the wire feeding pressure roller 351 are respectively connected to the wire feeding pressure roller motor. The wire feeding pressure roller 351 is movably connected to the wire feeding translation frame 392. The wire feeding pressure roller 351 and the wire feeding roller 352 are distributed vertically. The wire feeding pressure roller cylinder is connected to the wire feeding pressure roller 351 and drives the wire feeding pressure roller 351 to move vertically. The wire feeding pressure roller cylinder controls the upward movement of the wire feeding pressure roller 351 to feed the wire. The pressure roller 351 and the wire feeding roller 352 are spaced apart to facilitate the double clamps placing the cable on the wire feeding roller 352. After the cable end is placed, the pressure roller cylinder is activated to move the pressure roller 351 downward. The pressure roller 351 and the wire feeding roller 352 contact the cable in the vertical direction, respectively. The pressure roller 351 and the wire feeding roller 352 are wire wheels. The texture on the surface of the wire wheels increases the friction with the cable. The pressure roller motor is activated, and the pressure roller 351 and the wire feeding roller 352 rotate, thereby driving the cable forward.

[0141] The wire guide tube 36 is fixed on the wire feeding translation frame 392 and located in front of the wire feeding structure 35. The wire guide tube 36 is inclined and flared outwards from the wire opening of the wire feeding structure 35 to facilitate the entry of the wire end. The double clamps place the wire end in the wire opening. The cable is located in the wire feeding structure 35 and the wire structure 34. The wire feeding pressure roller motor starts to enter the cable from the wire opening and move it along the wire guide tube 36.

[0142] The positioning pressure roller structure 37 is fixedly mounted on the wire feeding translation frame 392 and located in front of the wire tube 36. The positioning pressure roller structure 37 includes a positioning pressure roller cylinder 371 and a positioning pressure roller 372. The positioning pressure roller cylinder 371 is fixedly mounted on the wire feeding translation frame 392, and the positioning pressure roller 372 is fixedly mounted on the output shaft of the positioning pressure roller cylinder 371. The positioning pressure roller cylinder 371 starts to drive the positioning pressure roller 372 to move up and down.

[0143] The wire cutting structure 38 is used to cut the cable after a single cable is laid. The wire cutting structure 38 is fixed between the cable feeding structure 35 and the conductor tube 36. The wire cutting structure 38 includes a wire cutting frame 381, a wire cutting cylinder 382 and a cutter 383. The wire cutting frame 381 is fixed to the cable feeding translation frame 392. The wire cutting cylinder 382 is fixed to the wire cutting frame 381 and is fixedly connected to the cutter 383. When cutting is required, the wire cutting cylinder 382 starts to control the cutter 383 to move down to cut the cable.

[0144] The specific implementation process of wiring robot 3 is as follows:

[0145] Inside the cable storage compartment, a lifting electric cylinder elevates the cable storage rack to the cable retrieval position; the cabling three-axis traveling mechanism moves the cabling mechanism to the cable retrieval position; simultaneously, the cabling rotary motor 31 is driven to rotate the cable retrieval hook 33 to align with the cable storage rack 121, and the double-clamp structure 32 clamps the cable end on the cable storage rack 121. The cabling lifting and conveying structure descends a preset distance, and the cabling longitudinal conveying structure moves a preset distance, moving the cable retrieval hook 33 to the hooking point to hook the cable storage bracket crossbar 122. The cabling lifting and conveying structure moves upward, and the cable and the cable storage bracket crossbar 122 are detached from the cable storage rack 121. Before cabling, the cable end is straightened by the double-clamp structure and then passes through the conductor structure 34 and the cable delivery structure 35 in sequence, and the cable end is placed into the conductor tube 36; the conductor pressure roller 341 and the cable delivery pressure roller 351 press down, and the cable delivery pressure roller motor starts to transport the cable forward to the positioning pressure roller structure 37.

[0146] The host computer system converts the engineering drawings into wiring tables and layout diagrams so that it can clearly know which cabinet each cable goes from (i.e., the origin and destination and cable type). Then, based on the layout diagram, it plans the wiring path and wiring priority (i.e., the cable direction and wiring sequence). Finally, it generates a wiring table and sends it to the cable storage warehouse 1, auxiliary robot 2, wiring robot 3, and vision inspection device to perform the wiring task.

