Cable laying vehicle and levelling method
Patent Information
- Application Number
- CN202611129943.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-07-28
- Publication Date
- 2026-10-27
Smart Images
Figure CN122977209A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of cable equipment, and in particular to a cable laying vehicle and leveling method. Background Technology
[0002] Currently, before cable laying vehicles can commence operations, platform leveling is required. Existing leveling methods rely on manual labor to move the lifting supports under the hydraulic outriggers of the rotating platform, then controlling the outriggers to extend and achieve leveling. This method not only requires a large workforce and has extremely low efficiency, making it unsuitable for the increasingly demanding needs of cable laying projects, but also suffers from potential positional deviations and unstable support due to manual placement of the lifting supports. This can lead to platform swaying and instability during subsequent laying operations, failing to ensure even lifting force distribution, severely impacting construction safety and operational stability, and hindering the improvement of automation levels in cable laying projects. Summary of the Invention
[0003] This application aims to propose a cable laying vehicle and a leveling method that can achieve automatic leveling of the rotating platform.
[0004] The cable laying vehicle according to the first aspect of this application includes: Vehicle body; A rotating platform is horizontally rotatable on the vehicle body. Each of the four corners of the rotating platform is equipped with a lifting leg, and each lifting leg faces the ground. A first level detection unit is provided on the rotating platform. Four image acquisition devices corresponding to the four lifting legs are provided at the bottom of the rotating platform. Each image acquisition device is arranged facing the ground and is used to acquire images of the ground area pointed to by the corresponding lifting leg. Multiple first Bluetooth modules, each of which is disposed on the vehicle body or rotating platform; A cable laying system, mounted on the rotating platform, is used to place the cable reel and drive the cable reel to rotate; Four lifting brackets are provided, corresponding to the four lifting legs. The top of each lifting bracket has a support plane for providing support for the corresponding lifting leg. Each lifting bracket is provided with a support control module and a second Bluetooth module, an electric walking mechanism, and a second level detection unit electrically connected to the support control module. The electric walking mechanism is located at the bottom of the lifting bracket, and the walking wheels of the electric walking mechanism are retractable. The main controller is used to acquire the first levelness data of the rotating platform collected by the first level detection unit, acquire ground area image data collected by the four image acquisition devices, and establish a communication connection with the four support control modules.
[0005] The leveling method according to a second aspect embodiment of this application, applied to the cable laying vehicle as described in the first aspect embodiment, the leveling method comprising: In response to the leveling command, acquire ground area image data collected by the four image acquisition devices; Based on the preset outrigger position information of each lifting outrigger and the geometric structure data of the lifting bracket corresponding to each lifting outrigger, a candidate area is determined in the corresponding ground area image data. When the lifting bracket is in the candidate area, the lifting outrigger can abut against the support plane of the lifting bracket after it is extended. The flatness information of the candidate area corresponding to each of the lifting supports is determined based on the ground area image data, and the flatness information includes multiple flatness areas of different levels; The geometric center coordinates of the flatness region with the highest flatness level in the flatness information are sent to the support control module of each lifting bracket, so that each support control module determines the real-time coordinates of the bracket based on the Bluetooth strength information of multiple first Bluetooth modules obtained by the second Bluetooth module, and navigates the lifting bracket to the geometric center coordinates based on the real-time coordinates of the bracket. Obtain the second levelness data for each of the lifting supports; When the deviation between the real-time coordinates of each lifting bracket and the geometric center coordinates is within a preset coordinate deviation range, the position of the lifting bracket is adjusted according to the corresponding second levelness data so that the second levelness data meets the preset bracket levelness deviation range. When the second levelness data of each of the lifting supports is within the preset levelness deviation range of the support, the lifting support is controlled to move so that the distance between the center coordinate of the support plane of the lifting support and the coordinate of the lifting leg is shortened, and a lifting command is generated when the movement of the lifting support is completed. Obtain the first levelness data of the rotating platform; In response to the lifting command, the four lifting outriggers are controlled to extend until they abut against the support plane of the corresponding lifting bracket, and a leveling operation is performed according to the first levelness data so that the first levelness data meets the preset main platform levelness deviation range.
