Railway cable laying device and method

Abstract

The application discloses a railway cable laying device and method, and belongs to the technical field of railway cable laying. The device comprises a tractor, a laying vehicle connected with the tractor, a unwinding mechanism arranged on the laying vehicle, a wire guide mechanism connected with the unwinding mechanism, a steering mechanism connected with the wire guide mechanism, and a control mechanism connected with the unwinding mechanism, the wire guide mechanism and the steering mechanism. The unwinding mechanism comprises a harmonic reducer drive, a rotating shaft connected with the harmonic reducer drive, and a rotating seat connected with the rotating shaft. The wire guide mechanism comprises a multi-stage telescopic rod, a wire guide plate connected with the multi-stage telescopic rod, and a guide hole arranged in the wire guide plate. The application solves the technical problems of traditional cable laying operation, such as heavy labor intensity, low operation efficiency and difficult guarantee of laying precision, and realizes the technical effects of improving the automation level and operation quality of railway cable laying.

Description

Technical Field

[0001] This invention relates to the field of railway cable laying technology, specifically to a railway cable laying device and method. Background Technology

[0002] With the rapid development of my country's rail transit construction, the demand for railway electrification and communication signal system upgrades is increasing. The large-scale laying of cables (such as power cables, communication optical cables, signal control lines, etc.) along railway lines has become a key link in railway infrastructure construction.

[0003] Traditional cable laying operations mainly rely on manual labor, which has problems such as high labor intensity, low work efficiency, and difficulty in ensuring laying accuracy. Especially in complex conditions such as long tunnels and viaducts, the safety risks and quality hazards of manual laying are more prominent. Summary of the Invention

[0004] To address the aforementioned problems, the first aspect of the present invention provides a railway cable laying device, comprising: a tractor, a laying vehicle connected to the tractor, an unwinding mechanism disposed on the laying vehicle, a conductor mechanism connected to the unwinding mechanism, a steering mechanism connected to the conductor mechanism, and a control mechanism connected to the unwinding mechanism, the guiding mechanism, and the steering mechanism.

[0005] The unwinding mechanism includes: a harmonic speed reducer, a rotating shaft connected to the harmonic speed reducer, and a rotating seat connected to the rotating shaft;

[0006] The wire guide mechanism includes: a multi-stage telescopic rod, a wire guide plate connected to the multi-stage telescopic rod, and a guide hole provided in the wire guide plate;

[0007] One end of the multi-stage telescopic rod is connected to the paving vehicle, and the other end is connected to the guide plate.

[0008] Preferably, the steering mechanism includes: a cylinder base, a balance frame connected to the cylinder base, a driven gear disposed on the cylinder base, a driving gear meshing with the driven gear, and a bidirectional drive connected to the driving gear;

[0009] The wire guide mechanism further includes: a flipping shaft connected to the multi-stage telescopic rod, a torsion bar connected to the wire guide plate, a torsion spring connected to the torsion bar, a fixing frame connected to the torsion spring, and a roller disposed in the fixing frame.

[0010] The flipping shaft is located at the end of the multi-stage telescopic rod away from the paving vehicle, and the flipping shaft is hinged to the guide plate.

[0011] Preferably, the rollers are respectively disposed at both ends of the fixed frame, and the rims of the rollers protrude from the side of the fixed frame;

[0012] The roller has an elliptical structure.

[0013] A second aspect of the present invention provides a method for laying railway cables, and a railway cable laying device based on any one of the above-described solutions, comprising the following steps:

[0014] Visual data acquisition;

[0015] Visual data preprocessing;

[0016] The heading angle of the cable tray is determined based on the preprocessed visual data;

[0017] Feasibility is determined based on the preprocessed visual data and the actuator status;

[0018] In response to the adjustment status of the actuator, determine the actuator adjustment method;

[0019] In response to the rotation adjustment method of the actuator, the rotation angle of the actuator is determined by a prediction model based on the heading angle of the cable tray.

[0020] Adjust the state of the actuator based on the actuator adjustment method;

[0021] The unwinding speed is determined based on visual data and actuator status.

[0022] Preferably, the visual data acquisition includes:

[0023] Collect point cloud data;

[0024] Identifying the edges and corners of wiring channels based on point cloud data;

[0025] Obtain the orbital inclination angle;

[0026] Obtain cable tension;

[0027] The visual data preprocessing includes:

[0028] Determine the measured distance value based on visual data;

[0029] Obtain the measurement distance set based on the measured distance values;

[0030] Based on the measured distance set, smoothed distance values ​​are obtained through smoothing processing;

[0031] The determination of the measured distance value based on visual data includes:

[0032] Transform the coordinates of the corner points in the scanner coordinate system to the horizontal vehicle body coordinate system;

[0033] The measured distance value is extracted based on the horizontal vehicle coordinate system.

[0034] Preferably, determining the cable tray heading angle based on the preprocessed visual data includes:

[0035] Determine the smooth distance set based on the smooth distance values;

[0036] Based on the smooth distance set, the heading angle of the cable tray corresponding to each corner point is determined.

[0037] Preferably, the feasibility determination based on the preprocessed visual data and the actuator state includes:

[0038] Obtain actuator status parameters and wiring groove shape parameters;

[0039] The lateral distance error and heading angle error are determined based on the actuator status parameters, the cable tray shape parameters, and the measured distance values.

[0040] Feasibility is determined based on lateral distance error, position tolerance threshold, heading angle error, and angle tolerance threshold;

[0041] The feasibility assessment based on lateral distance error, position tolerance threshold, heading angle error, and angle tolerance threshold includes:

[0042] If the heading angle error is less than the angle tolerance threshold and the lateral distance error is less than the position tolerance threshold, the actuator maintains the current telescopic rod length and rotation angle; otherwise, it enters the actuator adjustment step.