[0147] The wiring process is as follows:

[0148] The three-axis gantry crane drives the cabling mechanism to the designated cable starting position. The cabling robot 3 guides the cable end to the opening in the cable tray at the top of the starting position signal cabinet, while simultaneously driving the cable delivery roller motor to deliver a predetermined length of cable into the starting signal cabinet. The three-axis gantry crane drives the cabling mechanism, causing the bottom contact point of the positioning roller 372 to move along the target cabling trajectory. Simultaneously, it drives the cabling rotary motor 31 to ensure that the axial direction of the contact point of the positioning roller 372 remains perpendicular to the trajectory. During cabling, the cable delivery roller motor moves accordingly, maintaining the cable delivery length consistent with the trajectory length. When passing the cable holder 5, after the displacement is corrected by the vision device, the positioning roller 372 is pressed down, pressing the cable into the slot 51 of the cable holder 5. The cabling platform 30 stops at the ending position signal cabinet, the positioning roller 372 presses down, and the cable delivery roller motor continues to deliver the cable. After cable delivery is complete, the cable cutting structure 38 cuts the cable and guides the tail end of the cable into the cable tray at the top of the signal cabinet. The dual-clamp structure 32 in the cabling robot performs tasks such as clamping the cable ends when picking up the cable and straightening the cable before cabling. After the first cable is laid, the subsequent cables are laid in sequence.

[0149] The specific process for laying a single cable includes:

[0150] The first section of cable delivery—the positioning pressure roller 372 of the positioning pressure roller structure 37 presses down, guiding the end of the cable to the opening of the cable groove at the top of the starting position signal cabinet, and at the same time driving the cable delivery pressure roller motor to deliver the cable of the set length to the starting signal cabinet.

[0151] Cabling – The three-axis trolley mechanism of the cabling system drives the bottom contact point of the positioning roller 372 to run along the target cabling trajectory, while simultaneously driving the cabling rotary motor 31 to ensure that the axial direction of the contact point of the positioning roller 372 remains perpendicular to the trajectory. During the cabling process, the cable feeding roller motor moves accordingly to keep the cable feeding length consistent with the trajectory length. When passing the cable holder 5, the displacement is corrected by the vision device, and the positioning roller 372 is pressed down to press the cable into the slot 51 of the cable holder 5.

[0152] Tail-end cable delivery – The cabling robot 3 stops at the termination signal cabinet, the positioning pressure roller 372 of the positioning pressure roller structure 37 presses down, the cable delivery pressure roller motor continues to deliver the cable, and after the cable delivery is completed, the cable cutting structure 38 cuts the cable and guides the tail end cable into the cable tray at the top of the signal cabinet.

[0153] The visual inspection device includes an auxiliary visual inspection structure 41 and a wiring visual inspection structure 42. The auxiliary visual inspection structure 41 is installed on the auxiliary robot 2, and the wiring visual inspection structure 42 is installed on the wiring robot 3. The auxiliary visual inspection structure 41 is used to correct the installation deviation of the cable fastener 5 and the installation deviation of the fastening bolts. The wiring visual inspection structure 42 is used to correct the positioning deviation of the cable before it is clamped in the slot of the cable fastener.

[0154] The auxiliary visual inspection structure 41 and the wiring visual inspection structure 42 are set as cameras, and the acquired images are transmitted to the host computer system for image processing to achieve position correction.

[0155] like Figures 12-21 As shown, this application also provides a smart cabling method for signal control rooms, including the following steps:

[0156] Step 1: Receive the engineering drawings and convert them into wiring diagrams and layout diagrams. Determine the number of cables using the wiring diagrams and the route of each cable using the layout diagrams.

[0157] By tracing the route of each cable, we can clearly determine which cabinet each cable runs from and to which cabinet, thus identifying the cable's starting point, ending point, and cable type.

[0158] The cable type, quantity, and route of each cable are all preset values, and they are matched one by one, integrated with the wiring table and layout diagram.

[0159] Step 2: Based on the cable routing in the layout diagram, generate a cabling table that includes cabling path planning and cabling priority planning;

[0160] Step 3: Perform visual correction on the actual coordinates and measured coordinates of the wiring target points;

[0161] Step 4: Move the wiring robot to the avoidance point;

[0162] Step 5: The robot assists in gripping and securing the wire fasteners to complete the installation of the wire fasteners for the current layer;

[0163] Step 6: The cabling robot receives the cabling list and obtains the parameters of the cable to be cabled;

[0164] Step 7: The cabling robot performs the cabling task for the current layer;

[0165] Step 8: Determine if the cabling task for all layers is complete. If yes, reset the system and the cabling is finished. If not, return to step 4.