[0006] The cable laying vehicle and leveling method of this application embodiment, by configuring retractable wheels at the bottom of the lifting support, can automatically move when extended and can be fully retracted to provide rigid support when the lifting legs need to be raised, preventing the support from slipping during leveling. Simultaneously, a dual closed-loop control is formed through the first and second level detection units, combined with image acquisition and Bluetooth navigation to achieve automatic and precise docking, ensuring effective alignment of the lifting legs with the support surface, uniform force distribution, and enabling the lifting support to apply balanced pressure to the ground, significantly improving leveling accuracy and support stability. The solution in this application embodiment eliminates the reliance on manual support handling, achieving unmanned leveling operations, greatly improving construction efficiency and eliminating safety hazards associated with heavy object handling.
[0007] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing this application. Attached Figure Description
[0008] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 An axonometric view of the cable laying vehicle provided in the embodiments of this application; Figure 2 An isometric view of the rotating platform provided in an embodiment of this application; Figure 3 for Figure 2 A magnification of a local area A; Figure 4 An isometric view of the lifting support provided in the embodiments of this application; Figure 5 Electrical system diagram of the cable laying vehicle provided in the embodiments of this application; Figure 6 A flowchart of the leveling method provided in the embodiments of this application.
[0009] Figure label: Vehicle body 100; rotating platform 200; lifting outrigger 210; first horizontal detection unit 220; image acquisition device 230; first Bluetooth module 300; cable laying system 400; lifting bracket 500; supporting plane 510; second Bluetooth module 520; electric walking mechanism 530; second horizontal detection unit 540; obstacle detection unit 550; support control module 560; main controller 600. Detailed Implementation
[0010] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0011] In the description of this application, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.
[0012] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0013] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.
[0014] The technical solution of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of this application, not all embodiments.
[0015] refer to Figures 1 to 5 This application provides a cable laying vehicle, which includes: Vehicle body 100; A rotating platform 200 is horizontally rotatable and mounted on the vehicle body 100. Each of the four corners of the rotating platform 200 is equipped with a lifting leg 210, with each lifting leg 210 facing the ground. A first horizontal detection unit 220 is mounted on the rotating platform 200. Four image acquisition devices 230, corresponding to the four lifting legs 210, are mounted at the bottom of the rotating platform 200. Each image acquisition device 230 faces the ground and is used to acquire images of the ground area pointed to by the corresponding lifting leg 210. Multiple first Bluetooth modules 300, each first Bluetooth module 300 is disposed on the vehicle body 100 or the rotating platform 200; The cable laying system 400 is mounted on the rotating platform 200 and is used to place the cable reel and drive the cable reel to rotate. Four lifting brackets 500 are provided corresponding to four lifting legs 210. The top of each lifting bracket 500 has a support plane 510 for providing support for the corresponding lifting leg 210. Each lifting bracket 500 is provided with a support control module 560 and a second Bluetooth module 520, an electric walking mechanism 530, and a second level detection unit 540 electrically connected to the support control module 560. The electric walking mechanism 530 is located at the bottom of the lifting bracket 500, and the walking wheels of the electric walking mechanism 530 are retractable. The main controller 600 is used to acquire the first levelness data of the rotating platform 200 collected by the first level detection unit 220, acquire ground area image data collected by the four image acquisition devices 230, and establish a communication connection with the four support control modules 560.
[0016] In this embodiment, retractable wheels are installed at the bottom of the lifting support 500, allowing it to move automatically when extended and retract completely to provide rigid support when the lifting leg 210 needs to be lifted, preventing slippage during leveling. Simultaneously, a dual closed-loop control system is formed by the first and second level detection units 540, combined with image acquisition and Bluetooth navigation to achieve automatic and precise docking. This ensures effective alignment of the lifting leg 210 with the support surface, uniform force distribution, and that the lifting support 500 applies balanced pressure to the ground, significantly improving leveling accuracy and support stability. This embodiment eliminates the reliance on manual support handling, enabling unmanned leveling operations, greatly improving construction efficiency, and eliminating safety hazards associated with heavy object handling.