[0043] Preferably, determining the actuator adjustment mode in response to the actuator's adjustment state includes:

[0044] If the heading angle error is greater than the angle tolerance threshold, the actuator will prioritize rotation adjustment and pause the telescopic action;

[0045] If the heading angle error is less than the angle tolerance threshold and the lateral distance error is greater than the position tolerance threshold, the actuator will prioritize the extension and retraction action and pause the rotation adjustment.

[0046] The determination of the actuator rotation angle based on the cable tray heading angle using a prediction model includes:

[0047] Determine the rate of change of heading angle based on the heading angle of the cable tray;

[0048] Based on the rate of change of heading angle, the predicted target angle is calculated using a prediction model.

[0049] Preferably, adjusting the state of the actuator based on the actuator adjustment method includes:

[0050] In response to the rotational adjustment method of the actuator, the steering mechanism rotates to the predicted target angle;

[0051] In response to the actuator's telescopic adjustment method, the multi-stage telescopic rod is adjusted to the calculated length.

[0052] Preferably, determining the unwinding speed based on visual data and actuator status includes:

[0053] Gravity compensation velocity is determined based on slope;

[0054] The steering compensation speed is determined based on the rotation angle of the steering mechanism.

[0055] Determine the tension compensation speed based on cable tension;

[0056] Determine the total unwinding speed.

[0057] By adopting the above technical solution, the present invention mainly has the following technical effects:

[0058] By collecting visual data through a laser scanner, the unwinding speed of the unwinding mechanism and the posture of the conductor mechanism are adjusted. This solves the technical problems of traditional cable laying operations, which rely on manual operation, resulting in high labor intensity, low work efficiency, and difficulty in guaranteeing laying accuracy. It achieves the technical effect of improving the automation level and work quality of railway cable laying. Attached Figure Description

[0059] Figure 1 This is a schematic diagram of the structure of a railway cable laying device according to the present invention;

[0060] Figure 2 This is a cross-sectional structural diagram of a portion of the railway cable laying device of the present invention;

[0061] Figure 3 This is an exploded structural diagram of a portion of the railway cable laying device of the present invention;

[0062] Figure 4 This is an exploded structural diagram (from another perspective) of a portion of the structure in a railway cable laying device of the present invention;

[0063] Figure 5 This is a schematic diagram of the conductor mechanism in a railway cable laying device according to the present invention;

[0064] Figure 6 This is a flowchart of a railway cable laying method according to the present invention.

[0065] The meanings of the reference numerals in the attached figures are as follows:

[0066] 1. Tractor;

[0067] 2. Laying vehicle; 21. Vehicle body; 22. Workbench;

[0068] 3. Unwinding mechanism; 31. Harmonic reducer drive; 32. Rotary shaft; 33. Rotary seat;

[0069] 4. Wire guiding mechanism; 41. Multi-stage telescopic rod; 42. Wire guiding plate; 43. Guide hole; 44. Flipping shaft; 45. Torsion bar; 46. Torsion spring; 47. Fixing frame; 48. Roller;

[0070] 5. Steering mechanism; 51. Cylinder seat; 52. Balance frame; 521. Counterweight; 53. Driven gear; 54. Drive gear; 55. Bidirectional drive;

[0071] 6. Control mechanism; 61. Laser scanner. Detailed Implementation

[0072] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0073] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0074] Please see Figures 1-5 The first aspect of the present invention provides a railway cable laying device, comprising: a tractor 1, a laying vehicle 2 connected to the tractor 1, an unwinding mechanism 3 disposed on the laying vehicle 2, a conductor mechanism 4 connected to the unwinding mechanism 3, a steering mechanism 5 connected to the conductor mechanism 4, and a control mechanism 6 connected to the unwinding mechanism 3, the conductor mechanism 4 and the steering mechanism 5.

[0075] In some embodiments, the tractor 1 can move along the direction of rail laying, thereby pulling the laying vehicle 2 to move along the direction of rail laying. In some embodiments, the tractor 1 has the ability to drive autonomously on the track, has sufficient output power to pull the laying vehicle 2, and its speed is controllable to meet the requirements of the laying operation.

[0076] In some embodiments, the laying vehicle 2 is connected to the tractor 1. Under the traction of the tractor 1, the laying vehicle 2 can move along with the tractor 1. It includes a vehicle body 21 and a workbench 22 disposed on the vehicle body 21. In some embodiments, the vehicle body 21 can carry the workbench 22 to move along the rail laying direction, thereby driving the unwinding mechanism 3, the conductor mechanism 4 and the steering mechanism 5 to move along the rail laying direction.

[0077] In some embodiments, the unwinding mechanism 3 is mounted on the laying vehicle 2 and is used to unwind the cable. It includes a harmonic reducer drive 31, a rotating shaft 32 connected to the harmonic reducer drive 31, and a rotating seat 33 connected to the rotating shaft 32. In some embodiments, the harmonic reducer drive 31 is mounted in the vehicle body 21. The harmonic reducer drive 31 can be an integrated drive system with a harmonic reducer as the core reduction component. It typically includes components such as a motor, servo driver, encoder, and brake, forming a complete "powertrain". The harmonic reducer drive 31 can drive the rotating shaft 32 and the rotating seat 33 to rotate. Furthermore, the cable can be mounted on the rotating seat 33 in a coiled form. By connecting the rotating shaft 32 to the cable reel of the coiled cable, the harmonic reducer drive 31 drives the rotating shaft 32 to rotate, thereby driving the cable reel to rotate, thus realizing the cable unwinding process.