[0166] Methods for cabling path planning include

[0167] Step S1: Grid-process the layout of the signal cabinets in the signal control room to generate a grid-based layout diagram of the signal cabinets;

[0168] like Figure 13 As shown, the signal control room in this embodiment adopts a three-channel layout, with the main channel in the middle of the entrance / exit and auxiliary channels on both sides near the windows. The signal cabinets are arranged in multiple rows according to the size of the control room and the scale of the base station. Figure 13 It includes a main passage, auxiliary passages, and signal cabinets. The main passage divides the signal cabinets into upper and lower sections. The signal cabinets in each section are arranged side by side, with pedestrian passages between adjacent signal cabinets. Figure 13 The number of signal cabinets is 19. Both the upper and lower sections contain 3 columns of signal cabinets, with each column forming one zone. Therefore, the signal cabinet layout is 3 columns, 6 zones, and 19 signal cabinets. The signal cabinet layout is then processed into a grid to generate a gridded layout map. Figure 14 .

[0169] Signal cabinet layout grid diagram Figure 14 It has a 5x9 grid (columns x rows). The grid containing the signal cabinet is designated S and marked with a circle on the diagram. The grid containing the main passage is designated R, and the grid containing the pedestrian passage is designated B and marked with an cross on the diagram. Figure 14 The signal cabinet grid S, path grid R, and fill grid B are formed. The starting and ending points of each cable are signal cabinet grids. The cable path is allowed to pass through the signal cabinet grid and path grid R, but is not allowed to pass through the fill grid B.

[0170] The cable list in the wiring diagram contains N cables, labeled L1...Ln;

[0171] Step S2: Record the current status of the cable;

[0172] When laying cables, prioritize routes with fewer bends; a bend is defined as a change in the direction of movement.

[0173] The status includes the current waypoint, the previous waypoint, the direction of entry, and the total cost of the route;

[0174] state = [P(x,y), FP(x,y), dir, f(P)],

[0175] Establish an xy coordinate system based on the grid layout diagram of the signal cabinet, where x represents the number of rows and y represents the number of columns;

[0176] P(x,y): The coordinates of the current waypoint (e.g., P(1,3) represents the coordinates of the current waypoint in the first row and third column);

[0177] FP(x,y): The coordinates of the previous waypoint of the current waypoint; (e.g., FP(1,3) represents the coordinates of the previous waypoint of the current waypoint P(1,3). According to the derived or set rules, the coordinates of the previous waypoint of P(1,3) are in the first row and second column, that is, FP(1,3)=(1,2), FP(x,y)=(m,n), where m and n are the coordinates of the previous waypoint; if there is no previous waypoint, m and n are set to -1.

[0178] dir: Direction to enter the current waypoint (1: Up; 2: Right; 3: Down; 4: Left; -1: No direction at the starting point);

[0179] f(P): Total cost of the route;

[0180] Base movement cost = 1 (per waypoint moved), turning coefficient = 9 (the turning coefficient can be adjusted according to the grid size, and is generally set to no greater than the maximum value of the number of rows and columns in the grid).

[0181] Actual cost paid g(P) = cumulative path cost + number of turns × turn coefficient;

[0182] The estimated cost to be spent, h(P), is equal to the distance from Manhattan to the destination.

[0183] The total cost is f(P) = g(P) + h(P).

[0184] Step S3: Data preparation: Take out the cable Ln to be planned from the cable list, start point P(xstart,ystart), end point P(xend,yend), clear the open set (set of waypoints to be processed) O{}, and clear the closed set (set of waypoints already processed) C{};

[0185] The starting point P(xstart,ystart) and the ending point P(xend,yend) are known parameters, and they correspond one-to-one with the cable Ln;

[0186] Step S4: Initialization: Place the state of the starting point P(xstart,ystart) into the open set, the open set O{[P(Xstart,Ystart),-1,-1,fP]};

[0187] Step S5: Generate several paths based on the starting point P(xstart,ystart) and the ending point P(xend,yend), calculate the total cost of each path, and sort the open set O according to the total cost, and take out the waypoint with the smallest total cost.

