Logging vehicle rope control method, device, logging vehicle and storage medium

Abstract

This invention relates to the field of logging truck rope routing technology, and discloses a logging truck rope routing control method, device, logging truck, and storage medium. The logging truck includes a drum and a rope routing device, the drum being used to wind cables; the rope routing device is driven by the drum and is used to drive the cables to route the ropes; the method includes: controlling the rope routing device to route the cables based on an initial control value, monitoring the angle between the cable and the drum, and acquiring rope routing images of the cables; performing rope compression detection on the cables based on the rope routing images; performing rope routing angle anomaly detection on the cables based on the angle between the cables and the drum; adjusting the initial control value to obtain a rope routing control value based on the rope compression detection results and the rope routing angle anomaly detection results; and controlling the rope routing device to route the cables based on the rope routing control value; this achieves remote control of the rope routing process, enabling real-time monitoring and control from a different location, and improving rope routing accuracy.

Description

Technical Field

[0001] This invention relates to the field of logging vehicle rope routing technology, specifically to logging vehicle rope routing control methods, devices, logging vehicles, and storage media. Background Technology

[0002] Traditional logging vehicle rope routing is mostly manual or locally controlled, which presents problems such as high on-site operation risks, inability to intervene in real time from remote locations, and delayed handling of rope routing abnormalities. Related technologies lack a mechanical structure for automatic rope routing devices and deep integration with rope routing and tangled rope detection, making it difficult to achieve precise remote control of the rope routing status. Summary of the Invention

[0003] This invention provides a method, device, logging vehicle, and storage medium for controlling the rope routing of a logging vehicle, in order to solve the problem of poor rope routing effect caused by the lack of real-time remote rope routing detection and errors in on-site manual observation and processing.

[0004] In a first aspect, the present invention provides a method for controlling the rope routing of a logging vehicle. The logging vehicle includes a drum and a rope routing device. The drum is used to wind a cable. The rope routing device is connected to the drum via a transmission, and the rope routing device is used to drive the cable to route the rope. The methods include: The control rope-laying device lays the cable according to the initial control quantity, monitors the angle between the cable and the drum, and acquires images of the cable laying. Based on the rope arrangement image, the cable is subjected to rope compression detection; Based on the angle between the cable and the drum, abnormal cable routing angle is detected. Based on the rope pressing test results and the abnormal rope laying angle test results, the initial control quantity is adjusted to obtain the rope laying control quantity; Based on the rope-laying control quantity, the rope-laying device is controlled to lay the cable into ropes.

[0005] This invention detects rope-laying anomalies by acquiring rope-laying images. When an anomaly is detected, the initial rope-laying control value is adjusted to obtain the rope-laying control value. Based on the rope-laying control value, the rope-laying device is controlled to drive the cable to lay the rope, thus realizing remote control of the rope-laying process, enabling real-time monitoring and control from a different location, and improving rope-laying accuracy.

[0006] In one alternative implementation, before controlling the rope-laying device to lay the cable based on an initial control value, monitoring the angle between the cable and the drum, and acquiring images of the cable's rope laying, the method further includes: The control drum starts rotating at a first speed, and images of the cable are captured during the process of the drum rotating at the first speed; Based on the cable images, determine whether there is any tangled cable. When a tangled rope phenomenon is detected, the control drum rotates at a second speed, wherein the first speed is greater than the second speed; When the drum rotates at the second speed and no tangled ropes are detected in the cable image, the rope-laying device is controlled to lay the cable with the initial control amount.

[0007] This invention performs rope tangling detection before rope pressing detection, and uses different control logic for rope pressing and rope tangling. This ensures that rope pressing is detected before further detection of rope tangling, providing a basis for adjusting the control quantity of the rope arranging device, which is beneficial for targeted adjustment and improving the rope arranging effect.

[0008] In one optional implementation, the initial control quantity includes at least: the rope placement position of the rope placement device and the rotation direction of the drum. Based on the rope pressing detection result and the rope placement angle abnormality detection result, the initial control quantity is adjusted to obtain the rope placement control quantity, including: When the abnormal rope laying angle detection result is determined to be normal, the initial control value is used as the rope laying control value. When the abnormal rope laying angle detection result is determined to be abnormal and the rope pressing detection result is that there is no rope pressing phenomenon, the rope laying position of the rope laying device in the initial control quantity is adjusted to obtain the rope laying control quantity. When the abnormal rope laying angle detection result is determined to be abnormal and the rope pressing detection result is that there is a rope pressing phenomenon, the first rotation direction of the roller in the initial control quantity is adjusted to the second rotation direction to obtain the rope laying control quantity, wherein the first rotation direction and the second rotation direction are opposite.

[0009] This invention identifies whether the rope-laying angle is abnormal and determines whether rope compression occurs through image recognition. Different control logics are used for different situations. Based on remote control of rope-laying detection, this invention improves the accuracy of rope-laying detection and provides control methods when abnormalities occur. The rope-laying control quantity is adjusted in real time, ensuring rope-laying efficiency while improving the work efficiency of workers.

[0010] In one alternative implementation, the rope placement position is determined by the following method: Obtain the actual tension of the cable during the process of the rope-laying device laying the cable; Determine the target tension for the cable routing device; The rope-laying position of the rope-laying device is determined based on the tension difference between the target tension and the actual tension.

[0011] This invention determines the rope-laying position of the rope-laying device by calculating the tension difference between the target tension and the actual tension, thus ensuring that the cable is neatly wound.

[0012] In one alternative implementation, the method further includes: The third rotational speed of the drum is determined based on the position of the rope and the corresponding rotational speed of the drum. The control drum rotates at a third speed so that the actual tension of the cable approaches the target tension when the rope-laying device lays the cable according to the rope-laying position.

[0013] This invention links the drum rotation speed with the control quantity of the rope laying device to ensure that the cable speed matches the moving speed of the rope laying device, thus avoiding cable slack or stretching, thereby achieving precise control of cable rope laying and reducing rope laying error.