[0017] The aforementioned rotating platform 200 can be horizontally rotatably mounted on the top of the vehicle body 100 via a slewing support mechanism. The rotation angle range is 0° to 360°, and the rotation speed can be adjusted by the main controller 600. It can flexibly adjust the working angle according to the cable laying direction to meet the cable laying requirements of different directions.
[0018] The four corners of the aforementioned rotating platform 200 form a support leg mounting structure for fixing and mounting the lifting support leg 210.
[0019] Each of the aforementioned lifting outriggers 210 is vertically oriented towards the ground. The lifting outriggers 210 can be hydraulically driven. Each lifting outrigger 210 has a built-in displacement sensor and pressure sensor, which can collect the outrigger extension length and load data in real time and feed it back to the main controller 600 to achieve precise leveling and overload protection. The four lifting outriggers 210 are arranged in a rectangular symmetrical pattern, ensuring even force distribution during lifting and guaranteeing the overall stability of the rotating platform 200.
[0020] The aforementioned rotating platform 200 is equipped with a first horizontal detection unit 220. The first horizontal detection unit 220 can be a high-precision dual-axis tilt sensor, which is fixedly installed at the geometric center position of the upper surface of the rotating platform 200.
[0021] The aforementioned first level detection unit 220 is used to collect the lateral and longitudinal levelness data of the rotating platform 200 in real time, and transmit the data to the main controller 600 via wired or wireless means as the reference basis for the final leveling operation.
[0022] The bottom of the aforementioned rotating platform 200 is equipped with four image acquisition devices 230 corresponding to the four lifting outriggers 210. Each image acquisition device 230 is arranged facing the ground and is used to acquire images of the ground area pointed to by the corresponding lifting outrigger 210. The image acquisition device 230 can be a high-definition industrial camera and equipped with an automatic supplementary light, which can clearly acquire ground images in low-light environments. The ground area acquired by the image acquisition device 230 is exactly the support area corresponding to the extended lifting outrigger 210. The image acquisition device 230 is electrically connected to the main controller 600, and the acquired ground image data is transmitted to the main controller 600 in real time for ground flatness assessment and docking positioning of the lifting support 500.
[0023] Each of the aforementioned first Bluetooth modules 300 is mounted on the vehicle body 100 or the rotating platform 200. At least three first Bluetooth modules 300 are provided so that the second Bluetooth module 520 can utilize the intensity information detected by at least three first Bluetooth modules 300 to perform triangulation, thereby determining the real-time position of the lifting bracket 500. Specifically, four first Bluetooth modules 300 are preferably fixedly installed at the four corners of the rotating platform 200, corresponding one-to-one with the positions of the lifting legs 210. The four first Bluetooth modules 300 are arranged in a rectangular pattern, serving as beacon nodes for Bluetooth positioning, providing a positioning reference for the lifting bracket 500, and the rectangular layout of the four beacons significantly improves the accuracy of RSSI triangulation.
[0024] The four lifting brackets 500 are correspondingly arranged with the four lifting legs 210. The top of each lifting bracket 500 has a support plane 510 for providing support for the corresponding lifting leg 210. The lifting bracket 500 is an independent movable support unit, which only undertakes the functions of movable and rigid support, and does not have the ability to level.
[0025] The aforementioned support control module 560 serves as the local control core of the lifting support 500 and can utilize a control circuit board integrating an STM32 series chip. The support control module 560 can establish a communication connection with the main controller 600 via Wi-Fi or Bluetooth. It is responsible for receiving navigation, movement, and docking commands from the main controller 600 to control the extension and retraction of the telescopic wheels of the electric walking mechanism 530 and its movement. It also collects data from the second Bluetooth module 520, the second horizontal detection unit 540, and the obstacle detection unit 550, feeding this data back to the main controller 600. The support control module 560 can incorporate path planning and motion control algorithms, enabling autonomous movement and precise positioning of the lifting support 500.
[0026] The second Bluetooth module 520 is electrically connected to the support control module 560. It can be the same Bluetooth module as the first Bluetooth module 300 and is installed at the top center of the lifting bracket 500. The second Bluetooth module 520 receives Bluetooth signals transmitted by the four first Bluetooth modules 300 on the rotating platform 200. Based on the strength (RSSI value) of the four received Bluetooth signals, the support control module 560 uses a triangulation algorithm to calculate the real-time planar coordinates of the lifting bracket 500, achieving autonomous navigation and positioning.