[0188] Step S6: Determine if the waypoint is the destination. If yes, backtrack the path and return to step S3 until all cable path planning is completed. If no, generate neighbor status and check if the upper, lower, left, and right adjacent waypoints have been traversed. If the traversal is completed, put the waypoint into the closed set C, re-sort the open set O, and return to step S5. If the traversal is not completed, generate adjacent waypoints in sequence.

[0189] Step S7: Determine if adjacent waypoints are valid. If so, for each valid waypoint, determine the new direction new_dir based on the relative position; determine the turning cost: if prev_dir == -1 or new_dir == prev_dir, the cost = 1 (straight ahead), otherwise the cost = 1 + 9 (turn); calculate the total cost; generate a new waypoint state; if not, discard the adjacent waypoints and return to step S6 to re-traverse the adjacent waypoints.

[0190] Step S8: Determine whether the new waypoint is in the closed set or the open set. If yes, discard the new waypoint; otherwise, add the new waypoint to the open set.

[0191] Step S9: After all the neighbor states of the current waypoint have been generated, put the waypoints into the closed set and reorder the open set O according to the cost.

[0192] Step S10: Determine whether all cable path planning is complete. If yes, end path planning; otherwise, return to step S3.

[0193] Methods for prioritizing cabling include:

[0194] Step Y1: Divide and number the columns containing the signal cabinets on the signal cabinet layout grid diagram;

[0195] All rows use the same numbering, such as Figure 16 As shown, the first row of zones is numbered A1, A2, A3...Az from left to right; the second row of zones is numbered B1, B2, B3...Bz from left to right, where z is the column number. The signal cabinets within each zone are numbered a1, a2...aq, where q is the number of signal cabinets in the zone, and the numbering gradually decreases from top to bottom.

[0196] This embodiment uses a 3-column, 6-zone, 19-signal cabinet for illustration.

[0197] Step Y2: Classify the cable routing routes in each zone to obtain a routing route classification list;

[0198] The routes are classified into 5 categories, including:

[0199] Category 1: Wiring paths between signal cabinets within each zone;

[0200] Such as A1-A1; A2-A2; A3-A3; B1-B1; B2-B2; B3-B3;

[0201] Category 2: The cabling path is between signal cabinets in the same column / zone;

[0202] For example, A1-B1; A2-B2; A3-B3;

[0203] Category 3: Cabling paths between signal cabinets in adjacent zones within the same row;

[0204] Such as A1-A2; A2-A3; B1-B2; B2-B3;

[0205] Category 4: Cabling paths between signal cabinets that span multiple zones within the same row;

[0206] For example, A1-A3; B1-B3;

[0207] Category 5: Cabling paths between signal cabinets in non-row and non-column zones;

[0208] Such as A1-B2; A1-B3; A2-B1; A2-B2; A2-B3; A3-B1; A3-B2;

[0209] Step Y3: Based on the non-crossing rules of cables, adjust the routing route classification list and formulate a multi-level cabling plan;

[0210] Multi-level cabling planning includes

[0211] First-level cable route planning: Start with A1 as the starting zone, and use each of the other zones as the ending zone for cabling.

[0212] Second-level cabling route planning: Except for A1, A2 is the starting zone, and the other zones are the ending zones for cabling.

[0213] Planning of the third-level cabling route: Except for A1 and A2, A3 is used as the starting zone, and the other zones are used as the ending zones for cabling. ...

[0215] Planning of the z-level cable route: Except for A1, A2...A(z-1), take Az as the starting partition and use the other partitions as the ending partitions for cabling;

[0216] Planning of the z+1 level cabling route: cabling between each zone in the last row;

[0217] This embodiment uses a 3-column, 6-zone, 19-signal cabinet for illustration.

[0218] Level 1: A1A2→A1A3→A1B3→A1B2→A1B1→(A1A1);

[0219] The cables between A1 and A2 are planned in the following order: in area A1, the channel size decreases from largest to smallest; in area A2, the channel size increases from smallest to largest. Similarly, the cables between A1 and A3 are planned in the same order: in area A1, the channel size decreases from largest to smallest; in area A3, the channel size increases from smallest to largest. The cables between A1 and B3 are also planned in the same order: in area A1, the channel size decreases from largest to smallest; in area B3, the channel size decreases from largest to smallest. The cables between A1 and B2 are also planned in the same order: in area A1, the channel size increases from smallest to largest; in area B1, the cables are laid in the same channel. After the above cables are laid out, the first type of cables is then planned in a filler configuration, i.e., the routes A1-A1, A2-A2, A3-A3, B1-B1, B2-B2, and B3-B3 are laid out.