[0078] In some embodiments, the conductor mechanism 4 is adapted to the unwinding mechanism 3 to guide the cable unwound by the unwinding mechanism 3 into the cable tray. It includes: a multi-stage telescopic rod 41, a conductor plate 42 connected to the multi-stage telescopic rod 41, and a guide hole 43 in the conductor plate 42. In some embodiments, one end of the multi-stage telescopic rod 41 is connected to the laying vehicle 2, and the other end is connected to the conductor plate 42. This design allows the operator to adjust the length of the multi-stage telescopic rod 41 to position the conductor plate 42 above the cable tray, then pass one end of the cable through the guide hole 43 and place it into the cable tray. The laying vehicle 2 is then pulled along the rail laying direction by the traction vehicle 1, while the unwinding mechanism 3 begins unwinding, thus laying the cable in the cable tray. In some embodiments, the multi-stage telescopic rod 41 can be a hydraulic multi-stage telescopic arm. Pressure oil is provided by the hydraulic system of the laying vehicle 2 to push the pistons of each stage of the hydraulic cylinder to extend or retract sequentially, satisfying both the functional requirement of adjusting the length to position the conductor plate 42 above the cable tray and the ability to withstand the cable tension during unwinding. In some more preferred embodiments, the multi-stage telescopic rod 41 can be an electric telescopic boom, which has a faster response speed compared to a hydraulic multi-stage telescopic boom.

[0079] It should be noted that cable trays are structures installed along the direction of the railway tracks to accommodate and protect cables for railway communication, signaling, and power.

[0080] In some embodiments, the steering mechanism 5 is connected to the wire guide mechanism 4 and is used to drive the wire guide mechanism 4 to rotate in the horizontal plane, thereby adjusting the angle between the multi-stage telescopic rod 41 and the longitudinal centerline of the laying vehicle 2. On the one hand, it changes the lateral distance between the wire guide plate 42 and the laying vehicle 2 to adapt to the wiring troughs with different spacings; on the other hand, it adjusts the horizontal entry angle of the cable relative to the longitudinal axis of the wiring trough to ensure that the cable is smoothly introduced into the wiring trough in the tangential direction and avoids scratching with the trough wall.

[0081] In some embodiments, the steering mechanism 5 includes: a cylindrical base 51, a balance frame 52 connected to the cylindrical base 51, a driven gear 53 disposed on the cylindrical base 51, a driving gear 54 meshing with the driven gear 53, and a bidirectional drive 55 connected to the driving gear 54. In some embodiments, the cylindrical base 51 is a hollow structure, the unwinding mechanism 3 is disposed in the cylindrical base 51 and rotatably connected to the cylindrical base 51, and the balance frame 52 is connected to the cylindrical base 51. In some embodiments, the balance frame 52 is connected to the multi-stage telescopic rod 41, which serves to support the multi-stage telescopic rod 41 and adjust the angle between the multi-stage telescopic rod 41 and the laying vehicle 2 by rotating the balance frame 52.

[0082] In some more preferred embodiments, the balance frame 52 is further provided with a counterweight 521, which is located at one end of the balance frame 52 away from the multi-stage telescopic rod 41, and is used to balance the weight of the multi-stage telescopic rod 41 and the cable to maintain the stability of the laying vehicle 2.

[0083] Furthermore, the driven gear 53 is circumferentially disposed on the outer periphery of the cylinder seat 51, and the output end of the bidirectional driver 55 is connected to the driving gear 54. The bidirectional driver 55 drives the driving gear 54 to rotate, and the driven gear 53 meshes with the driving gear 54 to drive the cylinder seat 51 and the balance frame 52 disposed on the cylinder seat 51 to rotate.

[0084] In some more preferred embodiments, the conductor mechanism 4 further includes: a flipping shaft 44 connected to the multi-stage telescopic rod 41, a torsion bar 45 connected to the conductor plate 42, a torsion spring 46 connected to the torsion bar 45, a fixing frame 47 connected to the torsion spring 46, and a roller 48 disposed in the fixing frame 47. In some embodiments, the flipping shaft 44 is disposed at the end of the multi-stage telescopic rod 41 away from the laying vehicle 2, and the flipping shaft 44 is hinged to the conductor plate 42. After the flipping shaft 44 is connected to the multi-stage telescopic rod 41, the conductor plate 42 can be flipped around the flipping shaft 44 in a vertical plane. In some embodiments, the conductor plate 42 can be flipped downward to the working position by utilizing its own gravity, so that the surface of the conductor plate 42 tends to be horizontal and perpendicular to the axial direction of the multi-stage telescopic rod 41, thereby ensuring that the guide hole 43 is aligned vertically with the cable tray, so that the cable can naturally hang down into the cable tray under the action of gravity.

[0085] In some embodiments, the torsion bar 45 is fixed to the side of the conductor plate 42 and arranged perpendicularly to the flipping shaft 44. The torsion spring 46 is sleeved on the torsion bar 45, with one end connected to the torsion bar 45 and the other end connected to the fixing frame 47. The above design allows the fixing frame 47 to form an elastic hinge with the conductor plate 42 through the torsion spring 46. The torsion spring 46 provides a preload torque in the horizontal direction, so that the conductor plate 42 maintains a posture perpendicular to the multi-stage telescopic rod 41 in a free state. At the same time, it allows the conductor plate 42 to overcome the elastic force of the torsion spring 46 under the action of external force and flip around the axis of the torsion bar 45 at a certain angle, thereby realizing the flexible swing of the conductor plate 42 in the horizontal plane, so that the cable can enter the cable tray in an S-shaped bending shape.

[0086] In some embodiments, the rollers 48 are respectively disposed at both ends of the fixing frame 47, and the rims of the rollers 48 protrude from the side of the fixing frame 47. When the multi-stage telescopic rod 41 drives the guide plate 42 to extend and retract above the wiring trough, the rollers 48 abut against the side walls of the wiring trough, thereby supporting and limiting the fixing frame 47 between the wiring troughs. Then, through the force transmission of the torsion bar 45 and the torsion spring 46, the guide plate 42 is laterally positioned to ensure that the guide hole 43 is located in the central area in the width direction of the wiring trough.