[0027] The aforementioned electric walking mechanism 530 is located at the bottom of the lifting support 500, and the wheels of the electric walking mechanism 530 are retractable. The electric walking mechanism 530 may include three retractable wheels with drive motors and an independent storage compartment. The three wheels are arranged in an equilateral triangle at the bottom of the lifting support 500, and each wheel can perform forward, backward, turning, and rotating movements. The wheels may be made of solid rubber tires, which are wear-resistant, have a high load-bearing capacity, and can adapt to uneven ground.
[0028] The aforementioned storage compartment is fixedly connected to the bottom frame of the lifting bracket 500. Each traveling wheel corresponds to an independent electric telescopic mechanism. After docking, the three traveling wheels can be synchronously and completely retracted into the storage compartment, so that the bottom plane of the lifting bracket 500 is in direct and tight contact with the ground, achieving rigid and stable support and preventing the bracket from slipping during the leveling process.
[0029] The aforementioned second level detection unit 540 can be a dual-axis tilt sensor, electrically connected to the support control module 560, and can be fixedly installed at the geometric center position inside the lifting support 500. The second level detection unit 540 is used to collect real-time lateral and longitudinal levelness data of the lifting support 500 and transmit the data to the support control module 560 as the basis for levelness verification during the docking phase, ensuring that the lifting support 500 is in a level state during support and preventing uneven lifting force due to support tilt.
[0030] The aforementioned main controller 600 can be a portable industrial control computer or a vehicle-mounted unit within the cable laying vehicle. The main controller 600 can incorporate ground flatness assessment algorithms, Bluetooth positioning algorithms, navigation path planning algorithms, and automatic leveling control algorithms, enabling fully automated leveling operations for the cable laying vehicle. The main controller 600's user interface can display real-time data from various sensors, the position status of the lifting support 500, leveling progress, and other information. Operators can also manually intervene and set parameters via a touchscreen.
[0031] In some implementations, reference Figure 5 Each lifting support 500 is also equipped with an obstacle detection unit 550 that is electrically connected to the support control module 560.
[0032] The obstacle detection unit 550 mentioned above can adopt an ultrasonic and infrared composite sensing architecture. For example, the ultrasonic sensor can be responsible for the detection of obstacles at medium and long distances of 0.5 to 3m, and can penetrate dust and water mist to identify building materials and personnel. The infrared sensor can be responsible for fine detection at close distances of 0 to 0.5m, and can capture low obstacles such as thin cables and rebar ends. The two work together to form a blind-spot-free detection range.
[0033] The aforementioned obstacle detection unit 550 can be configured in three sets, which can be installed at the front and left and right sides of the lifting bracket 500, respectively. When an obstacle is detected, the bracket can be immediately controlled to move around the obstacle.
[0034] The obstacle detection unit 550 mentioned above can also be replaced with a single-line lidar to achieve more accurate environmental perception and obstacle avoidance.
[0035] In some implementations, there are four first Bluetooth modules 300.
[0036] In this embodiment, four first Bluetooth modules 300 are rectangularly distributed at the four corners of the rotating platform 200, forming a stable beacon array, which can significantly improve the RSSI triangulation positioning accuracy. There is no need to set up additional beacons at the construction site. They are transported synchronously with the exhibition vehicle, making them convenient to use and providing a reliable positioning benchmark for the autonomous navigation and precise docking of the lifting bracket 500.
[0037] In some implementations, four first Bluetooth modules 300 are arranged at the four corners of the rotating platform 200.
[0038] In this embodiment, four first Bluetooth modules 300 are arranged at the four corners of the rotating platform 200 to form a symmetrical rectangular beacon array, which can greatly improve the accuracy and stability of RSSI triangulation and correspond one-to-one with the positions of the four lifting legs 210, optimizing the signal reception of each lifting bracket 500 and providing reliable support for precise navigation docking.