[0220] Level 2: A2A3→A2B3→A2B2→A2-B1→(A2A1 / A1B1→A2A2);

[0221] The cables between A2 and A3 are planned in descending order of channel size in area A2, and ascending order of channel size in area A3; the cables between A2 and B3 are planned in descending order of channel size in area A2, and ascending order of channel size in area B3; the cables between A2 and B2 are planned in descending order of channel size in area A2, and the same channel is planned in area B2; the cables between A2 and B1 are planned in ascending order of channel size in area A2, and ascending order of channel size in area B1; after the above cables are laid out, the first type of cables are then planned in a filler manner, i.e., the routes A1-A1; A2-A2; A3-A3; B1-B1; B2-B2; and B3-B3 are laid out.

[0222] Level 3:

[0223] A3B3→A3B2→A3B1→(B1A1→A3A1→A1A2 / A2A3→A3A3);

[0224] Plan the cables between A3 and B3, with the channel size decreasing in area A3 and the same channel in area B3; plan the cables between A3 and B2, with the channel size decreasing in area A3 and the same channel in area B2; plan the cables between A3 and B1, with the channel size increasing in area A3 and the same channel in area B1; after the above cables are laid out, fill in the first type of cables, i.e., lay out the routes A1-A1; A2-A2; A3-A3; B1-B1; B2-B2; B3-B3.

[0225] Level 4:

[0226] B1B3→B1B2 / B3B2→(A1A3→A1A2 / A3A2→B1B1 / B2B2 / B3B3);

[0227] Plan the cables between B1 and B3, starting with the smallest channel in B1 and decreasing it in B3; plan the cables between B1 and B2, decreasing it in B1 and decreasing it in B2; plan the cables between B2 and B3, decreasing it in B2 and decreasing it in B3; after the above cables are laid, plan the first-level cables, i.e., lay the routes A1-A1; A2-A2; A3-A3; B1-B1; B2-B2; and B3-B3.

[0228] The part in parentheses represents the route planning that can be carried out when there is spare route space.

[0229] Multi-level cable routing with interference: When a single layer of the same level of cable is insufficient for planning, multiple layers are created.

[0230] Gaps in multi-level cable routing planning: Integrate Category 2 and 3 routes into different levels of cabling.

[0231] When performing cabling tasks, it is necessary to locate the target points for precise insertion into the cabinet. This embodiment uses a vision system to identify marker points, calculate the coordinates of the target points, and perform cabling or positioning tasks. Positioning accuracy is affected by three types of errors: motion errors (caused by mechanical transmission clearance, guide rail parallelism, installation accuracy, etc., and are position-related); visual recognition errors (caused by camera distortion, perspective projection deviation, etc., and are related to the position of the marker point in the image); and marker point installation deviations (random deviations between the actual position of the marker point and the planned position on the drawing; the deviation of each marker point is independent and irregular, and cannot be predicted by a unified model). Therefore, a method of multiple image captures for each marker point + systematic error model correction is adopted. Random installation deviations are solved by "measurement instead of prediction," while systematic errors are handled by "model correction" to adapt to the current operating environment. Specifically, this includes...

[0232] Step 31: Offline calibration to establish a systematic error model;

[0233] The steps for establishing a systematic error model include:

[0234] Step 311: Select 6 calibration points within the working area and measure their true coordinates P using high-precision measuring equipment. ref,i ;

[0235] P ref,i =(x ref,i ,y ref,i ), where i is the calibration point number;

[0236] Step 312: Move to the nominal coordinates P of the drawing for each calibration point. nominal,i =(x nominal,i ,y nominal,i T images (T≥5) are captured using a vision system, and T measurement coordinates P are obtained for each calibration point through visual recognition. measured,i =(x measured,i ,y measured,i ), calculate the average measured coordinate P for each calibration point. measured,avg,i ,

[0237]

[0238] Step 313: Calculate the systematic error δ at each calibration point. system,i；

[0239] δ system,i =(δ x,i ,δ y,i ) = P measured,avg,i -P ref,i

[0240]

[0241] The nominal coordinates of a drawing refer to the theoretical coordinates of a calibration point, which are transformed using the transformation coefficients of the world coordinate system and the drawing coordinate system.

[0242] Step 314: Build the model;

[0243] The systematic error δ is a function of position (x, y), and δ is set to... x =f x (x,y),δ y =f y (x,y), introduce a quadratic model.