[0014] In one alternative implementation, the method further includes: During the rope laying process, based on the adjusted rope position control rope laying device, a step is performed to detect abnormalities in the rope laying angle of the cable based on the angle between the cable and the drum.

[0015] This invention ensures timely response to abnormal rope angles throughout the entire rope-laying process by continuing to detect abnormalities in the rope-laying angle after adjusting the rope-laying position of the rope-laying device.

[0016] In one alternative implementation, the method further includes: During the control of the drum to rotate in the second rotation direction, a step of detecting cable compression based on the rope arrangement image is performed.

[0017] This invention ensures timely response and handling of cable compression phenomena throughout the entire rope laying process by continuing to detect cable compression after adjusting the rotation direction of the drum.

[0018] Secondly, the present invention provides a logging truck rope routing control device, the logging truck including a drum and a rope routing device, the drum being used for winding cables; the rope routing device is driven to the drum, and the rope routing device is used to drive the cables to route the cables; the device includes: The rope-laying module is used to control the rope-laying device to lay the cable according to the initial control quantity, monitor the angle between the cable and the drum, and acquire images of the cable laying. The cable clamping detection module is used to detect cable clamping based on the cable layout image; The rope-laying angle anomaly detection module is used to detect abnormalities in the rope-laying angle of the cable based on the angle between the cable and the drum. The adjustment module is used to adjust the initial control quantity based on the rope pressing detection result and the rope laying angle abnormality detection result to obtain the rope laying control quantity; The control module is used to control the rope-laying device to lay the cable based on the rope-laying control quantity.

[0019] Thirdly, the present invention provides a logging vehicle, which includes a drum and a rope winding device. The drum is used to wind a cable; the rope winding device is driven to the drum and is used to drive the cable to wind the cable; the logging vehicle also includes a controller, which includes: The memory and the processor are interconnected and communicate with each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the method described in the first aspect or any of its corresponding embodiments.

[0020] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method described in the first aspect or any corresponding embodiment thereof. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of an application scenario according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the first type of logging vehicle rope control method according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the second process of the logging vehicle rope control method according to an embodiment of the present invention; Figure 4 This is a remote control flowchart of the logging vehicle rope control method according to an embodiment of the present invention; Figure 5 This is a rope-laying control logic diagram of the logging vehicle rope-laying control method according to an embodiment of the present invention; Figure 6 This is a diagram of the rope tangling detection and control logic of the logging vehicle rope control method according to an embodiment of the present invention; Figure 7 This is a structural block diagram of the logging vehicle rope control device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the hardware structure of the logging truck controller according to an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0025] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] As an optional application scenario of this invention, such as Figure 1 As shown, a logging vehicle includes a drum 102 and a rope-laying device 103. The drum 102 is used to wind cables. The rope-laying device 103 is connected to the drum 102 and is used to drive the cables to lay the ropes. The logging vehicle also includes a controller 101, which is used to execute a logging vehicle rope-laying control method. The overall process of the controller 101 executing the logging vehicle rope-laying control method is detailed in the relevant description of the method embodiment below, and will not be repeated hereafter.

[0027] The logging vehicle provided in this embodiment also includes a drive assembly, a detection assembly, a control and transmission assembly, and a safety assembly.

[0028] The drive component is air-driven (with electric actuators and cylinders), which simplifies the equipment structure and reduces costs.

[0029] The detection components include a newly added proximity switch, sensor, data acquisition unit, and industrial camera (dual camera configuration), enabling comprehensive monitoring of cable status.

[0030] The control and transmission components consist of a TBOX remote module, a supercomputer, a switch, and a display. The control and transmission components support bidirectional control and data transmission both on-site and remotely.

[0031] The safety component is an added audible and visual alarm, which promptly triggers an alarm in case of rope malfunction, thereby improving operational safety.

[0032] This embodiment provides a rope-laying control method for a logging vehicle, which not only allows for remote control but also automatic rope laying and automatic fault handling. It mainly consists of an electric push rod, a cylinder, a rope-laying rod shaft, and two mounted spherical bearings. Remote control includes an onboard data acquisition unit, a switch, a supercomputer (data processing module), a TBOX remote transmission module, a cloud server, and a remote operation terminal (display and audible / visual alarm).

[0033] Traditional logging trucks rely heavily on manual operation or local automated control for rope routing, which presents challenges such as high operational risks, lack of real-time remote intervention, and delayed handling of rope routing anomalies. Furthermore, remote control technology is not deeply integrated with the mechanical structure and sensor detection of the automatic rope routing device, making precise remote control of the rope routing status difficult. In case of malfunction, no alarm is triggered, and there is no fault handling function.

[0034] In related technologies, the rope routing control is unstable: when the winch of a traditional logging rig is running, the cable is prone to skipping, pressing, and tangling when it gets tangled in the drum, requiring manual intervention for adjustment.

[0035] Limited control methods: Existing rope laying systems only support on-site operation and lack remote control functions, making it impossible to achieve remote monitoring and control, resulting in poor flexibility.

[0036] Drive and cost issues: Traditional solutions use hydraulic drive, which requires a hydraulic station, resulting in high equipment costs and increased maintenance complexity.

[0037] Abnormal handling and safety deficiencies: There is a lack of automatic detection and handling mechanisms for tangled and pressed ropes, and no alarm function. It is difficult to respond in a timely manner when abnormalities occur, resulting in low safety and reliability.

[0038] Operation relies on manual experience: Traditional rope laying requires operators to visually observe the cable winding status and manually operate the handle to adjust the height and angle of the rope laying rod. This results in high labor costs, low efficiency, and poor rope laying effect due to human judgment errors.