[0039] See Figure 6 , Figure 6 A flowchart of a leveling method provided in an embodiment of this application is shown, the leveling method including steps S100 to S900: S100, in response to the leveling command, acquires ground area image data collected by the four image acquisition devices 230; S200, based on the preset leg position information of each lifting leg 210 and the geometric structure data of the lifting support 500 corresponding to each lifting leg 210, a candidate area is determined in the corresponding ground area image data. When the lifting support 500 is in a candidate area, the lifting leg 210 can abut against the support plane 510 of the lifting support 500 after it is extended. S300 determines the flatness information of the candidate area corresponding to each lifting support 500 based on ground area image data. The flatness information includes multiple flatness areas of different levels. S400, send the geometric center coordinates of the flatness region with the highest flatness level in the flatness information to the support control module 560 of each lifting bracket 500, so that each support control module 560 determines the real-time coordinates of the bracket based on the Bluetooth strength information of multiple first Bluetooth modules 300 obtained by the second Bluetooth module 520, and navigates the lifting bracket 500 to the geometric center coordinates based on the real-time coordinates of the bracket. S500, acquire the second levelness data for each lifting bracket 500; S600, when the deviation between the real-time coordinates and the geometric center coordinates of each lifting bracket 500 is within the preset coordinate deviation range, the position of the lifting bracket 500 is adjusted according to the corresponding second levelness data so that the second levelness data meets the preset bracket levelness deviation range. S700, when the second levelness data of each lifting bracket 500 is within the preset bracket levelness deviation range, control the lifting bracket 500 to move so that the distance between the center coordinate of the support plane 510 of the lifting bracket 500 and the coordinate of the lifting leg 210 is shortened, and when the lifting bracket 500 has completed moving, generate a lifting command. S800, acquire the first levelness data of the rotating platform 200; S900, in response to the lifting command, controls the four lifting outriggers 210 to extend until they abut against the support plane 510 of the corresponding lifting bracket 500, and performs a leveling operation according to the first levelness data so that the first levelness data meets the preset main platform levelness deviation range.
[0040] In this embodiment, Bluetooth positioning is used to achieve autonomous and precise navigation and movement of the lifting support. The support's own horizontal calibration and precise alignment of the outriggers are completed sequentially. Finally, dual horizontal detection sensors are used to level the entire rotating platform. The entire process is automated, replacing the traditional manual handling and placement of the support, effectively saving labor costs and significantly improving construction efficiency. Multi-level precision control ensures uniform and stable support force, preventing support misalignment and platform swaying, significantly improving leveling accuracy and operational stability. It is adaptable to various complex construction sites, ensuring the safe and orderly conduct of cable laying operations.
[0041] In step S100 above, before operation, the main controller 600 completes system initialization, inputting the preset position of the lifting outrigger 210, the geometric dimensions of the lifting support 500, various deviation thresholds, and step length parameters. When it receives a leveling command issued by the operator via the touchscreen, the main controller 600 simultaneously starts the four image acquisition devices 230 at the bottom of the rotating platform 200. Each device acquires image data of the ground area directly below the corresponding lifting outrigger 210. After acquisition, the image data is transmitted in real time to the buffer of the main controller 600 via wireless communication.
[0042] In step S200 above, the main controller 600, using the preset coordinates of the lifting outrigger 210 as the center and combining the dimensional data of the bottom of the lifting support 500, delineates a rectangular candidate area outward in the corresponding ground image. The boundary of this area satisfies the following condition: when the lifting support 500 is in any position within the area, the support plate at the bottom of the lifting outrigger 210 can completely fall within the support plane 510 of the lifting support 500 without edge contact or suspension.
[0043] In step S300 above, the main controller 600 can perform grayscale conversion, Gaussian filtering for noise reduction, and Canny edge detection preprocessing on the ground image to identify uneven features such as ground protrusions, depressions, and cracks. The candidate area is uniformly divided into several candidate sub-regions, and the flatness value of each sub-region is calculated through texture uniformity analysis. Based on a preset threshold, the sub-regions are divided into multiple levels, and adjacent sub-regions of the same level are merged into one region. On this basis, a flatness information table containing the coordinate range of each level region is generated (for example, the levels can be divided into "Excellent," "Good," "Flat," and "Poor," and the flatness information table can include the coordinate information of each region and its corresponding level).