[0087] In some more preferred embodiments, the roller 48 has an elliptical structure. The above design allows the roller 48 to roll forward along the wall of the cable tray as it abuts against the wall. As the major and minor axes of the elliptical profile alternately contact the wall, the fixing frame 47 generates periodic lateral displacement. This causes the conductor plate 42 to swing left and right on the horizontal plane through the torsion spring 46 and the torsion bar 45. This allows the cable leading out from the guide hole 43 to bend in an S-shape in the horizontal direction before being put into the cable tray. This accommodates the lateral position deviation of the cable tray and allows the cable to be arranged in a serpentine pattern within the tray, reserving expansion and contraction margins to prevent excessive tension caused by thermal expansion and contraction of the cable during temperature changes.

[0088] In some embodiments, the control mechanism 6 is connected to the unwinding mechanism 3 and the conductor mechanism 4, and is used to adjust the unwinding speed of the unwinding mechanism 3 and the attitude of the conductor mechanism 4. In some embodiments, the control mechanism 6 includes: a laser scanner 61, an inclination sensor, a tension sensor, and a controller connected to the laser scanner 61 and the inclination sensor. The laser scanner 61 is used to acquire point cloud data of the trackside ground, the inclination sensor is used to acquire the track inclination angle, the tension sensor is used to acquire the cable tension, and the controller is used to adjust the unwinding speed of the unwinding mechanism 3 according to the data collected by the tension sensor. The controller is also used to adjust the attitude of the conductor mechanism 4 according to the data collected by the laser scanner 61 and the inclination sensor. The specific adjustment process will be further described below.

[0089] Please see Figure 6 The second aspect of the present invention provides a railway cable laying method, based on the railway cable laying device described in the above scheme, comprising the following steps:

[0090] S1, Visual data acquisition;

[0091] In some embodiments, the visual data acquisition process can be performed using a laser scanner 61 and a tilt sensor.

[0092] In some embodiments, the visual data acquisition includes:

[0093] S101. Collect point cloud data;

[0094] In some embodiments, point cloud data can be obtained by scanning the trackside ground along the track direction using a laser scanner 61.

[0095] In some embodiments, the laser scanner 61 may be a 2D laser scanner. In some embodiments, the 2D laser scanner may be fixed to the top of the vehicle body, with its scanning plane perpendicular to the track direction (i.e., extending laterally along the vehicle body) and tilted downward at a certain angle (e.g., 30°) to scan the trackside ground and cable tray sidewalls in a cross-sectional form perpendicular to the track.

[0096] S102. Identify the corners of the wiring trough based on point cloud data;

[0097] In some embodiments, the RANSAC algorithm can be used to fit the ground plane and the outer wall plane in parallel in the cross-sectional point cloud, find their intersection line to locate candidate corner points, and then filter them according to the lateral coordinates (retaining points with larger coordinates on the side farther from the vehicle body) to identify the vertex of the wiring groove on the side farther from the vehicle body.

[0098] S103, Obtain the orbital inclination angle;

[0099] In some embodiments, the track inclination angle represents the angle between the tangent plane of the track centerline and the horizontal plane of the earth, and is used to quantify the change in the vertical slope of the track.

[0100] In some embodiments, the track tilt angle can be obtained by a tilt sensor mounted on the vehicle body.

[0101] S104. Obtain cable tension;

[0102] In some embodiments, the cable tension represents the magnitude of the tensile stress borne by the cable during unwinding and laying, and is used to quantify the stress state inside the cable. It is a key physical parameter to ensure smooth cable laying and avoid mechanical damage.

[0103] In some embodiments, the cable tension can be obtained by a tension sensor on the conductor mechanism.

[0104] S2, Visual data preprocessing;

[0105] In some embodiments, the visual data obtained in step S1 can be preprocessed to facilitate subsequent data analysis and processing.

[0106] In some embodiments, the visual data preprocessing includes:

[0107] S201. Determine the measured distance value based on visual data;

[0108] In some embodiments, the measured distance value refers to the distance between the vertex of the wiring channel on the side away from the vehicle body and the vehicle body.

[0109] In some embodiments, determining the measured distance value based on visual data includes:

[0110] S2011. Transform the coordinates of the corner points in the scanner coordinate system to the horizontal vehicle body coordinate system;

[0111] In some embodiments, the pitch angle of the vehicle body relative to the horizontal plane of the ground can be obtained by tilt sensor, and a rotation matrix around the longitudinal axis of the vehicle body can be constructed to transform the coordinates of the corner points in the scanner coordinate system into the horizontal vehicle body coordinate system.

[0112] In some embodiments, the horizontal vehicle coordinate system is:

[0113] ;

[0114] in, The coordinates of the point in the vehicle coordinate system. The rotation matrix about the longitudinal axis of the vehicle body is determined by the tilt angle. The coordinates of the point in the scanner coordinate system. Let be the translation vector of the scanner mounting position relative to the origin of the vehicle body;

[0115] As an example, let the coordinates of the corner point in the scanner coordinate system be... This indicates that, in the scanner coordinate system, the corner point is 1.25m horizontally away from the scanner, 2.1m vertically, and 0.4m below the scanner vertically; the tilt angle is 5°, indicating that the vehicle body is on a 5° uphill slope; the installation offset is... This indicates that the scanner is installed 0.1m off the horizontal axis of the vehicle body, with no vertical offset, and 0.2m above the vehicle body control point.

[0116] The coordinates of the corner points in the scanner coordinate system Rotate 5° in the XZ plane to obtain To eliminate the influence of the vehicle body tilt angle (5° slope), the tilted coordinate system is rotated into a horizontal coordinate system;

[0117] Then, the origin of the coordinate system is translated from the center of the scanner to the vehicle control point (such as the geometric center of the vehicle or the actuator base) to obtain the coordinates of the corner point in the vehicle coordinate system. .