[0039] This embodiment provides a rope-laying control method for a logging vehicle, supporting both on-site and remote control. On-site control adapts to the operator's location within the construction site. Manual operation: The operator uses a control handle to drive the electric push rod and cylinder, moving the rope-laying arm to assist in compressing or releasing the cable. Data acquisition and automatic adjustment: A data acquisition device on the drum collects the cable's angle on the drum in real time, converting the collected data into corresponding control quantities, which are then transmitted to sensors on the electric push rod and cylinder to automatically adjust the rope-laying parameters. Anomaly warning and manual intervention: If abnormalities such as cable compression or tangled rope occur, an audible and visual alarm is immediately triggered, allowing the operator to quickly adjust and restore the rope-laying to normal. Specifically, if the angle between the rope-laying arm and the rotating shaft, and the angle between the rope-laying arm and the drum, differ from preset angle values, an alarm is triggered, indicating the occurrence of cable compression or tangled rope phenomena.

[0040] During remote control, the status is monitored in real time: the industrial vision inspection function (dual camera captures images) captures the status of the drum cable winding and rope laying / pressing in real time; Remote data transmission: The collected images and rope data are synchronously transmitted to a remote control terminal via a switch, TBOX remote module and cloud. Remote control: Operators can view real-time data on a monitor at the remote control terminal, and directly issue control commands to regulate rope laying, pressing, and releasing actions, achieving remote rope laying control without on-site supervision.

[0041] According to an embodiment of the present invention, a method for controlling the rope routing of a logging vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0042] This embodiment provides a logging truck rope control method, which can be used for the aforementioned logging truck. Figure 2 This is a flowchart of the logging truck rope control method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps: In this embodiment, the logging vehicle includes a drum and a rope-laying device. The drum is used to wind the cable; the rope-laying device is connected to the drum via a transmission mechanism and is used to drive the cable to lay the rope.

[0043] Step S201: Control the rope-laying device to lay the cable based on the initial control quantity, monitor the angle between the cable and the drum, and acquire the cable laying image.

[0044] It should be noted that the rope-laying device is a rope-laying arm.

[0045] The angle between the cable and the drum refers to the angle between the cable and the axis of the drum. This angle is used to characterize whether the cable is significantly deviated or the direction of force is abnormal during the winding process into the drum, thereby determining whether there is an abnormality in the cable arrangement.

[0046] It should be noted that the initial control parameters include, but are not limited to, the rope position and the drum rotation speed.

[0047] Among them, the cable winding images are captured by industrial cameras. The winding images are images or video frames that can characterize the real-time winding state of the cable.

[0048] In some optional embodiments of this example, the roller spindle transmits its rotational motion to the input shaft of the rope-laying arm via a drive shaft, and the rope-laying arm drives the cable to lay the rope.

[0049] Step S202: Based on the rope arrangement image, perform rope compression detection on the cable.

[0050] It should be noted that cable pressing refers to the tightness of the cable winding on the roller. The standard cable pressing condition is that the cables are tightly attached, there are no visible gaps between the cable layers, and there is no overlap or crossing between the cables. For example, image recognition is performed on the acquired rope arrangement image to detect cable entanglement; the image recognition steps include acquiring the rope arrangement image, preprocessing the acquired rope arrangement image, extracting cable entanglement features, and analyzing them.

[0051] For example, image preprocessing steps could include: selecting the area of ​​the latest layer of cable being wound on the roller; denoising and enhancement: removing image noise using Gaussian filtering and median filtering, and making the cable edges clearer through contrast enhancement; binarization: separating the cable from the background. Feature extraction and analysis steps could include: calculating the pixel distance between adjacent cable edges and converting it to actual physical distance; identifying continuous or excessively large gaps as cable compression; texture analysis: analyzing the texture direction in the image; neatly arranged cables exhibit highly consistent, directional textures; while disordered textures indicate tangled or compressed cables.

[0052] Step S203: Based on the angle between the cable and the drum, detect any abnormalities in the cable's rope-laying angle.

[0053] The angle between the cable and the drum refers to the angle between the axial direction of the cable and the tangential direction of the drum at the point where the cable is wound into the drum. It is used to determine whether the rope laying action is aligned and whether there is any deviation.

[0054] It should be noted that, under normal circumstances, when the cable is inserted vertically into the drum, the angle between the cable and the drum is 90°. If the angle between the cable and the drum is too large or too small, it means that the cable is being dragged or that the cable is piling up and will soon cause faults such as disorder or overlay.

[0055] The angle between the cable and the drum can be detected using a tilt sensor. For example, a tilt sensor can be installed near the guide wheel bracket or drum of the rope-laying arm.

[0056] Step S204: Based on the rope pressing detection results and the rope laying angle abnormality detection results, adjust the initial control quantity to obtain the rope laying control quantity.

[0057] It should be noted that the initial control quantity is adaptively adjusted based on the real-time detection results of rope pressing and rope laying angle anomalies, so as to prevent rope pressing during the overall rope laying process, thereby improving the accuracy of remote control and reducing rope laying detection errors.

[0058] For example, if the actual angle between the cable and the drum is greater than the threshold, it means that the cable has a significant deviation or abnormal force direction during the winding process into the drum, which corresponds to the following two core working conditions: Rope laying arm positioning deviation: The lateral movement speed of the rope laying arm does not match the rotation speed of the drum, causing the cable to fail to enter along the preset trajectory of the drum axis, and the cable entry direction deviates from the ideal tangential direction, forming an excessively large included angle.

[0059] Uncontrolled cable tension fluctuations: Excessive or insufficient cable tension causes deformations such as slackness and sagging or stretching at the cable inlet, which in turn alters the force angle at the contact point between the cable and the roller, exceeding the threshold range. Here, cable tension refers to the tension difference between the target tension and the actual tension.

[0060] Step S205: Based on the rope arrangement control amount, control the rope arrangement device to arrange the cable into ropes.