[0044] In step S400 above, the main controller 600 sends the geometric center coordinates of the flat area with the highest flatness level in the flatness information to the support control module 560 of each lifting bracket 500 (in the case of multiple flat areas with the highest flatness level, the geometric center coordinates of the flat area with the highest flatness level closest to the lifting leg 210 can be sent to the lifting bracket 500), so that each support control module 560 determines the real-time coordinates of the bracket based on the Bluetooth strength information of multiple first Bluetooth modules 300 obtained by the second Bluetooth module 520, and navigates the lifting bracket 500 to the geometric center coordinates based on the real-time coordinates of the bracket.
[0045] The main controller 600 extracts the area with the highest level (e.g., "Excellent") from the flatness information table, calculates its geometric center coordinates, and sends them individually to the support control module 560 of the corresponding lifting bracket 500. The support control module 560 receives the signal strength from the first Bluetooth modules 300 at the four corners of the rotating platform 200 via the second Bluetooth module 520, and uses the RSSI triangulation method to calculate its own real-time planar coordinates. This can be combined with... The search algorithm (also known as the A-star algorithm) plans the optimal movement path or directly uses a direct movement method to control the electric walking mechanism 530 to move towards the target center coordinates.
[0046] In step S500 above, when the support control module 560 detects that the deviation between the real-time coordinates of the lifting support 500 and the target geometric center coordinates is less than a preset coordinate deviation threshold (e.g., ±20cm), coarse navigation is stopped. The second level detection unit 540 is activated to continuously collect the lateral and longitudinal tilt angle data of the lifting support 500 at a preset frequency, which is directly used as the second level data. Alternatively, multiple data points can be averaged to obtain the current second level data, which is then transmitted to the main controller 600.
[0047] In step S600 above, when the main controller or support control module determines that the second levelness data exceeds the preset support levelness deviation threshold (e.g., ±0.5°), the support control module 560 controls the lifting support 500 to move step by step within the highest flatness area at a first preset step size (e.g., 5cm, which can also be adaptively adjusted according to the deviation distance). (Random movement can be used, or the positions of the points to be detected can be preset.) After each movement, the levelness is re-detected until the levelness meets the standard. If there are no qualified points in the highest area within the preset number of step adjustments (e.g., 20 times), the adjustment is automatically extended to the suboptimal area (e.g., the "good" level area) for further adjustment. It should be noted that there are many ways to detect the levelness while moving within an area. This embodiment does not impose specific limitations, but follows the principle of traversing as many nodes in the area as possible.
[0048] In step S700 above, after the main controller or support control module confirms that the support's levelness is stable and meets the standard, it enters the precision docking stage. The support control module 560 controls the lifting support 500 to move one step towards the coordinate of the lifting leg 210 at a second preset step length (e.g., 2mm, which can also be adaptively adjusted according to the deviation distance). After the step is completed, the levelness is immediately re-checked. If the levelness is still within the standard, the stepping continues; if it exceeds the standard, the stepping back to the previous step at the same step length and the stepping stops. In addition, when the deviation between the center of the support plane 510 and the coordinate of the lifting leg 210 is less than a preset threshold (e.g., ±2mm), the movement can be stopped, and the main controller 600 generates a lifting command.
[0049] In step S800 above, the main controller 600 starts the first level detection unit 220 to collect the lateral and longitudinal tilt angle data of the rotating platform 200 as the first levelness data, or after collecting multiple times, takes the average value as the initial first levelness data and stores it in the buffer area as the reference for subsequent leveling operations.
[0050] In step S900 above, the main controller 600 controls the four lifting outriggers 210 to extend synchronously at low speed. When the pressure sensor detects that the outriggers are in contact with the supporting plane 510, the lifting continues until the rotating platform 200 is completely detached from the vehicle body 100. Real-time acquisition of the first levelness data is used as a reference, and the outriggers in the tilting direction are slightly lifted, while the outriggers in the opposite direction are simultaneously slightly lowered. When the first levelness data stabilizes within the preset main platform levelness deviation range, all lifting outriggers 210 are locked, completing automatic leveling. It should be noted that during the adjustment process, the load current of the electric drive equipment corresponding to each lifting outrigger 210 is monitored in real time. If the load at a certain point exceeds the rated range, the adjustment at that point is paused, and other points are adjusted first to prevent single-point overload.