[0244]

[0245] Let a0, a1, a2, a3, a4, a5, b0, b1, b2, b3, b4, and b5 be variables. Solve for these variables using the least squares method.

[0246] This embodiment only considers the deviation in the X and Y directions;

[0247] Step 32: Perform independent calibration for each individual marker point online;

[0248] Specifically including

[0249] Step 321: Set multiple marker points E n (n = 1, 2...), move to each marker E n The nominal coordinates P of the drawing En,nominal， P En,nominal =(x En ,y En ,0), ensure that marker point E n Within the field of vision of the visual system;

[0250] Step 322: For each marker point E n Take M images (M≥5), and before each image capture, move a certain distance around the nominal coordinates. Obtain each marker point E through visual recognition. n M measurement coordinates P En,measured,k， P En,measured,k =(x En,k ,y En,k ,θ En,k ), (k = 1, 2, ..., M);

[0251] Step 323: Calculate marker point E n The average measured coordinates;

[0252]

[0253] Step 324: Place marker E n The average measured coordinates are input into the system error model to obtain the predicted system error value;

[0254] δ system,En =f(P En,measured,avg )

[0255] Step 325: Calculate marker point E n The true coordinates P En,true :

[0256] P En,true =P En,measured,avg -δ system,En

[0257] Coordinate representation: P En,true =(X En,true ,YEn,true Z En )

[0258] Step 33: Calculate the coordinates of the target point;

[0259] Specifically including

[0260] Step 331: Given the target point F n Relative marker E n The offset Δ = (dx, dy, dz);

[0261] Target point F n With marker E n All locations are set as known positions, with target point F. n Target point F n With marker E n There is a one-to-one correspondence, and the offset between the two is a fixed value. The marker point E is known. n The coordinates of the target point F can be used to derive the target point F. n The coordinates.

[0262] Step 332: Based on marker E n Calculate the target point F using the true coordinates and offset. n The true coordinates P Fn,true ;

[0263] P Fn,true =P En,true +R(dθ).(dx,dy)

[0264] Where R(dθ) is the rotation matrix corresponding to the angular offset, used to correct the influence of the angle on the XY plane coordinates. Therefore, the target point F n The true coordinates P Fn,true =(X Fn,true ,Y Fn,true Z Fn,true ) ：

[0265]

[0266] Step 333: Move to the actual coordinates of the target point to perform the cabling or cable installation task.

[0267] The auxiliary robot installs one cable holder at a time. A signal cabinet can install several cable holders as required. These cable holders can be arranged in a single layer or multiple layers as required. For multi-layer arrangements, the installation method is to first install a single layer, and then stack the cable holders after the wiring is completed.

[0268] Current layer cable fastener installation;

[0269] Methods for assisting robots in gripping and securing wire fasteners include

[0270] Step 51: The gripping mechanism of the auxiliary robot grips the wire holder from the wire storage compartment;

[0271] Step 52: Place the cable holder in the designated position on the signal cabinet. During the placement process, use a visual correction method to correct the placement of the cable holder until it is placed in the designated position.

[0272] Step 53: The robot is assisted in switching the fastening mechanism. The visual correction method is used to correct the pre-set bolts at both ends of the fastening mechanism and the wire fastener until the fastening mechanism contacts the bolts and the fastening mechanism tightens the bolts.

[0273] Step 54: Complete the current cable installation;

[0274] Step 55: Determine whether the current layer wire fastener has been installed. If yes, assist the robot to move to the avoidance point. If not, return to step 51.

[0275] The current layer's routing task methods include

[0276] Step 71: Determine whether the cable needs to be replaced. If yes, perform the cable replacement operation and then move the cable to the starting point of the wiring. If no, move the cable directly to the starting point of the wiring.

[0277] The cable replacement procedure includes:

[0278] Step 711: The cable storage compartment lifts the cable to the cable retrieval station;

[0279] Step 712: The cabling mechanism of the cabling robot moves to the cable retrieval station to retrieve the cable;

[0280] Step 713: The cable robot's dual-clamp structure grips the cable end and straightens it;

[0281] Step 714: The double clamp structure passes the cable through the conductor structure and the cable feeding structure in sequence, and puts the cable end into the conductor tube 36; the conductor structure and the cable feeding structure convey the cable forward to the positioning pressure roller structure;

[0282] Step 715: The cabling robot moves to the cabling start point.

