Positioning and laying-out device and method for geophysical exploration

Abstract

This invention belongs to the field of geophysical exploration technology. It proposes a positioning and cable laying device and method for geophysical exploration. The reel assembly uses a double-helix variable-pitch guide groove to guide the cable winding neatly, and the winding and laying speed is dynamically controlled by a magnetorheological damping system composed of a magnetorheological fluid sleeve and an excitation coil. The rearrangement assembly is driven by a lateral movement motor, a steering motor, and a guide motor to achieve rapid and precise adjustment of the cable path. The cleaning assembly integrates a vibration hood, a centrifuge hood, and a scraper, automatically removing contaminants from the cable surface through a three-stage linkage of vibration, centrifugation, and scraping. The positioning controller incorporates a multi-source fusion positioning module and a triaxial magnetometer, combined with a Kalman filter algorithm, which can dynamically and optimally switch between multiple positioning signal sources and effectively suppress geomagnetic interference. This invention effectively solves technical problems such as cable entanglement, uncontrolled cable laying, insufficient cleaning, and positioning drift, significantly improving the accuracy, reliability, and automation level of field geophysical exploration operations.

Description

Technical Field

[0001] This invention relates to the field of geophysical exploration technology, and in particular to a positioning and setting-out device and method for geophysical exploration. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] In the field of geophysical exploration, cables serve as a crucial transmission medium connecting acquisition equipment and data processing centers, and their deployment quality directly impacts the integrity of detection signals and operational efficiency. As exploration areas extend into complex terrains and highly interference environments, the demands for automation and precision in cable deployment systems have significantly increased. Traditional cable deployment devices often employ fixed-pitch drums with simple guiding mechanisms, relying on manual intervention to adjust the cable position, making them ill-suited for continuous operations on uneven terrain. While some equipment has introduced motor-driven reels and foundation tension control in recent years, significant limitations remain in multi-degree-of-freedom collaborative control, cable layout consistency, and environmental adaptability. Furthermore, cables are prone to accumulating contaminants such as mud and moisture during field use. Failure to clean them promptly will accelerate insulation aging and affect signal transmission stability. Therefore, integrated cable deployment systems with cleaning capabilities are gradually becoming an important direction for technological evolution.

[0004] However, existing technologies have not effectively solved the challenge of achieving coordinated control for non-overlapping, uniform cable arrangement, and synchronous cleaning during high-speed cable winding and unwinding. On the one hand, fixed-pitch reels are prone to layer misalignment and cross-stacking during winding due to changes in cable diameter or tension fluctuations, leading to jamming or damage. On the other hand, rearrangement mechanisms mostly use open-loop control, lacking real-time feedback on the actual cable position and failing to dynamically match the reel winding state. Furthermore, cleaning modules are usually set independently outside the cable laying path, only activated under specific conditions, making it difficult to link with the winding and unwinding actions, resulting in low cleaning efficiency or missed contaminated sections. More critically, existing devices generally lack the ability to perceive their own spatial attitude and geographical location, failing to proactively adjust the cable laying strategy according to the direction of travel and terrain changes, severely limiting autonomous operation performance in complex exploration scenarios. Summary of the Invention

[0005] To address the problems of easy cable tangling, insufficient cleaning, and low positioning accuracy in existing geophysical exploration positioning and laying devices, this invention provides a positioning and laying device and method for geophysical exploration. By organically combining a variable pitch guide groove, a rearrangement component, a cleaning component, and a positioning controller integrating a triaxial magnetometer and a positioning module, it achieves non-overlapping and uniform cable arrangement along the reel during the winding and laying process, while simultaneously completing surface cleaning. The overall structure is compact and the control loop is closed, significantly improving the automation level of geophysical exploration operations and the quality of cable management.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a positioning and laying-out device for geophysical exploration.

[0007] A positioning and laying device for geophysical exploration has several universal wheels fixedly connected to the bottom wall of the base, and a reel assembly, a rearrangement assembly and a cleaning assembly fixedly connected to the top wall of the base. The reel assembly includes a cable reel, and the cable reel has a variable pitch guide groove on its outer periphery. The pitch of the variable pitch guide groove gradually increases from both sides of the cable reel towards the middle. The rewind assembly is located on the take-up and undo inlet side of the reel assembly and is used to guide the cable to wind or unwind along the trajectory of the variable pitch guide groove; the cleaning assembly is located on the cable path between the rewind assembly and the reel assembly. A positioning controller is also fixedly connected to the top wall of the base. The positioning controller integrates a triaxial magnetometer and a positioning module. The reel assembly, rearrangement assembly, and cleaning assembly are all connected to the positioning controller. The positioning controller coordinates and controls the winding and unwinding speed of the reel assembly, the lateral displacement and angular attitude of the rearrangement assembly, and the start and stop of the cleaning assembly based on the data from the triaxial magnetometer and the positioning module. This ensures that the cable is always arranged without overlapping along the variable pitch guide groove during winding and unwinding and that the surface is cleaned synchronously.

[0008] In one implementation of the first aspect of the present invention, the reel assembly further includes a support arm symmetrically fixed to the top wall of the base. A take-up and release motor is fixedly connected to the top of the support arm. The cable reel is coaxially connected to the output shaft of the take-up and release motor via a take-up and release shaft. A Hall encoder is sleeved on the take-up and release shaft. A laser rangefinder is fixedly connected to one side wall of the cable reel, and a reflector is fixedly connected to the corresponding position on the other side wall. The laser rangefinder and the reflector constitute a cable end detection unit. The take-up and release motor, the Hall encoder, and the laser rangefinder are all communicatively connected to the positioning controller.

[0009] As a further limitation of the first aspect of the present invention, a magnetorheological fluid sleeve is fixedly connected to the side of the support arm near the cable reel. The magnetorheological fluid sleeve is rotatably sleeved on the outer periphery of the take-up and release shaft. The magnetorheological fluid sleeve is filled with magnetorheological fluid. An outer damping ring is fixedly connected to the inner wall of the magnetorheological fluid sleeve. An inner damping ring, which is arranged alternately with the outer damping ring, is fixedly sleeved on the take-up and release shaft. An excitation coil is wound around the outer periphery of the magnetorheological fluid sleeve. The excitation coil is communicatively connected to the positioning controller.