[0051] In some embodiments, each lifting support 500 is further provided with an obstacle detection unit 550 electrically connected to the support control module 560, which navigates the lifting support 500 to the geometric center coordinates based on the real-time coordinates of the support, including: Control the jacking support 500 to move towards the geometric center coordinate; During the movement of the lifting support 500 toward the geometric center coordinates, obstacle information collected by the obstacle detection unit 550 is acquired. When the obstacle information indicates the presence of an obstacle, an obstacle avoidance operation is performed, allowing the lifting support 500 to bypass the obstacle indicated by the obstacle information.
[0052] In this embodiment, as the lifting support 500 moves towards the geometric center coordinates, the support control module 560 continuously drives the obstacle detection unit 550 to scan the surrounding environment. When an obstacle is detected entering the safe distance threshold, the support control module 560 immediately issues a pause command to stop the lifting support 500 from moving; simultaneously, based on the current support position, target coordinates, and obstacle boundary information, it employs... The search algorithm replans the optimal detour path (e.g., generating a node on one side of the obstacle). After the detour path is generated, the lifting support 500 is controlled to travel along the new path, automatically resuming the original navigation route after bypassing the obstacle, and continuing to move towards the target location. In some methods, it is also possible to detour directly by moving around the obstacle in an arc.
[0053] In this embodiment, autonomous obstacle avoidance is achieved during the movement of the 500-meter lifting support, eliminating the need for continuous manual supervision. This further eliminates the need for manual guidance of the support, significantly improving the automation level and construction efficiency of the leveling operation. It effectively prevents collisions with temporary obstacles on the construction site, protecting equipment from damage and preventing accidents caused by personnel approaching the work area, thus significantly enhancing the safety and reliability of the system in complex construction environments.
[0054] In some implementations, the flatness information of the candidate area corresponding to each lifting bracket 500 is determined by the following steps: Based on ground area image data, the flatness of each candidate sub-region in the candidate area is determined. The candidate area includes multiple candidate sub-regions. Based on multiple preset flatness levels, threshold ranges are defined to determine the flatness level of each candidate sub-region, thereby obtaining flatness information.
[0055] The aforementioned main controller 600 first divides the ground candidate area corresponding to each lifting outrigger 210 into square candidate sub-regions with a certain side length (e.g., 2cm). This size is much smaller than the bottom size of the lifting support 500, achieving a refined grid evaluation of ground flatness. The image of each sub-region is then processed with grayscale conversion, Gaussian filtering for noise reduction, and Canny edge detection (or the entire candidate area can be processed with grayscale conversion, Gaussian filtering for noise reduction, and Canny edge detection using ground area image data). Then, the percentage of edge pixels representing uneven features within the sub-region is statistically analyzed, and combined with local texture uniformity, a flatness metric value is calculated, for example, from 0 to 100 points.
[0056] Next, based on preset multi-level flatness thresholds, all sub-regions are traversed. A four-neighbor connectivity algorithm is used to merge adjacent sub-regions of the same level (up, down, left, right) into a single, larger, continuous flat region. The minimum bounding rectangle coordinates and geometric center coordinates of each merged large region are calculated. Finally, a flatness information table is generated, and each large region is re-labeled with its corresponding flatness level, boundary coordinates, and center coordinates.
[0057] In this embodiment, a refined assessment of ground flatness is achieved through the division of small-sized sub-regions, preventing the omission of minor defects such as local depressions and protrusions. Merging adjacent sub-regions of the same level significantly reduces redundant data, simplifies subsequent navigation and position adjustment logic, and provides a continuous and complete flat support area for the lifting support 500. This method not only ensures high accuracy in flatness assessment but also improves system operating efficiency, ensuring that the lifting support 500 remains in a continuous and stable support area, thus preventing support tilting and uneven lifting force caused by local ground unevenness from the outset.