[0061] It should be noted that the rope-laying arm is driven by the rope-laying control quantity to adjust the rope-laying angle and force; the drum speed needs to be calculated in conjunction with the rope-laying arm control quantity. The core is to ensure that the cable speed matches the rope-laying arm movement speed to avoid cable slack or stretching.

[0062] The logging vehicle rope routing control method provided in this embodiment detects rope routing anomalies during the rope routing process by acquiring rope routing images. When an anomaly is detected, the initial rope routing control quantity is adjusted to obtain the rope routing control quantity. Based on the rope routing control quantity, the rope routing device drive cable is controlled to route the rope, realizing remote control of the rope routing process, enabling real-time monitoring and operation from a different location, and improving the rope routing accuracy.

[0063] This embodiment provides a logging truck rope control method, which can be used for the aforementioned logging truck. Figure 3This is a flowchart of the logging truck rope control method according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps: Step S301: Control the drum to start rotating at a first speed and acquire cable images during the process of the drum rotating at the first speed.

[0064] It should be noted that the rotation of the drum includes lifting or lowering the drum. When the drum is lifted, the cable is in a coiled state, and when the drum is lowered, the cable is in a released state. Rope alignment detection is required in both states, and rope tangling detection is also required during rope alignment detection to ensure rope alignment accuracy.

[0065] It should be noted that the first rotational speed is usually a specific drum rotational speed reference, which is calibrated by the system according to the actual working conditions.

[0066] Among them, the cable image is an image representing the cable winding state acquired during the rotation of the drum at the first speed.

[0067] Step S302: Based on the cable image, determine whether there is any tangled cable. For example, when an abnormal shape appears in the rope winding image that does not conform to the preset standard of neat winding, the AI ​​model (artificial intelligence model) determines it as "tangled rope" and outputs a trigger signal. The specific trigger scenarios are as follows: Cable stacking misalignment: The cables are not evenly arranged along the roller axis, resulting in interlayer misalignment, local bulges or depressions, exceeding the preset stacking misalignment threshold (e.g., the misalignment of a single cable is greater than 50% of the cable diameter).

[0068] Abnormal spacing between adjacent cables: The spacing between adjacent cables on the same floor is too large (obvious gaps appear) or too small (cables are squeezed and overlapped), deviating from the standard spacing (the standard spacing is generally equal to 1.0 to 1.1 times the cable diameter).

[0069] Cable cross-entanglement: During the rope laying process, the cable twists and crosses, forming a "twisted" entanglement structure, which disrupts the layered arrangement.

[0070] Risk of rope overflow at the edge: The cable is wrapped close to the baffles on both sides of the drum, which may cause the rope to overflow or get stuck, exceeding the preset safe edge distance threshold. The AI ​​model uses deep learning to extract features such as arrangement texture, spacing, and layering shape from a large number of sample images of "neatly arranged ropes" and "randomly arranged ropes" to achieve real-time judgment of abnormal states.

[0071] Step S303: When it is determined that there is a tangled rope phenomenon, control the drum to rotate at a second speed, wherein the first speed is greater than the second speed.

[0072] It should be noted that the drum rotates slowly at the second rotation speed to gradually release the cable and prevent the tangled rope from getting worse. The cable image is collected in real time, and the system uses video detection and position recording linkage control to confirm whether the tangled rope has been completely released from the drum. If it has not been completely released, the cable continues to be released. After the tangled rope is completely released, the system returns to the normal rope laying control logic to regulate the winding of the cable.

[0073] In step S304, when no tangled rope phenomenon is detected in the cable image during the rotation of the drum at the second speed, the rope-arranging device is controlled to arrange the cable ropes with the initial control amount.

[0074] It should be noted that when no tangled ropes are detected in the cable image, it means that there are no tangled ropes in the actual cable winding state. At this time, the system reverts to the conventional rope winding control logic and winds the cable in a standardized manner.

[0075] In this embodiment, by performing rope tangling detection before rope pressing detection, different control logics are used for rope pressing and rope tangling, ensuring that rope pressing is detected further without rope tangling. This provides a basis for adjusting the control quantity of the rope arranging device, which is beneficial for targeted adjustment and improving the rope arranging effect.

[0076] Step S305: The control rope-laying device lays the cable according to the initial control value, monitors the angle between the cable and the drum, and acquires images of the cable laying process. For details, please refer to [link to relevant documentation]. Figure 2 Step S201 of the illustrated embodiment will not be described again here.

[0077] Step S306: Based on the rope arrangement image, perform rope compression detection on the cable. For details, please refer to [link to relevant documentation]. Figure 2 Step S202 of the illustrated embodiment will not be described again here.

[0078] Step S307: Based on the angle between the cable and the drum, perform rope laying angle anomaly detection on the cable. For details, please refer to [link to relevant documentation]. Figure 2 Step S203 of the illustrated embodiment will not be described again here.

[0079] Step S308: Based on the rope pressing detection results and the rope laying angle abnormality detection results, adjust the initial control quantity to obtain the rope laying control quantity.

[0080] Among them, the rope control quantity is the optimal control quantity calculated by the PID algorithm based on the tension difference between the target tension and the actual tension and the angle difference between the target angle and the actual angle.

[0081] Among them, the rope pressing test results include whether the rope pressing phenomenon exists or not; the rope laying angle abnormality test results include whether the rope laying angle is abnormal or normal.

[0082] The presence of cable compression indicates that the cable is loose and has gaps, with the cable layers stacked together. The absence of cable compression indicates that the cable is tightly packed and neatly arranged.

[0083] It should be noted that the rope-laying control quantity refers to the new control command sent to the servo motor of the rope-laying device after the system dynamically adjusts the initial control quantity based on the detection results.

[0084] The initial control parameters include at least the rope-laying position of the rope-laying device and the rotation direction of the drum.