[0010] In one implementation of the first aspect of the present invention, the rearrangement component includes a guide rail fixed to the top wall of the base, a slider slidably fitted on the guide rail, a first ball nut provided inside the slider, the first ball nut being threadedly fitted with a lead screw, and the two ends of the lead screw being coaxially connected to the output shaft of the side-shifting motor fixed to the base. A steering motor is fixedly connected to the slider. The output shaft of the steering motor is connected to a guide bracket. The guide bracket is equipped with a guide wheel set driven by the guide motor. The guide wheel set is used to clamp and guide the cable into the variable pitch guide groove. The lateral movement motor, steering motor and guide motor are all connected to the positioning controller.

[0011] As a further limitation of the first aspect of the present invention, a tension sensor is fixedly connected to the guide bracket near the cable inlet end. The tension sensor is communicatively connected to the positioning controller and is used to monitor the cable tension in real time.

[0012] As a further limitation of the first aspect of the present invention, an arc-shaped slide rail is provided between the guide bracket and the reel assembly, a guide cover is slidably fitted on the arc-shaped slide rail, the cleaning assembly is fixed on the guide cover, and the guide cover moves synchronously with the rearrangement assembly. In one implementation of the first aspect of the present invention, the cleaning component includes a centrifugal shroud and a vibrating shroud that are linked to the rearrangement component. The centrifugal shroud is provided with a centrifugal wheel driven by a centrifugal motor, and the vibrating shroud is provided with a vibrating shaft driven by a guide motor output shaft through a ratchet. The vibrating shaft is provided with a vibrating plate, and the centrifugal motor is communicatively connected to a positioning controller.

[0013] As a further limitation of the first aspect of the present invention, the centrifuge shroud is conical, with its small diameter end facing the rearrangement assembly and its large diameter end facing the reel assembly. A protective coil is provided on the outer periphery of the centrifuge wheel, and a scraper is provided on the inner wall of the centrifuge shroud, with the scraper tilted towards the vibrating shroud.

[0014] As a further limitation of the first aspect of the present invention, a protective cover is connected between the vibration cover and the centrifuge cover, the lower end of the protective cover is connected to a collection tube, and a collection hole is provided on the base that is detachably connected to the collection tube.

[0015] Secondly, the present invention provides a positioning and layout method for geophysical exploration.

[0016] A geophysical exploration positioning and setting-out method, utilizing the geophysical exploration positioning and setting-out apparatus of the first aspect of this invention, includes the following process: The positioning controller acquires the direction data from the triaxial magnetometer and the position data from the positioning module to calculate the current line laying path; The target rotational speed of the reel assembly, the target lateral displacement of the rearrangement assembly, and the target deflection angle are generated based on the wire laying path, and the reel assembly and rearrangement assembly are driven to move. During the cable winding process, the positioning controller simultaneously activates the cleaning component, so that the cable passes through the rearrangement component for guidance and the cleaning component for cleaning, and then winds onto the cable reel without overlapping along the trajectory of the variable pitch guide groove.

[0017] Compared with the prior art, the beneficial effects of the present invention are: This invention organically combines a variable pitch guide groove, a rearrangement component, a cleaning component, and a positioning controller that integrates a triaxial magnetometer and a positioning module. This enables the cable to be laid out uniformly along the reel without overlapping during the winding and unwinding process, while simultaneously completing surface cleaning. The overall structure is compact and the control loop is closed, significantly improving the automation level of geophysical exploration operations and the quality of cable management.

[0018] This invention effectively avoids problems such as cable crossing, stacking, or uneven spacing during winding and unwinding by using a variable pitch guide groove and a rearrangement assembly. The rearrangement assembly adjusts the guide position and angle in real time according to the winding state of the reel, ensuring that the cable is always accurately arranged along the guide groove trajectory, significantly improving winding density and neatness, and providing structural protection for efficient subsequent cable unwinding and stable equipment operation.

[0019] The cleaning component of this invention is integrated into the path that the cable must take before entering the reel, and is uniformly scheduled by the positioning controller. It automatically removes surface contaminants during the cable reeling process. This design avoids the problems of delayed response or missed cleaning sections of traditional external cleaning devices, ensuring that the cable is clean after each retrieval, extending its service life and maintaining signal transmission stability.

[0020] The positioning controller of this invention integrates data from a triaxial magnetometer and a positioning module to sense the spatial attitude and geographical location of the device in real time. Based on this, it dynamically adjusts the reel speed, rearranges the component pose, and the timing of cleaning start and stop. This closed-loop control mechanism enables the system to adapt to complex terrain changes, maintain the laying direction and exploration path consistent, and greatly improve the autonomy and accuracy of field operations.

[0021] The overall structure of this invention integrates the reel assembly, rearrangement assembly, and cleaning assembly onto a base, and allows for flexible movement via casters, balancing compactness and functionality. All components operate synchronously under the unified coordination of a positioning controller, forming an integrated "guiding-arranging-cleaning-storage" workflow, significantly simplifying operation steps and improving the efficiency and reliability of geophysical exploration site operations.