[0118] S2012. Extract measurement distance values ​​based on the horizontal vehicle coordinate system;

[0119] In some embodiments, the measured distance value represents the lateral distance from the vertex of the wiring groove on the side away from the vehicle body to the central axis of the vehicle body in the horizontal vehicle body coordinate system.

[0120] In some embodiments, the measured distance value is:

[0121] ;

[0122] in, To measure distance values;

[0123] For example, the lateral distance from the vertex of the wiring duct on the side away from the vehicle body to the central axis of the vehicle body is 1.318m.

[0124] S202. Obtain the measurement distance set based on the measured distance values;

[0125] In some embodiments, the measured distance set is a set of measured distance values ​​arranged in the order of acquisition.

[0126] S203. Based on the measured distance set, obtain the smoothed distance value through smoothing processing;

[0127] In some embodiments, measurement noise and interference can be eliminated by smoothing the measurement distance values ​​in the measurement distance set, so as to facilitate subsequent data analysis.

[0128] In some embodiments, the smoothing process is performed as follows:

[0129] ;

[0130] in, For the first The smooth wave distance value of each corner point To adjust the sliding window size, The width of the sliding window is half its width. To measure distance values, Vertical position The measured distance value at the location;

[0131] In some embodiments, the sliding window size It is an odd number. .

[0132] As an example, let the sliding window size be... Sampling interval ,but ; Calculate position When the smoothed value is:

[0133] ;

[0134] Let the measured distance between 5 consecutive sampling points be: ,Right now

[0135] .

[0136] S3. Determine the heading angle of the cable tray based on the preprocessed visual data;

[0137] In some embodiments, the routing angle of the cable tray is used to describe the degree of curvature of the cable tray relative to the longitudinal direction of the vehicle body in the horizontal plane.

[0138] In some embodiments, determining the cable tray heading angle based on preprocessed visual data includes:

[0139] S301. Determine the smooth distance set based on the smooth distance values;

[0140] In some embodiments, the smooth distance set is a set of measured distance values ​​arranged according to the sampling order of the sampling points.

[0141] S302. Based on the smooth distance set, determine the heading angle of the cable tray corresponding to each corner point;

[0142] In some embodiments, the heading angle of the cable tray is calculated as follows:

[0143] ;

[0144] in, For the first on the cable tray The heading angle of each corner point For the first The smoothed distance value of each corner point For the first The smoothed distance value of each corner point The sampling interval;

[0145] It should be noted that, due to the existence of the orbital inclination, the first The first corner point and the first The corner points may not be on the same horizontal plane, but under actual working conditions where the track inclination angle |φ|≤3°, the introduced projection error is less than 0.5%, affecting the heading angle of the cable tray. The calculated impact is less than 0.1°, far below the system's accuracy tolerance of ±0.5°. Therefore, through approximation, computational power can be saved. Furthermore, this error is overwhelmed by mechanical positioning errors and sensor noise, and does not affect the final detection accuracy. This is a reasonable compromise in engineering to exchange negligible accuracy loss for a significant speed improvement.

[0146] It should be noted here that... It is also possible Therefore, the calculation process for the cabling duct's heading angle can be based on the vehicle's forward direction as the longitudinal base, defining the cabling duct's direction according to the actual situation. For example: if This indicates that the wiring channel bends to the right side of the vehicle body. This indicates that the cable tray bends to the left side of the vehicle body.

[0147] As an example, let's say It is 1.32m, let it be If it is 1.25m, then This indicates that the wiring channel bends to the right side of the vehicle body. .

[0148] S4. Feasibility assessment is performed based on the preprocessed visual data and the actuator status.

[0149] In some embodiments, the actuator state refers to the pose combination formed by the current length of the multi-stage telescopic rod and the current angle of the steering mechanism. Specifically, it includes the real-time extension length of the telescopic rod (obtained by feedback from the servo motor encoder) and the rotation angle of the steering mechanism relative to the vehicle body centerline (measured by the angle encoder or rotary transformer). These state parameters together determine the unique position of the actuator end and reflect the actual reachable working space of the actuator at the current moment.

[0150] In some embodiments, feasibility determination refers to assessing whether the current actuator state can reach the wiring slot while meeting accuracy requirements, so as to avoid invalid motion commands and mechanical overload risks.

[0151] In some embodiments, the feasibility determination based on preprocessed visual data and actuator state includes:

[0152] S401. Obtain actuator status parameters and wiring groove shape parameters;

[0153] In some embodiments, the actuator state parameters include the current length of the multi-stage telescopic rod and the current angle of the steering mechanism, which are obtained in real time by the encoder of the servo motor.

[0154] In some embodiments, the shape parameters of the wiring channel include: the width of the wiring channel, which is a preset constant in some embodiments.

[0155] S402. Determine the lateral distance error and heading angle error based on the actuator status parameters, cable tray shape parameters and measured distance values;

[0156] In some embodiments, the lateral distance error represents the lateral deviation between the target position and the actual position, i.e., the distance the actuator end needs to compensate for.

[0157] In some embodiments, the lateral distance error is calculated as follows:

[0158] ;

[0159] in, For the first The expected distance between the center of the groove at each corner point For the first Smooth distance measurement of each corner point This refers to the width of the cable tray;

[0160] ;

[0161] in, The actual lateral distance of the actuator. This is the current length of the multi-stage telescopic pole. This represents the current rotation angle of the steering mechanism;

[0162] ;

[0163] in, This refers to the lateral distance error. The desired distance from the center of the trench. This refers to the actual lateral distance of the actuator.