[0085] Taking the logging truck rope control logic as an example, for instance, during the startup phase: the logging truck drum begins to lift or lower the cable, the system starts the conventional rope control, and simultaneously triggers the core intelligent parameter closed-loop control; Synchronous adjustment: By combining the parameters of drum running speed and drum width with the control quantity output of PID closed-loop control, the position of the rope arranger is precisely controlled to achieve synchronous movement between the rope arranger and the drum; Dual-state interpretation: By linking video interpretation with sensor data, it can be confirmed whether the rope laying angle is normal and whether there is rope pressing.

[0086] Specifically, step S308 includes: Step S3081: When the abnormal detection result of the rope laying angle is determined to be normal, the initial control quantity is used as the rope laying control quantity.

[0087] Specifically, when the abnormal rope-laying angle detection result indicates that the rope-laying angle is normal and the rope-pressing detection result indicates that there is no rope-pressing phenomenon, the initial control quantity is used as the rope-laying control quantity; PID closed-loop control is maintained, and synchronous rope-laying action is continuously executed. Maintaining synchronous rope-laying action refers to calculating the drum speed based on the real-time rope-laying position, controlling the drum rotation through the calculated speed, ensuring that the cable speed matches the moving speed of the rope-laying device, and avoiding cable slack or stretching.

[0088] Step S3082: When the abnormal rope angle detection result is determined to be abnormal and the rope pressing detection result is that there is no rope pressing phenomenon, the rope position of the rope laying device in the initial control quantity is adjusted to obtain the rope laying control quantity.

[0089] For example, the PID algorithm automatically corrects the control input, adjusts the position of the rope arranger, and re-interprets the data until it returns to normal.

[0090] Specifically, step S3082 includes: Step a1: Obtain the actual tension of the cable during the process of the rope-laying device laying the cable.

[0091] It should be noted that the actual tension of the cable can be obtained through a tension sensor. The tension sensor is connected to the controller and sends the detected tension to the controller in real time.

[0092] Step a2: Determine the target tension for the cable to be laid by the rope laying device.

[0093] It should be noted that the target tension refers to the standard tension that prevents rope tangling or compression during rope laying. This target tension is set by the system based on the actual task requirements.

[0094] Step a3: Determine the rope placement position of the rope placement device based on the tension difference between the target tension and the actual tension.

[0095] It should be noted that the position of the ropes is dynamically adjusted to actively compensate for the impact of tension fluctuations on the flatness of the cable winding.

[0096] Specifically, the rope placement position is calculated using the following method: First, the target moving speed V of the rope-laying arm is output by the PID algorithm. b (The core parameter for control, unit: mm / s), this speed is determined by both tension deviation and angular deviation, as shown in the formula: V b =K p (△F+△θ)+∫K i (△F+△θ)d t +K d

[0097] Among them, K p K i K d Here are the PID parameters: ΔF is the tension deviation, and Δθ is the included angle deviation. In this embodiment, the rope-laying position of the rope-laying device is determined by calculating the tension difference between the target tension and the actual tension, ensuring that the cable is neatly wound.

[0098] Step a4: Determine the third rotational speed of the drum based on the rope placement position and the corresponding drum rotational speed.

[0099] Calculate the target linear velocity V of the roller t V must be satisfied t =V b (Ideal matching state); Considering the gaps and elastic deformation between cable winding layers, a correction factor k (generally taken as 0.98~1.02) can be introduced to correct V. t = k×V b . Based on the real-time winding radius R of the drum (calculated from the current number of rope layers and cable diameter, R = R0 + n × d, where R0 is the empty drum radius, n is the number of rope layers, and d is the cable diameter), the target drum rotation speed n is calculated. t The formula is: n t = × 60 Where, n t The unit is r / min, R is in mm, V t The unit is mm / s. In a real system, the actual rotational speed of the roller needs to be fed back in real time through an encoder. After comparing it with the target rotational speed, a secondary PID fine-tuning is performed to ensure speed matching accuracy.

[0100] Step a5: Control the drum to rotate at the third speed so that when the rope-laying device lays the cable according to the rope-laying position, the actual tension of the cable approaches the target tension.

[0101] It should be noted that the third rotational speed is the target rotational speed n of the drum as inferred above. t .

[0102] In this embodiment, the rotational speed of the drum is linked with the control quantity of the rope-laying device to ensure that the cable speed matches the moving speed of the rope-laying device, thus avoiding cable slack or stretching, thereby achieving precise control of cable rope laying and reducing rope laying error.

[0103] Step S3083: During the rope laying process of the rope laying device controlled by the adjusted rope laying position, the step of detecting abnormal rope laying angle of the cable based on the angle between the cable and the drum is performed.

[0104] It should be noted that during the process of the rope laying device laying the rope according to the adjusted rope laying position, the angle between the cable and the drum is continuously detected to check whether there is any abnormality in the rope laying angle when the cable is laid.

[0105] In this embodiment, by continuing to detect abnormalities in the rope-laying angle of the cable after adjusting the rope-laying position of the rope-laying device, timely response to abnormalities in the rope-laying angle is ensured throughout the entire rope-laying process.

[0106] Step S3084: When it is determined that the abnormal rope angle detection result is abnormal and the rope pressing detection result is that there is a rope pressing phenomenon, the first rotation direction of the roller in the initial control quantity is adjusted to the second rotation direction to obtain the rope laying control quantity, wherein the first rotation direction and the second rotation direction are opposite.

[0107] For example, if the first rotation direction is forward, then the second rotation direction is reverse, and the setting is adaptively adjusted according to actual control requirements.

[0108] For example, the abnormal handling process is triggered immediately, the reverse roller is reversed to release the rope pressing state, and after release, it re-enters the "closed-loop control + normal rope laying" collaborative process.

[0109] In this embodiment, by identifying whether the rope-laying angle is abnormal and determining whether rope pressing occurs through image recognition, different control logics are provided for different situations. This achieves remote control of rope-laying detection, improves the accuracy of rope-laying detection, and provides a control method when abnormalities occur. The rope-laying control quantity is adjusted in real time, ensuring rope-laying efficiency while improving the work efficiency of the staff.