[0022] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0024] Figure 1 An isometric view of a geophysical exploration positioning and layout device provided as an exemplary embodiment of the present invention; Figure 2A top view of a geophysical exploration positioning and laying-out device provided as an exemplary embodiment of the present invention; Figure 3 A left view of a geophysical exploration positioning and laying-out device provided as an exemplary embodiment of the present invention; Figure 4 A front sectional view of a geophysical exploration positioning and laying-out device provided as an exemplary embodiment of the present invention; Figure 5 Provided as an exemplary embodiment of the present invention Figure 4 A magnified schematic diagram of part A in the middle; Figure 6 A side sectional view of a geophysical exploration positioning and laying-out device provided as an exemplary embodiment of the present invention; Figure 7 Provided as an exemplary embodiment of the present invention Figure 6 A magnified schematic diagram of part B in the middle; The components include: 1. Base; 2. Casters; 3. Support arm; 4. Discharge motor; 5. Positioning controller; 6. Cable reel; 7. Magnetorheological fluid sleeve; 8. Guide groove; 9. Reflector; 10. Arc-shaped slide rail; 11. Guide cover; 12. Centrifuge hood; 13. Protective cover; 14. Collection tube; 15. Vibration hood; 16. Guide bracket; 17. Guide motor output shaft; 18. Guide wheel; 19. Guide motor; 20. Steering motor; 2 1. Lead screw; 22. Guide rail; 23. Lateral motor; 24. Excitation coil; 25. Laser rangefinder sensor; 26. Ratchet belt; 27. Pawl; 28. Vibration shaft; 29. ​​Centrifugal motor; 30. Hall encoder; 31. Take-up and release shaft; 32. Collection hole; 33. Centrifugal wheel; 34. Protective ring; 35. Scraper; 36. Vibrating plate; 37. Tension sensor; 38. Inner damping ring; 39. Outer damping ring; 40. Magnetorheological fluid. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0027] In geophysical exploration operations, the accuracy, efficiency, and reliability of cable deployment directly affect the quality of subsequent geological data acquisition. While traditional cable deployment equipment has achieved basic electric deployment and retrieval functions, it still exhibits numerous structural defects in complex field environments: cables are prone to stacking, misalignment, and even knotting during high-speed deployment and retrieval, leading to tangled and chaotic situations; the deployment end is difficult to brake in time due to inertia, often resulting in uncontrolled cable flight, especially on steep slopes; improper tension control during retrieval can damage the internal conductors; more critically, in areas with signal obstruction such as canyons, dense forests, or underground, GPS-based positioning systems frequently lose lock, causing significant deviations from the design coordinates in deployment location; simultaneously, mud, sand, and dust adhere to the cable surface in the field environment, accelerating insulation wear and potentially interfering with electrical signal transmission, while existing devices generally lack effective automatic cleaning mechanisms, leading to a significant performance degradation after long-term operation. These problems collectively constrain the development of high-precision, high-efficiency, and intelligent geophysical exploration.

[0028] To address the aforementioned technical bottlenecks, this invention proposes an integrated and intelligent positioning and laying-out device for geophysical exploration. Its core lies in constructing a closed-loop control system encompassing "precise laying-out - dynamic orientation adjustment - automatic cleaning - anti-interference positioning" through innovative mechanical structures, intelligent sensor fusion, and multi-level functional collaboration. This device is not simply a collection of functional modules; rather, it uses the base 1 as the physical carrier and the positioning controller as the central nervous system, deeply coupling the reel assembly, rearrangement assembly, and cleaning assembly to form a highly collaborative working system. The reel assembly combines a double-helix variable pitch guide groove with magnetorheological fluid damping technology to fundamentally solve the problems of cable entanglement and speed runaway. The rearrangement assembly uses a servo drive mechanism to quickly adjust the cable exit position and direction. The cleaning assembly pioneers a three-stage series adaptive cleaning process of vibration-centrifugation-scraping to ensure that the cable is thoroughly cleaned before rewinding. The positioning module relies on a multi-source signal selection algorithm and a Kalman filter algorithm to maintain sub-meter positioning accuracy even in extreme scenarios with strong magnetic interference or complete satellite signal blockage. The following will combine two different specific implementation methods.

[0029] Example 1 As attached Figures 1 to 6 As shown: A positioning and laying device for geophysical exploration includes a base 1, a plurality of casters 2 welded to the bottom wall of the base 1, a reel assembly welded to the top wall of the base 1, a rearrangement assembly welded to the top wall of the base 1, the rearrangement assembly corresponding to the take-up and lay-out inlet of the reel assembly, a cleaning assembly installed at the take-up and lay-out inlet, a positioning controller 5 welded to the top wall of the base 1, the reel assembly, the rearrangement assembly and the cleaning assembly are all signal connected to the positioning controller 5, and the positioning controller 5 is equipped with a triaxial magnetometer and a positioning module.

[0030] The reel assembly is used to store and release cables, and guides the cable winding through a double-helix variable pitch structure to prevent cable stacking misalignment. Magnetorheological fluid damping technology automatically controls the winding and unwinding speeds, suppressing cable inertial loosening. The double-helix variable pitch structure of the reel assembly solves the cable entanglement problem from a mechanical design perspective, allowing the cables to naturally form a regular arrangement during winding and unwinding, avoiding stacking misalignment and knotting, and significantly reducing the tediousness of manual handling. The reel assembly includes support arms 3 symmetrically welded to the top wall of the base 1. Each support arm 3 has a take-up / discharge motor 4 welded to its top. A cable reel 6 for winding cables is installed between the support arms 3. A take-up / discharge shaft 31 is coaxially welded to the cable reel 6. The take-up / discharge shaft 31 and the output shaft of the take-up / discharge motor 4 are coaxially welded. Symmetrical variable pitch guide grooves 8 are opened on the outer periphery of the cable reel 6. The pitch of the variable pitch guide grooves 8 gradually increases as the distance between them and the two sides of the cable reel 6 decreases. The design of the variable pitch guide grooves 8 can ensure that the cable can be wound evenly and tightly at different radii, further improving the neatness of cable storage and reducing equipment failure and maintenance time caused by messy cable winding.

[0031] A laser rangefinder 25 is welded to one side wall of the cable reel 6, and a reflector 9 is welded to the other side wall. The reflector 9 is located near the end of the cable wound on the cable reel 6. The emission direction of the laser rangefinder 25 corresponds to that of the reflector 9. A Hall encoder 30 is coaxially connected to the take-up / unwind shaft 31. The take-up / unwind motor 4, the laser rangefinder 25, and the Hall encoder 30 are all connected to the positioning controller 5. Equipped with the laser rangefinder 25 and the reflector 9, the cable length can be measured accurately in real time, providing a more accurate positioning basis for geological data acquisition. The Hall encoder 30 coaxially connected to the take-up / unwind shaft 31 can monitor the rotation angle and speed of the take-up / unwind shaft 31 in real time and feed this information back to the positioning controller 5, thereby achieving precise control of the cable take-up / unwind speed and position, meeting the high-precision requirements of geophysical exploration for cable deployment position and speed. The magnetorheological damping technology, combined with the above-mentioned dual-verification length measurement mechanism, achieves dynamic and precise control of speed and length during the cable laying process, ensuring that the sensor deployment position is highly consistent with the design scheme.