[0164] In some embodiments, the heading angle error represents the deviation between the current angle of the actuator and the target angle, i.e., the remaining angle that the steering mechanism needs to rotate.

[0165] In some embodiments, the heading angle error is calculated as follows:

[0166] ;

[0167] in, For the required rotation angle of the actuator, For the first The expected distance between the center of the groove at each corner point This is the current length of the multi-stage telescopic pole.

[0168] ;

[0169] in, For heading angle error, For the required rotation angle of the actuator, This represents the current rotation angle of the steering mechanism;

[0170] In some more preferred embodiments, step S402 further includes:

[0171] Reachability detection, specifically, is performed as follows:

[0172] like If the length is deemed insufficient, elongation adjustment is initiated, and angle calculation is paused.

[0173] like Calculate according to step S402 ;

[0174] The reason is that, if No matter how the steering mechanism rotates, the current actuator state cannot reach the wiring groove while meeting the accuracy requirements. Therefore, it is necessary to directly enter the elongation adjustment step.

[0175] S403. Feasibility is determined based on lateral distance error, position tolerance threshold, heading angle error, and angle tolerance threshold.

[0176] In some embodiments, the position tolerance threshold represents the maximum permissible lateral position deviation at the actuator end, used to quantify the positioning accuracy requirements of the actuator in the lateral direction.

[0177] In some embodiments, the angle tolerance threshold represents the maximum permissible angular deviation between the actuator end-point orientation and the target orientation, used to quantify the alignment accuracy requirements of the actuator in the rotational direction.

[0178] In some embodiments, the feasibility determination based on lateral distance error, position tolerance threshold, heading angle error, and angle tolerance threshold includes:

[0179] If the heading angle error is less than the angle tolerance threshold and the lateral distance error is less than the position tolerance threshold, the actuator maintains the current telescopic rod length and rotation angle; otherwise, it enters the actuator adjustment step.

[0180] In some embodiments, step S403 further includes:

[0181] Mechanical workspace inspection, specifically, is conducted as follows:

[0182] like ,or If the destination is deemed unreachable, an alarm will be triggered.

[0183] in, This refers to the maximum length of the multi-stage telescopic pole. This represents the maximum rotation angle of the steering mechanism.

[0184] In some embodiments, , It can be set based on the actual structure of the multi-stage telescopic rod and steering mechanism.

[0185] S5. In response to the adjustment status of the actuator, determine the actuator adjustment method;

[0186] In some embodiments, determining the actuator adjustment method in response to the actuator's adjustment state includes:

[0187] S501. If the heading angle error is greater than the angle tolerance threshold, the actuator will prioritize rotation adjustment and pause the telescopic action.

[0188] S502. If the heading angle error is less than the angle tolerance threshold and the lateral distance error is greater than the position tolerance threshold, the actuator shall prioritize the extension and retraction action and pause the rotation adjustment.

[0189] The reason for the above design is that by using the decoupling logic of "aligning the heading first and then correcting the distance", the mechanical interference risk caused by geometric coupling during rotation-extension two-dimensional linkage is effectively avoided (such as blind extension and retraction under large angle deviation, which may cause the rod end to collide with the trackside equipment). At the same time, it eliminates the overshoot oscillation and convergence competition problems that may be generated by dual-degree-of-freedom synchronous adjustment, ensuring that the actuator is within the kinematically feasible region at every step, thereby improving the lateral alignment accuracy and system stability while ensuring operational safety.

[0190] S6. In response to the rotation adjustment method of the actuator, the rotation angle of the actuator is determined by a prediction model based on the heading angle of the cable tray.

[0191] In some embodiments, the bending trend of the cable tray can be predicted by a predictive model, and the actuator rotation angle can be adjusted in advance to compensate for mechanical response delay.

[0192] In some embodiments, determining the actuator rotation angle based on the cable tray heading angle using a prediction model includes:

[0193] S601. Determine the rate of change of heading angle based on the heading angle of the cable tray;

[0194] In some embodiments, the instantaneous rate of change of the cable tray direction can be calculated by the difference between the heading angle of the current sampling point and the heading angle of the previous sampling point.

[0195] In some embodiments, the rate of change of heading angle is calculated as follows:

[0196] ;

[0197] in, The rate of change of heading angle, For the first The heading angle of each corner point For the first The heading angle of each corner point This represents the sampling time interval.

[0198] S602. Based on the rate of change of heading angle, the predicted target angle is calculated using a prediction model.

[0199] In some embodiments, the predicted target angle of the actuator can be determined based on the sum of the predicted terms of the instantaneous demand angle and the rate of change of the heading angle.

[0200] In some embodiments, the predicted target angle is calculated as follows:

[0201] ;

[0202] in, To predict the target angle, For the required rotation angle of the actuator, The characteristic time constant, The first-order delay compensation coefficient, The second-order delay compensation coefficient is... This is the acceleration due to the change in heading angle.

[0203] The reason for this is that railway line conditions include not only simple circular arcs but also transition curves (with continuously changing curvature). Therefore, a second-order prediction term is needed to perform second-order Taylor prediction of future angles. In some embodiments, the first-order term... Used to compensate for tracking delay in road sections with constant curvature (circular curves), where, The value is determined based on the actuator's mechanical response time; second-order term. Used to compensate for tracking delay in road sections with varying curvature (transition curves, S-curves), among which, The value is determined based on the rate of change of curvature.

[0204] In some embodiments, to maintain dimensional consistency in the formula, the angle unit in the above calculation process is radians, which can be regarded as dimensionless, thereby ensuring dimensional consistency in the formula.

[0205] In some embodiments, the first-order delay compensation coefficient Second-order delay compensation coefficient It can be determined through a step response experiment.

[0206] S603, Constraint handling;

[0207] In some embodiments, the calculated predicted target angle may be limited to ensure that the actuator motion is within the mechanically feasible domain.