[0110] In step S3085, during the process of controlling the drum to rotate in the second rotation direction, the step of performing cable compression detection based on the rope arrangement image is executed.

[0111] It should be noted that while the control drum is rotating in the second rotation direction, the rope pressing detection continues, realizing real-time detection of the cable and improving the accuracy and responsiveness of anomaly identification.

[0112] In this embodiment, by continuing to detect cable compression after adjusting the rotation direction of the drum, it is ensured that the cable compression phenomenon is responded to and dealt with in a timely manner throughout the entire rope laying process.

[0113] Step S309: Based on the rope-laying control amount, control the rope-laying device to lay the cable. For details, please refer to [link to relevant documentation]. Figure 2 Step S205 of the illustrated embodiment will not be described again here.

[0114] Combination Figures 4 to 6 This document describes an application example of a well logging vehicle rope control method.

[0115] For example, such as Figure 4 The diagram shows the remote control flowchart of the logging vehicle rope control method.

[0116] In remote control, new core functions have been added to adapt to remote management scenarios.

[0117] Real-time status monitoring: Through industrial vision inspection function (dual camera image acquisition), the status of drum cable winding and rope arrangement / pressing is captured in real time; Remote data transmission: The collected images and rope data are synchronously transmitted to a remote control terminal via a switch, TBOX remote module and cloud. Remote control: Operators can view real-time data on a monitor at the remote control terminal, and directly issue control commands to regulate rope laying, pressing, and releasing actions, achieving remote rope laying control without on-site supervision.

[0118] The core intelligent parameter closed-loop control logic (a newly added core execution logic that runs through the entire rope laying process) is as follows: During the rope-laying process, the system continuously performs data acquisition, AI detection, and PID control to ensure the accuracy and stability of the rope-laying. The specific process is as follows: While arranging the ropes: Tension = tension_sensor.read(), which means reading the actual tension value of the cable in real time.

[0119] Angle = Angle Sensor.read(), which means reading the actual angle between the cable and the roller in real time.

[0120] Image = industrial camera.capture(), which means real-time acquisition of images of cable entanglement.

[0121] Anomaly Detection and Emergency Handling: If AI_detector.detect_messy(image) or the angle is greater than the threshold.

[0122] Among them, (AI_detector.detect_messy(image) represents the situation where, in the real-time cable winding image captured by the industrial camera, when an abnormal shape that does not conform to the preset neat winding standard appears, the AI ​​model judges it as "tangled rope" and outputs a trigger signal.

[0123] The `alarm.trigger()` function triggers the audible and visual alarm, issuing an alert for an abnormality. Pause Rope Laying () indicates that the rope laying operation should be stopped immediately to prevent the malfunction from escalating. Record fault location () indicates that fault information such as the current drum position and rope laying progress will be automatically recorded; The system prompts operators / remote personnel to intervene in the field via a pop-up display and simultaneously pushes intervention notifications to the remote end.

[0124] Precise regulation under normal conditions: else: Control quantity = PID(target tension - actual tension, target angle - actual angle); representing the optimal control quantity calculated using the PID algorithm based on the tension difference and angle deviation.

[0125] It should be noted that actual tension refers to the real-time cable tension value read by the tension sensor, while the target tension minus the actual tension is the tension deviation between the two. The control parameters are calculated based on this deviation, which in turn adjusts the rope-laying arm's movement and the drum's speed to bring the actual tension closer to the target tension.

[0126] Drive the rope-laying arm (control quantity), and drive the rope-laying arm according to the control quantity to adjust the rope-laying angle and force.

[0127] Synchronous drum speed () indicates that the speed of the drum is adjusted in a coordinated manner to synchronize the operation of the rope-laying arm with the operation of the drum, ensuring that the cable is neatly wound.

[0128] It should be noted that the drum speed needs to be calculated in conjunction with the control quantity of the rope-laying arm. The core is to ensure that the cable speed matches the moving speed of the rope-laying arm to avoid cable slack or stretching.

[0129] For example, such as Figure 5 The diagram shows the rope control logic of the logging vehicle rope control method.

[0130] Start-up phase: The winch drum begins to lift or lower the cable, the system starts conventional rope laying control, and the core intelligent parameter closed-loop control is triggered simultaneously; Synchronous adjustment: By combining the parameters of drum running speed and drum width with the control quantity output of PID closed-loop control, the position of the rope arranger is precisely controlled to achieve synchronous movement between the rope arranger and the drum; Dual-state interpretation: Through video interpretation and sensor data linkage, it confirms whether the rope laying angle is normal and whether there is rope pressing phenomenon; Branch processing: If the rope laying angle is normal and there is no rope compression: maintain PID closed-loop control and continue to execute synchronous rope laying action; If the rope laying angle is abnormal or there is no rope pressure: the PID algorithm automatically corrects the control quantity, adjusts the position of the rope laying device, and re-reads the result after adjustment until it is normal. If rope pressing occurs: immediately trigger the abnormal handling process, reverse the drum to release the rope pressing state, and then re-enter the "closed-loop control + normal rope laying" collaborative process.

[0131] For example, such as Figure 6 The diagram shows the rope tangling detection and control logic of the well logging vehicle rope control method.

[0132] Real-time linkage detection: The system continuously monitors whether there is tangled cable phenomenon through the AI ​​detector in the core intelligent parameter closed-loop control; Branch processing: If there is no rope tangling: maintain PID closed-loop control and keep the rope tidying in normal condition; If tangled ropes are present: the AI ​​detector triggers an abnormal signal, simultaneously activating the automatic tangled rope sorting function and pausing regular PID control; Rope tidying process: Step 1: Slowly rotate the drum to gradually release the cable and prevent further tangling of the rope; Step 2: Video detection and location recording are linked to confirm whether the tangled rope has been completely released from the drum. If it has not been completely released, the cable will continue to be released. Step 3: After the tangled rope is completely released, the system shuts down the sorting function, restarts the core intelligent parameter closed-loop control, returns to the conventional rope winding control logic, and standardizes the cable winding.