[0032] Each support arm 3 has a magnetorheological fluid sleeve 7 welded to the side near the cable reel 6. The magnetorheological fluid sleeve 7 is rotatably sleeved with the take-up and release shaft 31. Excitation coils 24 are wound around the outer circumference of the magnetorheological fluid sleeve 7. Several outer damping rings 39 are vertically welded to the inner wall of the magnetorheological fluid sleeve 7. Several inner damping rings 38, which are interlaced with the outer damping rings 39, are welded to the take-up and release shaft 31. Magnetorheological fluid 40 is filled between the magnetorheological fluid sleeve 7 and the take-up and release shaft 31. An arc-shaped slide rail 10 is welded between adjacent support arms 3. A guide cover 11 is slidably fitted on the arc-shaped slide rail 10. The guide cover 11 is arc-shaped and its inner wall is coated with a wear-resistant layer to reduce the coefficient of friction. The excitation coil 24 is signal-connected to the positioning controller 5.

[0033] The magnetorheological fluid sleeve 7, in conjunction with the excitation coil 24, can adjust the viscosity of the magnetorheological fluid 40 in real time by changing the magnetic field according to the cable unwinding and rewinding conditions, thereby altering the damping force. During high-speed unwinding, increased damping stabilizes the cable speed and prevents inertial loosening; during rewinding, reduced damping ensures tight cable winding, preventing pulling damage. This adapts to different working conditions, ensuring operational safety and quality. The magnetorheological fluid 40 damping mechanism also buffers the instantaneous impact during cable unwinding and rewinding, absorbs irregular forces, converts some mechanical energy into heat dissipation, reduces system vibration and sway, ensures smooth cable movement, reduces equipment wear, and extends equipment life.

[0034] The arc-shaped outlet of the guide cover 11 guides the cable through a smooth transition, reducing wear and energy loss, minimizing jamming, improving cable winding and unwinding efficiency, ensuring cable integrity, and maintaining conductivity and signal transmission quality. The guide cover 11 slides along the arc-shaped rail 10, adjusting the cable outlet angle according to site requirements, optimizing the wiring path, avoiding obstacles, reducing bending and pulling, lowering the risk of cable breakage, and improving operational flexibility and adaptability. The wear-resistant layer on the inner wall of the guide cover 11 effectively reduces the coefficient of friction between the cable and the inner wall of the guide cover 11, allowing the cable to pass through the guide cover 11 more smoothly during winding and unwinding, reducing energy loss due to friction, improving equipment operating efficiency, and simultaneously reducing cable wear, ensuring cable integrity and lifespan.

[0035] The three-stage cleaning structure at the inlet of the take-up and release line—vibration, centrifugation, and scraping—forms a complete process from coarse filtration to fine cleaning, effectively preventing mud, sand, and dirt from the field environment from entering the device, reducing wear on core components, and extending the device's stable operating cycle under harsh conditions. The multi-source fusion positioning module can automatically switch between satellite positioning, indoor positioning, or inertial navigation modes according to the actual scenario. Combined with anti-magnetic interference algorithms, it can maintain stable positioning accuracy even in environments where traditional devices are prone to failure, such as areas with magnetic field distortion or satellite signal blockage, ensuring the reliability of exploration data.

[0036] The positioning controller 5 serves as the central system, integrating reel deployment and rewind, path adjustment, cleaning operations, and positioning functions. Operators only need to input basic parameters, and the device can autonomously complete the entire process from line laying to positioning, significantly reducing reliance on human experience and minimizing the risk of operational errors. Increased automation reduces manpower input for field operations, while clean and durable design lowers equipment maintenance frequency. This optimizes exploration project costs in terms of both labor and consumables, making it particularly suitable for long-term field operations or large-scale exploration projects.

[0037] The specific implementation process is as follows: The ordinary cable reel 6 of the existing geophysical exploration positioning and laying device is prone to cable tangling and even breakage. Since it cannot effectively suppress cable inertial loosening, it may cause cable runaway and cable pulling. When operating in complex outdoor environments, the single positioning technology is easily affected by terrain obstruction and geomagnetic interference, resulting in signal drift or interruption and inaccurate positioning data. In addition, the existing device lacks efficient cleaning function. Long-term accumulation of dirt will cause cable wear and reduced conductivity, affecting the quality of exploration data.

[0038] Therefore, after the base 1 is moved to the exploration point by the casters 2, the operator starts the system through the positioning controller 5. The positioning controller 5 simultaneously activates the reel assembly, rearrangement assembly, and cleaning assembly. The take-up and discharge motor 4 of the reel assembly drives the cable reel 6 to rotate, allowing the cable to naturally extend along the double-helix variable pitch guide groove 8. The variable pitch guide groove 8 guides the cable to be evenly arranged from the middle of the reel to both sides of the pitch gradually expanding structure. The laser rangefinder 25 emits a signal to the reflector 9 to complete the initial calibration, and the Hall encoder 30 records the initial position of the take-up and discharge shaft 31 to form a length measurement reference. The positioning module simultaneously receives signals from multiple sources such as GPS, Beidou BDS, UWB, and SLAM, and uses algorithms to select stable positioning sources in the current environment (such as satellite positioning in open fields, which is preferred), combined with... Figure 1 and Figure 4 .

[0039] The take-up / release motor 4 drives the take-up / release shaft 31 to rotate, and the cable is released layer by layer along the variable pitch guide groove 8. The gradually changing pitch design of the guide groove 8 automatically maintains the spacing of the cable during winding, avoiding stacking misalignment. When the cable release speed increases due to terrain changes, the positioning controller 5 sends a signal to the excitation coil 24 of the magnetorheological fluid sleeve 7. Under the action of the magnetic field, the viscosity of the magnetorheological fluid 40 increases, and the friction of the inner and outer damping rings 39 suppresses the inertial rotation of the take-up / release shaft 31, preventing the cable from loosening. The arc-shaped outlet of the guide cover 11 guides the cable to be released at a preset angle, and the wear-resistant layer on the inner wall reduces cable friction loss. The laser rangefinder and Hall encoder 30 synchronize the cable length data in real time, and the positioning controller 5 ensures the release accuracy through algorithm fusion, combined with... Figure 2 .