[0208] In some embodiments, the constraints include:

[0209] Angle limit: ;

[0210] Rate of change limit: ;

[0211] in, For the minimum steering angle, For the maximum steering angle, To achieve the maximum rate of change, in some embodiments, , , It can be set based on the actual structure of the steering mechanism.

[0212] In some embodiments, if the calculated If the angle exceeds the limit range, it will be limited to the boundary value (e.g., if it exceeds 85°, then 85° will be used); if the rate of change of the heading angle exceeds the rate of change limit, the prediction term will be calculated based on the maximum rate of change (e.g., if it exceeds the limit by 50° / s, it will be calculated as 30° / s).

[0213] The reason for the above design is to compensate for the bending tendency of the wiring channel through feedforward. The actuator rotates in advance within a time window, effectively overcoming the tracking lag problem caused by mechanical response delay. At the same time, the double amplitude limit constraint prevents the actuator from overshooting and oscillation and mechanical overload risk under sharp bend conditions, ensuring that alignment accuracy can still be maintained under high-speed operation conditions.

[0214] S7. Adjust the state of the actuator based on the actuator adjustment method;

[0215] In some embodiments, adjusting the state of the actuator based on the actuator adjustment method includes:

[0216] S701, In response to the rotation adjustment method of the actuator, the steering mechanism rotates to the predicted target angle;

[0217] S702, In response to the extension and retraction adjustment method of the actuator, the multi-stage telescopic rod is adjusted to the calculated length;

[0218] The calculation method for adjusting the multi-stage telescopic rod to the calculated length is as follows:

[0219] ;

[0220] in, The length of the multi-stage telescopic pole, For the first The expected distance between the center of the groove at each corner point This represents the current rotation angle of the steering mechanism;

[0221] In some more preferred embodiments, steps S701 and S702 are executed in a time-sharing manner according to the determination logic of S5, ensuring that the other degree of freedom remains locked when a single degree of freedom is adjusted.

[0222] It should be noted that the calculation of the steering mechanism's rotation angle and the length of the multi-stage telescopic rod should be based on a unified benchmark. For example, by unifying the vehicle's longitudinal centerline as a 0° benchmark, it can be ensured that... , ,and Being in the same Cartesian coordinate system avoids quadrant confusion caused by different references.

[0223] S8. Determine the unwinding speed based on visual data and actuator status;

[0224] In some embodiments, determining the unwinding speed based on visual data and actuator status includes:

[0225] S801, Determine gravity-compensated speed based on slope;

[0226] In some embodiments, when going uphill, the cable needs to overcome the component of gravity to be transported upward, resulting in a large amount of additional tension consumption and a tendency to break due to tension, requiring accelerated unwinding to compensate; while when going downhill, gravity assists unwinding, and the cable tends to fall on its own, making it prone to loosening and accumulating, requiring deceleration to suppress unwinding.

[0227] In some embodiments, the gravity-compensated velocity is calculated as follows:

[0228] ;

[0229] in, For vehicle speed compensation, For traction speed, The inclination angle of the track;

[0230] S802. Determine the steering compensation speed based on the rotation angle of the steering mechanism;

[0231] In some embodiments, when the steering mechanism rotates, the geometric length of the cable path between the guide hole and the unwinding mechanism increases, so it is necessary to temporarily increase the unwinding speed to prevent the cable from being stretched.

[0232] In some embodiments, the steering compensation speed is calculated as follows:

[0233] ;

[0234] in, For steering compensation speed, For traction speed, This refers to the rotation angle of the steering mechanism.

[0235] Steering mechanism rotation angle The unit is radians, and it is equal to the predicted target angle in step S701.

[0236] S803, Determine the tension compensation speed based on cable tension;

[0237] In some embodiments, the tension compensation speed is calculated as follows:

[0238] ;

[0239] in, For tension compensation speed, This is the proportional gain coefficient. This is the integral gain coefficient. The differential gain coefficient, For tension deviation, For time differentiation;

[0240] In some embodiments, the tension deviation is equal to the difference between the target tension and the actual tension. The target tension can be set in a preset manner, and the actual tension can be obtained by a tension sensor.

[0241] S804. Determine the total unwinding speed;

[0242] In some embodiments, the unwinding speed is calculated as follows:

[0243] ;

[0244] in, For the total unwinding speed, For traction speed, This is the slip coefficient.

[0245] In some embodiments, after determining the unwinding speed, the unwinding speed can be converted into the motor speed using a motor speed conversion formula.

[0246] In some embodiments, the motor speed conversion formula is:

[0247] ;

[0248] in, This refers to the motor speed. For unwinding speed, This represents the current winding radius.

[0249] In some embodiments, the current winding radius can be obtained using a laser rangefinder. In some embodiments, the motor speed unit can be set based on a motor speed conversion formula. An exemplary motor speed unit could be rmp.

[0250] It should be noted that in the above calculation process, the dimensions in the formula can be kept consistent by setting appropriate units. In some embodiments, when calculating the steering compensation speed, since... The unit is radians, which can be considered dimensionless to maintain dimensional consistency in the formula. In some embodiments, appropriate units can be set for the proportional gain coefficient, integral gain coefficient, and differential gain coefficient to maintain dimensional consistency in the formula. For example, the units of the proportional gain coefficient, integral gain coefficient, and differential gain coefficient can be... .

[0251] Finally, it should be noted that the embodiments disclosed in this invention are merely preferred embodiments of this invention and are only used to illustrate the technical solutions of this invention, not to limit it. Although this invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this invention.