[0133] In this embodiment, the control dimension is upgraded: a new remote control function for rope laying is added, which, together with on-site control, forms a dual-mode, breaking the limitations of traditional on-site operation and improving the flexibility of management and control.

[0134] Intelligent closed-loop control: Integrating dual-parameter PID closed-loop control of tension and included angle, combined with AI visual detection, it realizes full-link automation of "collection-analysis-control-feedback" and reduces human error.

[0135] Comprehensive anomaly handling: New anomaly detection and automatic sorting functions for issues such as tangled ropes and excessive angles, combined with audible and visual alarms and fault logging, enable rapid response to faults and reduce risks.

[0136] Drive system optimization: The hydraulic drive was changed to an air drive, the hydraulic station was eliminated, the equipment procurement and maintenance costs were greatly reduced, and the equipment structure was simplified.

[0137] Safety and efficiency are both improved: real-time early warning of anomalies, accurate recording of faults, and remote control ensure operational safety, reduce on-site duty costs, and improve the overall efficiency of rope laying.

[0138] Innovation in dual-mode control system: It is the first to create a dual-mode rope control system that combines on-site and remote operation. Through the TBOX remote module, industrial camera and cloud transmission, it realizes real-time monitoring and control from a different location, breaking the spatial limitations of traditional on-site manual operation.

[0139] Multi-parameter intelligent closed-loop control innovation: It integrates data acquisition from tension sensors and angle sensors with AI visual detection, and uses PID algorithms to achieve closed-loop control of two parameters: tension and included angle. It automatically calculates control quantities to drive the rope-laying arm, replacing manual judgment and adjustment, and improving the accuracy of rope laying.

[0140] Lightweight innovation in drive system: Abandoning traditional hydraulic drive, it adopts air drive (electric actuator + cylinder), eliminating the hydraulic station configuration, simplifying the equipment structure while reducing procurement and maintenance costs.

[0141] Innovation in automated anomaly handling: We have built an anomaly handling process of "AI detection - alarm triggering - fault recording - manual / remote intervention", which can automatically pause rope laying and record the fault location for problems such as tangled ropes and excessive angles, thus solving the pain points of slow response and reliance on manual handling in traditional rope laying.

[0142] This embodiment also provides a logging truck rope control device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0143] This embodiment provides a logging truck rope routing control device. The logging truck includes a drum and a rope routing device. The drum is used to wind the cable. The rope routing device is connected to the drum via a transmission, and the rope routing device is used to drive the cable to route the rope. like Figure 7 As shown, the device includes: Rope-laying module 701 is used to control the rope-laying device to lay the cable according to the initial control quantity, monitor the angle between the cable and the drum, and acquire the cable laying image. The cable clamping detection module 702 is used to perform cable clamping detection based on the cable layout image; The rope-laying angle anomaly detection module 703 is used to detect abnormalities in the rope-laying angle of the cable based on the angle between the cable and the drum. The adjustment module 704 is used to adjust the initial control quantity to obtain the rope laying control quantity based on the rope pressing detection result and the rope laying angle abnormality detection result. The control module 705 is used to control the rope-laying device to lay the cable based on the rope-laying control quantity.

[0144] In some alternative embodiments, the device further includes: The rotation control module is used to control the drum to start rotating at a first speed and to acquire cable images during the process of the drum rotating at the first speed. The tangled rope detection module is used to determine whether tangled ropes exist based on cable images; The first determining module is used to control the drum to rotate at a second speed when it is determined that there is a tangled rope phenomenon, wherein the first speed is greater than the second speed; The second determining module is used to control the rope-arranging device to arrange the cable with an initial control amount when it is detected that there is no tangled rope phenomenon in the cable image during the rotation of the drum at the second speed.

[0145] In some alternative implementations, the adjustment module 704 includes: The first determining unit is used to use the initial control quantity as the rope laying control quantity when the detection result of the abnormal rope laying angle is determined to be normal. The second determining unit is used to adjust the rope laying position of the rope laying device in the initial control quantity to obtain the rope laying control quantity when the rope laying angle abnormality detection result is that the rope laying angle is abnormal and the rope pressing detection result is that there is no rope pressing phenomenon. The first detection unit is used to perform a step of detecting abnormal rope laying angles of the cable based on the angle between the cable and the drum during the rope laying process of the rope laying device controlled by the adjusted rope laying position.

[0146] The third determining unit is used to adjust the first rotation direction of the drum in the initial control quantity to the second rotation direction to obtain the rope laying control quantity when the rope laying angle abnormality detection result is that the rope laying angle is abnormal and the rope pressing detection result is that there is a rope pressing phenomenon. The first rotation direction and the second rotation direction are opposite.

[0147] The second detection unit is used to perform a step of detecting cable compression based on the rope layout image during the process of controlling the drum to rotate in the second rotation direction.

[0148] In some optional implementations, the second determining unit includes: The acquisition subunit is used to acquire the actual tension of the cable during the process of the rope-laying device laying the cable; The first determining subunit is used to determine the target tension of the rope-laying device for laying the cable; The second determining subunit is used to determine the rope-laying position of the rope-laying device based on the tension difference between the target tension and the actual tension.

[0149] The third determining subunit is used to determine the third rotation speed of the drum based on the rope laying position and the drum rotation speed corresponding to the rope laying position; The control subunit is used to control the drum to rotate at a third speed so that the actual tension of the cable approaches the target tension when the rope laying device lays the cable according to the rope laying position.

[0150] The logging truck rope-laying control device provided in this embodiment of the invention can execute the logging truck rope-laying control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the method. Further functional descriptions of the above modules and units are the same as in the corresponding embodiments described above, and will not be repeated here.