[0040] The positioning module monitors the status of each signal source in real time. In areas with good satellite signals, it prioritizes GPS / BeiDou positioning; when entering obstructed areas such as canyons or jungles, it automatically switches to UWB or SLAM positioning. The multi-source signal optimization algorithm requires signal quality quantization before outputting the optimal signal. The signal quality quantization formula is as follows: For the first One signal source ( }), calculate the overall quality score : (1); In the formula, This represents the standard deviation of the positioning error (measured value). Represents signal strength ( ); The value represents the measured magnetic field strength (obtained from a triaxial magnetometer). , , Represents the weighting coefficient (default) =0.5, =0.3, =0.2); This represents the preset maximum allowable standard deviation threshold for positioning error; This represents the preset maximum allowable signal strength threshold; This represents the preset maximum allowable magnetic field strength deviation threshold; This represents the preset reference magnetic field strength value; Represents the Global Positioning System; Represents inertial navigation systems; Represents ultra-wideband systems; Represents simultaneous localization and mapping; It represents the BeiDou Navigation Satellite System.

[0041] The triaxial magnetometer continuously monitors the ambient magnetic field, and the Kalman filter algorithm fuses the magnetic field data with the positioning signal to eliminate the influence of geomagnetic interference on positioning and ensure the accuracy of sensor deployment.

[0042] When it is necessary to adjust the cable arrangement spacing or direction, the positioning controller 5 sends a command to the rearrangement component. The rearrangement component guides the cable layout path to change by translation and rotation, ensuring that the path is switched quickly and accurately.

[0043] During cable reeling, the cable undergoes a three-stage cleaning process involving vibration, centrifugation, and scraping. This thorough cleaning removes dirt from the cable surface, progressing from shallow to deep layers. Positioning controller 5 controls the cleaning component's speed to match the reeling speed, creating a dynamic cable cleaning process that effectively prevents dirt from being carried into the reel assembly and causing wear on the cable or other equipment. The coordinated control of all components by positioning controller 5 significantly improves the efficiency and accuracy of exploration operations, reduces the need for manual intervention, and adapts to the application requirements of complex field exploration scenarios, such as... Figure 3 and Figure 6 As shown.

[0044] Example 2 The difference from Example 1 is that, in conjunction with Appendix Figure 7As shown: The rearrangement assembly includes a guide rail 22, which is welded to the top wall of the base 1. A slider is slidably fitted on the guide rail 22. A first ball nut is welded inside the slider, and a lead screw 21 is threaded inside the first ball nut. Side-shifting motors 23 are symmetrically welded to the top walls of the base 1 at both ends of the guide rail 22. The output shafts of the side-shifting motors 23 are all coaxially welded to the lead screw 21. A steering motor 20 is welded inside the slider. The output shaft of the steering motor 20 passes through the slider, and a guide bracket 16 is welded to the output shaft of the steering motor 20. A guide motor 19 is fixedly connected to one side of the guide bracket 16. The output shafts 17 of the guide motors all extend through the interior of the guide bracket 16. Several guide wheels 18 are coaxially bonded to the output shafts 17 of the guide motors located inside the guide bracket 16. The outer circumference of each guide wheel 18 has a groove. The guide wheels 18 located on different output shafts 17 of the guide motors correspond to each other vertically. The side-shifting motor 23, the steering motor 20, and the guide motor 19 are all signal connected to the positioning controller 5.

[0045] Through the precise engagement of the lead screw 21 and the first ball nut, the slider can move smoothly and accurately along the guide rail 22, thereby changing the position of the guide bracket 16 and the cable. The lateral movement motor 23 drives the lead screw 21 to rotate, achieving precise control of the slider's position, ensuring accurate cable laying along different exploration paths, improving operational efficiency and accuracy, and adapting to the complex and ever-changing needs of exploration sites. The steering motor 20 drives the guide bracket 16 to rotate, enabling flexible changes in the cable laying direction. The positioning controller 5 can precisely control the rotation angle of the steering motor 20 according to the planned route of the exploration task and the actual site conditions, ensuring that the cable is laid in the predetermined direction, reducing manual intervention, improving the automation and accuracy of the operation, and ensuring the continuity and efficiency of exploration work.

[0046] The guide motor 19 drives the guide wheel 18 to rotate, and the cable runs smoothly within the groove of the guide wheel 18. This prevents the cable from deviating, jumping, or twisting during high-speed winding and unwinding, ensuring stable cable tension, reducing the risk of cable wear and breakage, and improving the cable's service life and reliability. This stable guidance is particularly important for exploration operations in complex terrains such as steep slopes and canyons, effectively preventing the cable from becoming tangled due to terrain changes. The rearrangement component is designed with good scalability, allowing for flexible expansion of the system's scale and functionality by adjusting the length of the guide rail 22 and increasing or decreasing the number of sliders to meet different exploration task requirements.

[0047] Several tension sensors 37 are welded to the side wall of the guide bracket 16 near the cable inlet end of the guide wheel 18. Each tension sensor 37 corresponds to a cable inlet end of the guide wheel 18 and is connected to the positioning controller 5. The tension sensors 37 monitor the tension of the cable as it enters the guide wheel 18 in real time and quickly feed the data back to the positioning controller 5. Based on the tension changes, the positioning controller 5 adjusts the winding and unwinding speed and force of the reel assembly to ensure that the cable maintains appropriate tension during winding and unwinding. This prevents the cable from breaking or wearing due to excessive tension, or from becoming loose or tangled due to insufficient tension, ensuring stable cable operation and operational safety. Real-time monitoring and tension control ensures that the cable is laid evenly and neatly under different terrains and working conditions, improving the accuracy and quality of cable laying. Especially in high-precision geophysical exploration, precise cable laying ensures that sensors and other equipment are accurately distributed according to predetermined positions and spacing, thereby collecting more accurate and reliable geological data and improving the reliability of exploration results.

[0048] The cleaning assembly includes a centrifuge shroud 12, which is welded to a guide shroud 11. The diameter of the end of the centrifuge shroud 12 closer to the guide shroud 11 is smaller than the diameter of the end farther from the guide shroud 11. A centrifuge wheel 33 is slidably fitted on the inner wall of the centrifuge shroud 12. Several protective rings 34 are welded to the end of the centrifuge wheel 33 near its center. Figure 7 As shown, a centrifugal motor 29 is welded to the inner wall of the guide cover 11. The output shaft of the centrifugal motor 29 extends into the centrifugal cover 12, and is coaxially welded to the centrifugal wheel 33. The centrifugal motor 29 is connected to the positioning controller 5 via signal. The centrifugal motor 29 drives the centrifugal wheel 33 to rotate at high speed, generating a strong centrifugal force. Dust and sand adhering to the cable are thrown towards the inner wall of the centrifugal cover 12 and collected under the action of centrifugal force, thereby achieving efficient cleaning, ensuring the cleanliness of the cable surface, reducing the adverse effects of dirt on cable performance, and ensuring the stability and accuracy of exploration data transmission.