Claims

1. A method for laying railway cables, characterized in that, A railway cable laying device includes: a tractor, a laying vehicle connected to the tractor, an unwinding mechanism mounted on the laying vehicle, a conductor mechanism connected to the unwinding mechanism, a steering mechanism connected to the conductor mechanism, and a control mechanism connected to the unwinding mechanism, the guiding mechanism, and the steering mechanism. The unwinding mechanism includes: a harmonic speed reducer, a rotating shaft connected to the harmonic speed reducer, and a rotating seat connected to the rotating shaft; The wire guide mechanism is adapted to the unwinding mechanism and is used to guide the cable unwound by the unwinding mechanism into the cable tray. The wire guide mechanism includes: a multi-stage telescopic rod, a wire guide plate connected to the multi-stage telescopic rod, and a guide hole provided in the wire guide plate; One end of the multi-stage telescopic rod is connected to the paving vehicle, and the other end is connected to the guide plate; The railway cable laying method includes: Visual data acquisition; Visual data preprocessing; The heading angle of the cable tray is determined based on the preprocessed visual data; Feasibility is determined based on the preprocessed visual data and the actuator status. The actuator includes a multi-stage telescopic rod and a steering mechanism. The actuator state refers to the pose combination formed by the current length of the multi-stage telescopic rod and the current angle of the steering mechanism. Feasibility assessment refers to evaluating whether the current actuator state can reach the wiring slot while meeting accuracy requirements; In response to the adjustment status of the actuator, determine the actuator adjustment method; In response to the rotation adjustment method of the actuator, the rotation angle of the actuator is determined by a prediction model based on the heading angle of the cable tray. Adjust the state of the actuator based on the actuator adjustment method; Determine the unwinding speed based on visual data and actuator status; The method of determining the unwinding speed based on visual data and actuator status includes: Gravity compensation velocity is determined based on slope; The steering compensation speed is determined based on the rotation angle of the steering mechanism. Determine the tension compensation speed based on cable tension; Determine the total unwinding speed; The gravity-compensated velocity is calculated as follows: ； in, For vehicle speed compensation, For traction speed, The inclination angle of the track; The steering compensation speed is calculated as follows: ； in, For steering compensation speed, For traction speed, The rotation angle of the steering mechanism. The unit is radians; The calculation method for the tension compensation speed is as follows: ； in, For tension compensation speed, This is the proportional gain coefficient. This is the integral gain coefficient. The differential gain coefficient, For tension deviation, For time differentiation; The unwinding speed is calculated as follows: ； in, For the total unwinding speed, For traction speed, This is the slip coefficient.

2. The railway cable laying method according to claim 1, characterized in that, The steering mechanism includes: a cylinder base, a balance frame connected to the cylinder base, a driven gear disposed on the cylinder base, a driving gear meshing with the driven gear, and a bidirectional drive connected to the driving gear. The wire guide mechanism further includes: a flipping shaft connected to the multi-stage telescopic rod, a torsion bar connected to the wire guide plate, a torsion spring connected to the torsion bar, a fixing frame connected to the torsion spring, and a roller disposed in the fixing frame. The flipping shaft is located at the end of the multi-stage telescopic rod away from the paving vehicle, and the flipping shaft is hinged to the guide plate.

3. The railway cable laying method according to claim 2, characterized in that, The rollers are respectively located at both ends of the fixed frame, and the rims of the rollers protrude from the side of the fixed frame; The roller has an elliptical structure.

4. A method for laying railway cables according to any one of claims 1-3, characterized in that, The visual data acquisition includes: Collect point cloud data; Identifying the edges and corners of wiring channels based on point cloud data; Obtain the orbital inclination angle; Obtain cable tension; The visual data preprocessing includes: Determine the measured distance value based on visual data; Obtain the measurement distance set based on the measured distance values; Based on the measured distance set, smoothed distance values ​​are obtained through smoothing processing; The determination of the measured distance value based on visual data includes: Transform the coordinates of the corner points in the scanner coordinate system to the horizontal vehicle body coordinate system; The measured distance value is extracted based on the horizontal vehicle coordinate system.

5. A method for laying railway cables according to claim 4, characterized in that, The determination of the cable tray heading angle based on preprocessed visual data includes: Determine the smooth distance set based on the smooth distance values; Based on the smooth distance set, the heading angle of the cable tray corresponding to each corner point is determined.

6. A method for laying railway cables according to claim 5, characterized in that, The feasibility determination based on the preprocessed visual data and the actuator state includes: Obtain actuator status parameters and wiring groove shape parameters; The lateral distance error and heading angle error are determined based on the actuator status parameters, the cable tray shape parameters, and the measured distance values. Feasibility is determined based on lateral distance error, position tolerance threshold, heading angle error, and angle tolerance threshold; The feasibility assessment based on lateral distance error, position tolerance threshold, heading angle error, and angle tolerance threshold includes: If the heading angle error is less than the angle tolerance threshold and the lateral distance error is less than the position tolerance threshold, the actuator maintains the current telescopic rod length and rotation angle; otherwise, it enters the actuator adjustment step.

7. A method for laying railway cables according to claim 6, characterized in that, The process of determining the actuator adjustment method in response to the actuator's adjustment state includes: If the heading angle error is greater than the angle tolerance threshold, the actuator will prioritize rotation adjustment and pause the telescopic action; If the heading angle error is less than the angle tolerance threshold and the lateral distance error is greater than the position tolerance threshold, the actuator will prioritize the extension and retraction action and pause the rotation adjustment. The determination of the actuator rotation angle based on the cable tray heading angle using a prediction model includes: Determine the rate of change of heading angle based on the heading angle of the cable tray; Based on the rate of change of heading angle, the predicted target angle is calculated using a prediction model.

8. A method for laying railway cables according to claim 7, characterized in that, The adjustment of the actuator state based on the actuator adjustment method includes: In response to the rotational adjustment method of the actuator, the steering mechanism rotates to the predicted target angle; In response to the actuator's telescopic adjustment method, the multi-stage telescopic rod is adjusted to the calculated length.

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