[0283] Step 72: The cabling robot controls the cable to the cable starting position of the target node. The cabling robot guides the end of the cable to the top of the starting position signal cabinet and feeds in the cable of the set length; the positioning pressure roller structure presses the cable to run along the target cabling trajectory;

[0284] Step 73: Use a visual correction method to position and correct the cable holder and cable. After correction, the positioning pressure roller structure presses the cable into the slot of the cable holder and clamps it tightly.

[0285] Step 74: Control the cable to run along the target wiring trajectory, guide the tail cable to the termination position signal cabinet and cut it to complete the current cable layout;

[0286] Step 75: Determine whether the current layer has been deployed. If yes, proceed to step 8; otherwise, return to step 6.

[0287] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

Claims

1. A method for intelligent cabling in signal control rooms, implemented based on an intelligent cabling system for signal control rooms, characterized in that: The intelligent cabling system for signal control rooms includes a cable storage bin, auxiliary robots, cabling robots, visual inspection devices, and a host computer system. The method includes the following steps: Step 1: The host computer system receives the engineering drawings and converts them into a wiring table and layout diagram. The wiring table is used to determine the number of cables. The route of each cable is determined by the layout diagram; Step 2: Based on the cable routing in the layout diagram, generate a cabling table that includes cabling path planning and cabling priority planning; Step 3: Perform visual correction on the actual coordinates and measured coordinates of the wiring target points; Step 4: Move the wiring robot to the avoidance point; Step 5: The robot assists in gripping and securing the wire fasteners to complete the installation of the wire fasteners for the current layer; Step 6: The cabling robot receives the cabling list and obtains the parameters of the cable to be cabled; Step 7: The cabling robot performs the cabling task for the current layer; Step 8: Determine if all layer cables have completed the cabling task. If yes, reset the system and the cabling is finished. If not, return to step 4.

2. The intelligent cabling method for a signal control room according to claim 1, characterized in that: The wiring path planning method includes: Step S1: Grid-process the layout of the signal cabinets in the signal control room to generate a grid-based layout diagram of the signal cabinets; Step S2: Record the current state of the cable. The state includes the current waypoint, the previous waypoint, the direction of entry, and the total cost of the route. State = [P(x,y), FP(x,y), dir, f(P)]; P(x,y): Coordinates of the current waypoint; FP(x,y): Coordinates of the previous waypoint of the current waypoint; dir: Direction to enter the current waypoint; f(P): Total cost of the route; Step S3: Data preparation: Take out the cable Ln to be planned from the cable list, start point P(xstart,ystart), end point P(xend,yend), clear the open set O{}, and clear the closed set C{}; Step S4: Initialization: Place the state of the starting point P(xstart,ystart) into the open set, the open set O{[P(Xstart,Ystart),-1,-1,fP]}; Step S5: Generate several paths based on the starting point P(xstart,ystart) and the ending point P(xend,yend), calculate the total cost of each path, and sort the open set O according to the total cost, and take out the waypoint with the smallest total cost. Step S6: Determine if the waypoint is the destination. If yes, backtrack the path and return to step S3 until all cable path planning is completed. If no, generate neighbor states and check if the up, down, left, and right adjacent waypoints have been traversed. If traversal is complete, put the waypoint into the closed set C, re-sort the open set O, and return to step S5. If traversal is not complete, generate adjacent waypoints in sequence. Step S7: Determine if the adjacent waypoints are valid. If yes, for each valid waypoint, determine the new direction new_dir based on the relative position. Determine the turning cost: if prev_dir == -1 or new_dir == prev_dir, the cost = 1; otherwise, the cost = 1 + 9. Calculate the total cost. Generate a new waypoint state. If no, discard the adjacent waypoints and return to step S6 to traverse the adjacent waypoints again. Step S8: Determine if the new waypoint state is in the closed set or the open set. If yes, discard the new waypoint; otherwise, add the new waypoint to the open set. Step S9: After all the neighbor states of the current waypoint have been generated, put the waypoints into the closed set and reorder the open set O according to the cost. Step S10: Determine whether all cable path planning is complete. If yes, end path planning; otherwise, return to step S3.

3. The intelligent cabling method for a signal control room according to claim 1, characterized in that: The wiring priority planning method includes Step Y1: Divide and number the columns containing the signal cabinets on the signal cabinet layout grid diagram; Step Y2: Classify the cable routing routes in each zone to obtain a routing route classification list; Step Y3: Based on the non-crossing rules of cables, adjust the routing route classification list and formulate a multi-level cabling plan.