[0049] The protective ring 34 at the end of the centrifugal wheel 33 may come into contact with the cable when the centrifugal wheel 33 rotates at high speed. This not only assists in cleaning but also prevents the centrifugal wheel 33 from directly abrading the cable surface, effectively protecting the cable's insulation layer and conductor, and extending the cable's service life. The centrifugal motor 29 is signal-connected to the positioning controller 5. The positioning controller 5 can intelligently adjust the speed of the centrifugal motor 29 according to the cable's running speed, cleaning needs, and the level of dirt, achieving precise adjustment of cleaning intensity, improving cleaning efficiency while avoiding over-cleaning and damage to the cable. The centrifugal cover 12 is fixedly connected to the guide cover 11, with a smaller diameter at the end near the guide cover 11. This structural design allows the cleaning components to be tightly integrated with the guide cover 11, saving space, not affecting the normal cable guidance and winding process, and facilitating the centralized collection and disposal of dirt after cleaning, maintaining a clean working environment.

[0050] The cleaning assembly also includes a vibration cover 15, which is welded to the guide bracket 16 on the side near the guide cover 11. A vibration shaft 28 is symmetrically rotatably connected inside the vibration cover 15. The vibration shaft 28 corresponds to the output shaft 17 of the guide motor. A pawl 27 is hinged to the end of each guide motor output shaft 17. A ratchet band 26 is engaged on the outer periphery of each pawl 27. The ratchet band 26 is engaged with one end of the corresponding vibration shaft 28. A reciprocating cross thread is opened on the outer periphery of the middle part of the vibration shaft 28. A second ball nut is fitted on each reciprocating cross thread. Adjacent second ball nuts are welded together. A vibration thread is opened on the outer periphery of the middle part of the vibration shaft 28 corresponding to the cable. A vibration plate 36 is threaded on each vibration thread. One end of the vibration plate 36 is rotatably connected to the corresponding second ball nut.

[0051] The vibration shaft 28 inside the vibration shroud 15, through the engagement of a reciprocating cross thread and a second ball nut, drives the vibration plate 36 to generate reciprocating high-frequency oscillations. This oscillation effectively loosens and removes stubborn contaminants from the cable surface, such as micro-dust embedded in the cable grooves and dried sand, achieving pretreatment before centrifugal cleaning, further improving the cleaning effect, and ensuring the cable's conductivity and signal transmission quality. During vibration, the vibration plate 36 only contacts the cable surface, without damaging the cable's insulation or conductors, effectively protecting the cable's structural integrity. Compared to traditional brushing or spray cleaning methods, vibration cleaning is gentler and more efficient, reducing the risk of cable damage during the cleaning process.

[0052] Driven by the guide motor 19, and utilizing the transmission structure of the pawl 27 and ratchet belt 26, the rotational motion is efficiently converted into the reciprocating motion of the vibrating shaft 28, resulting in high energy conversion efficiency and excellent vibration effect. This transmission method ensures that the vibrating shaft 28 rotates only during cable winding, providing reliable power for vibration cleaning while avoiding the use of an additional power source, simplifying the equipment structure, and improving the equipment's reliability and economy. The vibration frequency of the vibrating shaft 28 is controlled by the rotational speed of the guide motor 19. The faster the cable winding speed, the higher the vibration frequency, allowing for adjustment of the cleaning intensity according to actual needs. This ensures cleaning effectiveness while avoiding unnecessary wear on the cable due to over-cleaning, improving the adaptability and flexibility of the cleaning process.

[0053] The guide cover 11 has symmetrically welded scraper blades 35, which are inclined towards the vibration cover 15. A protective cover 13 connects the centrifugal cover 12 and the vibration cover 15. A collection tube 14 is connected to the lower side of the protective cover 13. A collection hole 32 is opened on the base 1, and the collection hole 32 is detachably connected to the collection tube 14. The symmetrically fixed inclined scraper blades 35 at the entrance of the guide cover 11 can scrape off the mud and dirt and attachments remaining on the cable surface after two cleanings, thoroughly cleaning the cable surface, improving the overall cleaning efficiency, ensuring the cleaning effect, and guaranteeing the cable performance and service life.

[0054] The design of the collection pipe 14 and collection port 32 effectively prevents the dirt removed during the cleaning process from re-adhering to cables or other components, ensuring the smooth progress of subsequent exploration operations. It reduces the spread of dirt to other parts of the equipment during cleaning, protects the internal structure from corrosion, extends the equipment's service life, and reduces environmental pollution during the cleaning process. The entire cleaning assembly has a compact structure, with each part tightly integrated through fixed connections and interconnections, making it easy to integrate into geophysical exploration equipment without occupying excessive space. Furthermore, the detachable design of the collection pipe 14 and collection port 32 facilitates cleaning and maintenance work for maintenance personnel, improving the maintainability of the equipment.

[0055] The specific implementation process is as follows: When it is necessary to change the cable arrangement direction or position, the positioning controller 5 sends a command to the rearrangement component. After the lateral movement motor 23 starts, it drives the lead screw 21 to rotate, forming a threaded transmission with the first ball nut inside the slider, driving the slider to slide laterally along the guide rail 22, thereby adjusting the position of the horizontal cable laying path; the steering motor 20 synchronously drives the guide bracket 16 to rotate, changing the cable laying angle; the guide motor 19 drives the guide wheel 18 to rotate, and its outer circumferential groove holds the cable, ensuring that the laying path is accurately guided and the cable is smoothly laid and retracted according to the preset direction. The tension sensor 37 at the cable inlet end of the guide wheel 18 monitors the cable tension in real time. When the tension changes, the signal is fed back to the positioning controller 5, which then coordinates the magnetorheological fluid damping technology of the reel assembly to adjust the resistance and avoid damage to the cable due to sudden tension changes. Throughout the process, the guide rail 22 provides stable support for the slider, the precise cooperation between the lead screw 21 and the first ball nut ensures displacement accuracy, the linkage between the steering motor 20 and the guide motor 19 enables flexible control of the cable direction, and the tension sensor 37 ensures the cable's safety under force during the adjustment process. Figure 3 and Figure 5 .