[0151] Figure 8 This is a schematic diagram of the hardware structure of a logging truck controller provided in an embodiment of the present invention.

[0152] The following is a detailed reference. Figure 8 The diagram illustrates a structural schematic suitable for implementing a controller in an embodiment of the present invention. The controller may include a processor (e.g., a central processing unit, graphics processing unit, etc.) 801, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 802 or a program loaded from memory 808 into random access memory (RAM) 803. RAM 803 also stores various programs and data required for controller operation. The processor 801, ROM 802, and RAM 803 are interconnected via bus 804. Input / output (I / O) interface 805 is also connected to bus 804.

[0153] Typically, the following devices can be connected to I / O interface 805: input devices 806 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 807 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; memory 808 including, for example, magnetic tape, hard disk, etc.; and communication devices 809. Communication device 809 allows the controller to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 8 A controller with various devices is shown, but it should be understood that it is not required to implement or have all of the devices shown, and may alternatively implement or have more or fewer devices.

[0154] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 809, or installed from a memory 808, or installed from a ROM 802. When the computer program is executed by the processor 801, it performs the functions defined in the logging vehicle rope control method of the embodiments of the present invention.

[0155] Figure 8 The controller shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0156] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the logging vehicle rope control method shown in the above embodiments is implemented.

[0157] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0158] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for controlling the rope arrangement of a logging vehicle, characterized in that, The logging vehicle includes a drum and a rope winding device. The drum is used to wind the cable. The rope winding device is connected to the drum via a transmission, and is used to drive the cable to wind the cable. The method includes: The rope-laying device is controlled to lay the cable according to an initial control value, the angle between the cable and the drum is monitored, and the cable laying image is acquired. Based on the rope arrangement image, the cable is subjected to rope compression detection; Based on the angle between the cable and the drum, abnormal rope-laying angle detection is performed on the cable; Based on the rope pressing detection results and the rope laying angle abnormality detection results, the initial control quantity is adjusted to obtain the rope laying control quantity; Based on the rope-laying control amount, the rope-laying device is controlled to lay the cable into ropes.

2. The method according to claim 1, characterized in that, Before controlling the rope-laying device to lay the cable based on an initial control value, monitoring the angle between the cable and the drum, and acquiring images of the cable's rope laying, the method further includes: The drum is controlled to start rotating at a first speed, and cable images are acquired during the process of the drum rotating at the first speed. Based on the cable image, determine whether there is any tangled cable. When the tangled rope phenomenon is confirmed, the roller is controlled to rotate at a second speed, wherein the first speed is greater than the second speed. When the drum rotates at the second speed and it is detected that there is no tangled rope phenomenon in the cable image, the rope-arranging device is controlled to arrange the rope of the cable with the initial control amount.

3. The method according to claim 1, characterized in that, The initial control quantity includes at least: the rope placement position of the rope placement device and the rotation direction of the roller. The process of adjusting the initial control quantity to obtain the rope placement control quantity based on the rope pressing detection result and the rope placement angle anomaly detection result includes: When the abnormal rope laying angle detection result is determined to be normal, the initial control quantity is used as the rope laying control quantity. When it is determined that the abnormal rope laying angle detection result is abnormal and the rope pressing detection result is that there is no rope pressing phenomenon, the rope laying position of the rope laying device in the initial control quantity is adjusted to obtain the rope laying control quantity. When the abnormal rope angle detection result is determined to be an abnormal rope angle and the rope pressing detection result is that there is a rope pressing phenomenon, the first rotation direction of the roller in the initial control quantity is adjusted to the second rotation direction to obtain the rope laying control quantity, wherein the first rotation direction and the second rotation direction are opposite.

4. The method according to claim 3, characterized in that, The position of the rope arrangement is determined by the following method: The actual tension of the cable is obtained during the process of the rope-arranging device arranging the cable. Determine the target tension for the cable to be laid by the rope-laying device; The rope-laying position of the rope-laying device is determined based on the tension difference between the target tension and the actual tension.

5. The method according to claim 4, characterized in that, The method further includes: Based on the rope placement position and the corresponding drum rotation speed, the third rotation speed of the drum is determined; The roller is controlled to rotate at the third rotation speed so that when the rope-laying device lays the cable according to the rope-laying position, the actual tension of the cable approaches the target tension.

6. The method according to claim 5, characterized in that, The method further includes: During the process of controlling the rope laying device to drive the cable to lay rope based on the adjusted rope laying position, the step of detecting abnormal rope laying angle of the cable based on the angle between the cable and the drum is performed.

7. The method according to claim 3, characterized in that, The method further includes: During the process of controlling the roller to rotate in the second rotation direction, the step of performing rope pressing detection on the cable based on the rope arrangement image is executed.

8. A logging vehicle rope control device, characterized in that, The logging vehicle includes a drum and a rope winding device. The drum is used to wind the cable. The rope winding device is connected to the drum via a transmission, and is used to drive the cable to wind the cable. The device includes: The rope-laying module is used to control the rope-laying device to lay the cable according to an initial control value, monitor the angle between the cable and the drum, and acquire images of the cable's rope-laying. The cable compression detection module is used to perform cable compression detection on the cable based on the cable layout image; The rope-laying angle abnormality detection module is used to detect abnormalities in the rope-laying angle of the cable based on the angle between the cable and the drum. The adjustment module is used to adjust the initial control quantity based on the rope pressing detection result and the rope laying angle abnormality detection result to obtain the rope laying control quantity; The control module is used to control the rope-laying device to lay the cable according to the rope-laying control amount.

9. A well logging vehicle, characterized in that, The logging vehicle includes a drum and a rope winding device, the drum being used to wind the cable; the rope winding device is driven to the drum, and is used to drive the cable to wind the cable; the logging vehicle also includes a controller, the controller comprising: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method of any one of claims 1 to 7.

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