4. The intelligent cabling method for a signal control room according to claim 1, characterized in that: The visual correction in step 3 includes the following steps: Step 31: Offline calibration to establish a systematic error model; Step 32: Perform independent calibration for each individual marker point online; Step 33: Calculate the coordinates of the target point.

5. The intelligent cabling method for a signal control room according to claim 1, characterized in that: The method for the auxiliary robot to grip and fasten the wire fastener includes: Step 51: The gripping mechanism of the auxiliary robot grips the wire holder from the wire storage compartment; Step 52: Place the cable holder in the designated position on the signal cabinet. During the placement process, use a visual correction method to correct the placement of the cable holder until it is placed in the designated position. Step 53: The robot is assisted in switching the fastening mechanism. The visual correction method is used to correct the pre-set bolts at both ends of the fastening mechanism and the wire fastener until the fastening mechanism contacts the bolts and the fastening mechanism tightens the bolts. Step 54: Complete the current cable installation; Step 55: Determine whether the current layer wire fastener has been installed. If yes, assist the robot to move to the avoidance point. If not, return to step 51.

6. The intelligent cabling method for a signal control room according to claim 1, characterized in that: The current layer routing task method includes Step 71: Determine if the cable needs to be replaced. If so, perform the cable replacement operation and then move the cable to the starting point of the wiring. If not, move the cable directly to the starting point of the wiring; Step 72: The cabling robot controls the cable to the cable start position of the target node. The cabling robot guides the end of the cable to the top of the start position signal cabinet and feeds in the cable of the set length. And make the cable run along the target wiring path; Step 73: Use visual correction method to position and correct the cable holder and cable. After correction, the cabling robot presses the cable into the slot of the cable holder and clamps it tightly. Step 74: Control the cable to run along the target wiring trajectory, guide the tail cable to the termination position signal cabinet and cut it to complete the current cable layout; Step 75: Determine whether the current layer has been deployed. If yes, proceed to step 8; otherwise, return to step 6.

7. The intelligent cabling method for a signal control room according to claim 3, characterized in that: The partition number for step Y1 is: The first row numbers each zone from left to right as A1, A2, A3...Az; the second row numbers each zone from left to right as B1, B2, B3...Bz, where z is the column number. The signal cabinets within each zone are numbered a1, a2...aq, where q is the number of signal cabinets in the zone, and the numbers gradually decrease from top to bottom.

8. The intelligent cabling method for a signal control room according to claim 3, characterized in that: The routes in step Y2 are classified into 5 categories, including: Category 1: Wiring paths between signal cabinets within each zone; Category 2: The cabling path is between signal cabinets in the same column / zone; Category 3: Cabling paths between signal cabinets in adjacent zones within the same row; Category 4: Cabling paths between signal cabinets that span multiple zones within the same row; Category 5: Cabinets located between signal cabinets in non-row and non-column sections.

9. The intelligent cabling method for a signal control room according to claim 3, characterized in that: The multi-level cabling plan includes First-level cable route planning: Start with A1 as the starting zone, and use each of the other zones as the ending zone for cabling. Second-level cabling route planning: Except for A1, A2 is the starting zone, and the other zones are used as the ending zones for cabling. Planning of the third-level cabling route: Except for A1 and A2, A3 is used as the starting zone, and the other zones are used as the ending zones for cabling. ... Planning of the z-level cable route: Except for A1, A2...A(z-1), take Az as the starting partition and use the other partitions as the ending partitions for cabling; Planning of the z+1 level cabling route: cabling between each zone in the last row; Multi-level cabling route planning interference: When a single layer of the same level of cabling is insufficient for planning, multiple layers are created; Gaps in multi-level cable routing planning: Integrate Category 2 and 3 routes into different levels of cabling.

10. A method for intelligent cabling in a signal control room according to claim 6, characterized in that: The cable replacement operation includes Step 711: The cable storage compartment lifts the cable to the cable retrieval station; Step 712: The cabling mechanism of the cabling robot moves to the cable retrieval station to retrieve the cable; Step 713: The cable robot's dual-clamp structure grips the cable end and straightens it; Step 714: The double-clamp structure feeds the cable into the cable feeding mechanism; Step 715: The cabling robot moves to the cabling start point.

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