[0056] During cable retraction, the cable first enters the vibration chamber 15. The pawl 27 at the end of the guide motor output shaft 17 engages with the ratchet and ratchet belt 26, driving the rotation of the vibration shaft 28 only during cable retraction. The reciprocating cross thread in the middle of the vibration shaft 28 drives the second ball nut to move axially back and forth. The second ball nut drives the axial movement of the vibration plate 36. The vibration plates 36, distributed above and below the cable, oscillate at high frequency under the drive of the vibration thread, striking and shaking off large pieces of dirt from the cable surface. Subsequently, the cable enters the centrifuge chamber 12 through the protective cover 13. The centrifuge motor 29 drives the centrifuge wheel 33 to rotate at high speed. The tapered structure of the centrifuge chamber 12 enhances the centrifugal force field, throwing small particles from the cable surface toward the chamber wall. The protective ring 34 near the end of the centrifuge wheel 33 protects the cable during rotation, assisting in cleaning while preventing the centrifuge wheel 33 from directly abrading the cable. Finally, the cable passes through the inclined scraper 35 at the inlet of the guide cover 11. The elastic scraper 35 adheres to the cable surface and scrapes away any remaining deposits. During the cleaning process, contaminants generated are collected in the collection pipe 14 via the protective cover 13 and fall into the collection hole 32 of the base 1. The detachable collection pipe 14 facilitates subsequent centralized cleaning. The ratchet pawl 27-ratchet belt 26 drive of the vibration cover 15 ensures that vibration only starts when the cable is retracted. The cooperation between the centrifugal wheel 33 and the protective ring 34 achieves efficient cleaning and cable protection. The scraper 35 and the collection system complete the cleaning process and collect contaminants. The three-stage structure works in concert to form a complete process from vibration pretreatment to centrifugal fine cleaning and then to scraping residue removal. Figure 1 and Figure 2 .

[0057] When rearranging components to adjust the cable routing path and direction, the guide bracket 16 drives the vibration cover 15-protective cover 13-centrifugal cover 12, thereby driving the position and direction of the guide cover 11 on the arc track, so that the cable is as straight as possible and in the center of each component channel, so that the cable can achieve the best winding and cleaning effect under different routing paths.

[0058] The rerouting assembly, through the linkage of mechanical transmission and electrical control system, automates the adjustment of cable arrangement, reducing the tedious manual rewiring and adapting to the needs of frequent changes in observation systems during exploration. The multi-stage structure of the cleaning assembly removes contaminants of different particle sizes in layers, preventing wear and signal interference from mud and other impurities on cables. Together with the reel assembly and positioning module, these components enable the device to quickly adjust cable paths and keep cables clean during field operations, improving the durability of exploration equipment and the accuracy of data acquisition, while reducing manual maintenance costs and promoting the development of geophysical exploration operations towards higher efficiency and intelligence.

[0059] To verify the technical effectiveness of the above-mentioned device, the present invention conducted the following experimental verification: Multi-scenario performance verification experiment of positioning and laying out device for geophysical exploration: The purpose of the experiment is to verify the accuracy and stability of the multi-source fusion positioning module in complex environments; to test the anti-entanglement and speed control capabilities of the double helix reel and magnetorheological damping; and to evaluate the cleaning efficiency and protection effect of the three-level cleaning system on cables.

[0060] The device used is the positioning and laying device proposed in this invention, and also includes the following experimental components: the control group device is a traditional electric reel EESC500D; the test cable is a special shielded cable for geophysical exploration, with a diameter of 8mm and a length of 1000m; the positioning reference device is a total station with an accuracy of ±1mm; the pollution simulation material is a mixture of quartz sand and clay, with the quartz sand having a particle size of 0.1-1mm and the clay mixture having a moisture content of 15%; the tension recorder has a range of 0-500N and an accuracy of ±0.5% FS; an abrasion detector; and a cable surface insulation layer thickness measuring instrument with an accuracy of ±0.01mm.

[0061] The specific experimental procedure includes: (1) Test points were set up in three typical terrains: open plains (strong GPS signal); canyon shielded areas (satellite signal attenuation > 50%); jungle magnetic interference areas (geomagnetic fluctuation ± 200 nT); the two sets of devices were simultaneously laid out with cables to 10 predetermined coordinate points at intervals of 50 m, and the actual placement positions were measured with a total station to calculate the deviation from the target coordinates.

[0062] (2) Coat the cable surface with a contaminant mixture with a coverage of ≥90%. Two sets of devices continuously reel in and out the cable at a speed of 3m / s for 10 cycles. Record the fault events in each cycle: entanglement and stacking (cables crossing and knotting); loosening and loss of control (cables flying out of the reel when releasing); cleaning residue (the area ratio of residual contaminants on the cable surface); measure the wear thickness of the cable insulation layer.

[0063] (3) Conduct an emergency braking test on a 30° slope, with the cable release speed dropping from 5 m / s to 0, and record the braking time and cable slippage.

[0064] The experimental results are shown in Tables 1, 2 and 3.

[0065] Table 1: Multi-terrain positioning accuracy test results.

[0066]

[0067] Table 2: Test results of reel performance and cleaning effect.

[0068] Test Items The device of the present invention Traditional devices Number of times of wrapping and stacking 0 times 7 times Number of times of loosening and loss of control 0 times Nine times (100% loss of control on steep slopes) Residual contamination after cleaning ≤3% 82% (45% after artificial assistance) Insulation layer wear thickness 0.02mm 0.15mm Table 3: Dynamic response test results.

[0069] Device type Braking time (ms) Cable slippage (m) The device of the present invention 120 0.15 Traditional devices 480 2.70 In summary, the device of this invention, supported by multi-source fusion positioning (GPS / INS / BeiDou / UWB / SLAM) and Kalman filter anti-interference algorithm, achieves a positioning error of ≤0.58m, which is more than 84% higher than the accuracy of traditional devices (error ≥3.7m). It maintains stable output even in signal obstruction and magnetic interference scenarios. The double-helix variable pitch guide groove 8 and magnetorheological fluid damping technology achieve zero entanglement faults and completely solve the cable stacking problem. The damping response speed reaches 120ms, which is 4 times faster than traditional devices, and the emergency braking slippage is reduced by 94%, completely solving the problem of uncontrolled cable laying on steep slopes. The three-stage cleaning system of vibration, centrifugation and scraping reduces the pollutant residue rate to ≤3%, which is 15 times more efficient than manual cleaning. The wear of the cable insulation layer is only 0.02mm (0.15mm in traditional devices), and the service life is estimated to be extended by more than 7 times.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A positioning and laying-out device for geophysical exploration, comprising a base, wherein a plurality of casters are fixedly connected to the bottom wall of the base, characterized in that: The top wall of the base is fixedly connected to a reel assembly, a rearrangement assembly, and a cleaning assembly. The reel assembly includes a cable reel, and the outer periphery of the cable reel is provided with a variable pitch guide groove. The pitch of the variable pitch guide groove gradually increases from both sides of the cable reel toward the middle. The rewind assembly is located on the take-up and undo inlet side of the reel assembly and is used to guide the cable to wind or unwind along the trajectory of the variable pitch guide groove; the cleaning assembly is located on the cable path between the rewind assembly and the reel assembly. A positioning controller is also fixedly connected to the top wall of the base. The positioning controller integrates a triaxial magnetometer and a positioning module. The reel assembly, rearrangement assembly, and cleaning assembly are all connected to the positioning controller. The positioning controller coordinates and controls the winding and unwinding speed of the reel assembly, the lateral displacement and angular attitude of the rearrangement assembly, and the start and stop of the cleaning assembly based on the data from the triaxial magnetometer and the positioning module. This ensures that the cable is always arranged without overlapping along the variable pitch guide groove during winding and unwinding and that the surface is cleaned synchronously.

2. The geophysical exploration positioning and laying-out device as described in claim 1, characterized in that, The cable reel assembly also includes support arms symmetrically fixed to the top wall of the base. A take-up and release motor is fixedly connected to the top of the support arm. The cable reel is coaxially connected to the output shaft of the take-up and release motor via a take-up and release shaft. A Hall encoder is sleeved on the take-up and release shaft. A laser range sensor is fixedly connected to one side wall of the cable reel, and a reflector is fixedly connected to the corresponding position on the other side wall. The laser range sensor and the reflector constitute a cable end detection unit. The take-up and release motor, the Hall encoder, and the laser range sensor are all communicatively connected to the positioning controller.

3. The geophysical exploration positioning and laying-out device as described in claim 2, characterized in that, A magnetorheological fluid sleeve is fixedly connected to the side of the support arm near the cable reel. The magnetorheological fluid sleeve is rotatably sleeved on the outer circumference of the take-up and release shaft. The magnetorheological fluid sleeve is filled with magnetorheological fluid. An outer damping ring is fixedly connected to the inner wall of the magnetorheological fluid sleeve. An inner damping ring, which is arranged alternately with the outer damping ring, is fixedly sleeved on the take-up and release shaft. An excitation coil is wound around the outer circumference of the magnetorheological fluid sleeve. The excitation coil is communicatively connected to the positioning controller.

4. The geophysical exploration positioning and laying-out device as described in claim 1, characterized in that, The rearrangement assembly includes a guide rail fixed to the top wall of the base, a slider slidably fitted on the guide rail, a first ball nut inside the slider, the first ball nut being threadedly engaged with a lead screw, and both ends of the lead screw being coaxially connected to the output shaft of a side-shifting motor fixed to the base. A steering motor is fixedly connected to the slider. The output shaft of the steering motor is connected to a guide bracket. The guide bracket is equipped with a guide wheel set driven by the guide motor. The guide wheel set is used to clamp and guide the cable into the variable pitch guide groove. The lateral movement motor, steering motor and guide motor are all connected to the positioning controller.

5. The geophysical exploration positioning and laying-out device as described in claim 4, characterized in that, A tension sensor is fixedly connected to the guide bracket near the cable inlet. The tension sensor is connected to the positioning controller to monitor the cable tension in real time.

6. The geophysical exploration positioning and laying-out device as described in claim 4, characterized in that, An arc-shaped slide rail is provided between the guide bracket and the reel assembly. A guide cover slides on the arc-shaped slide rail. The cleaning component is fixed on the guide cover, and the guide cover moves synchronously with the rearrangement component.

7. The geophysical exploration positioning and laying-out device as described in claim 1, characterized in that, The cleaning assembly includes a centrifuge chamber and a vibrating chamber that are linked to the rearrangement assembly. The centrifuge chamber contains a centrifuge wheel driven by a centrifuge motor, and the vibrating chamber contains a vibrating shaft driven by a guide motor output shaft through a ratchet. The vibrating shaft has a vibrating plate on it, and the centrifuge motor is communicatively connected to the positioning controller.

8. The geophysical exploration positioning and laying-out device as described in claim 7, characterized in that, The centrifuge shroud is conical, with its smaller diameter end facing the rearrangement assembly and its larger diameter end facing the reel assembly. A protective coil is provided on the outer periphery of the centrifuge wheel, and a scraper is provided on the inner wall of the centrifuge shroud, with the scraper tilted towards the vibrating shroud.

9. The geophysical exploration positioning and laying-out device as described in claim 7, characterized in that, A protective cover connects the vibration chamber and the centrifuge chamber. The lower end of the protective cover is connected to a collection tube, and the base is provided with a collection hole that can be detachably connected to the collection tube.

10. A positioning and layout method for geophysical exploration, characterized in that, The geophysical exploration positioning and setting-out device according to any one of claims 1-9 includes the following process: The positioning controller acquires the direction data from the triaxial magnetometer and the position data from the positioning module, and calculates the current line laying path; The target rotational speed of the reel assembly, the target lateral displacement of the rearrangement assembly, and the target deflection angle are generated based on the wire laying path, and the reel assembly and rearrangement assembly are driven to move. During the cable winding process, the positioning controller simultaneously activates the cleaning component, so that the cable passes through the rearrangement component for guidance and the cleaning component for cleaning, and then winds onto the cable reel without overlapping along the trajectory of the variable pitch guide groove.

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