[0058] In some implementations, the position of the lifting support 500 is adjusted according to the corresponding second levelness data so that the second levelness data meets the preset support levelness deviation range, including: If the second levelness data exceeds the preset support levelness deviation range, the lifting support 500 is controlled to move step by step in the flatness area with the highest flatness level in the flatness information at the first preset step length, and the second levelness data is re-determined after each step movement until the second levelness data is within the preset support levelness deviation range. If the second levelness data is within the preset levelness deviation range of the support, the lifting support 500 stops moving.
[0059] In this embodiment, when the support control module 560 confirms that the real-time coordinates of the lifting support 500 have entered the preset coordinate deviation range, but the second levelness data exceeds the preset support levelness deviation threshold, the levelness adaptive adjustment program is initiated. The lifting support 500 is controlled to move in a spiral path (or other random or custom path) from the inside out within the continuous area with the highest flatness level, using a first preset step size. After each step, the current second levelness data is acquired. If the levelness data meets the preset deviation range, the movement immediately stops, and the levelness adjustment is completed; otherwise, the movement and detection continue along the spiral path for the next step, until a support point with acceptable levelness is found within the highest flatness area.
[0060] In this embodiment, by limiting the leveling adjustment to the area with optimal flatness, the lifting support 500 finds support points within a range of favorable ground conditions, thereby improving the support stability of the subsequent rotating platform 200 from the source. A fixed-step adjustment is adopted, balancing adjustment efficiency and accuracy. Real-time leveling detection after each movement forms a closed-loop control system, which can accurately eliminate the support's own tilting error, laying the foundation for uniform force distribution on the subsequent lifting outriggers 210, and significantly improving the consistency and reliability of the leveling operation.
[0061] In some embodiments, adjusting the position of the lifting support 500 according to the corresponding second levelness data so that the second levelness data meets the preset support levelness deviation range further includes: If the second levelness data exceeds the preset support levelness deviation range, and the second levelness data still exceeds the preset support levelness deviation range after moving with the first preset step size a preset number of adjustment steps, the lifting support 500 is controlled to move step by step with the first preset step size in the flatness area with the highest flatness level and the second highest flatness level in the flatness information, and the second levelness data is re-determined after each step movement until the second levelness data is within the preset support levelness deviation range.
[0062] In this embodiment, after the support control module 560 completes a spiral search with a first preset step size and a preset number of step adjustments within the area with the highest flatness level, if the second levelness data still exceeds the preset support levelness deviation range, it automatically starts a graded expansion search program. First, it loads the boundary coordinates of the second-highest level area (e.g., "Good") in the flatness information table (it should be noted that this area also needs to be connected to the highest level area), merging the continuous flat areas of the highest and second-highest levels into a new movable search range. Then, it controls the lifting support 500 to continue moving in the merged area with the same first preset step size, following a path from the inside out. After each movement, it stops and re-collects the second levelness data until a support point with acceptable levelness is found. If no suitable point is found after completing all preset search iterations within the second-highest level area, it sends a ground condition abnormality alarm signal to the main controller 600, awaiting manual intervention.
[0063] In this embodiment, the hierarchical expansion search mechanism effectively solves the problem of no qualified support points within a single area with the highest flatness, significantly improving the system's fault tolerance and adaptability to complex terrain. Prioritizing the search in the optimal area ensures support quality, while expanding to the suboptimal area only when necessary, balancing leveling efficiency and stability. It can adapt to construction environments with uneven surfaces and numerous local defects, such as tunnels and construction sites, preventing leveling operations from being interrupted due to localized ground flaws, and ensuring both construction progress and leveling quality.
[0064] In some embodiments, when the second levelness data of each lifting support 500 is within a preset support levelness deviation range, the lifting support 500 is controlled to move so that the distance between the center coordinate of the support plane 510 of the lifting support 500 and the coordinate of the lifting leg 210 is shortened, including: Control the lifting support 500 to move one step towards the coordinate of the lifting leg 210 by a preset second step length, and reacquire the second levelness data after the step movement is completed; If the second levelness data is within the preset levelness deviation range of the support, the system will switch to controlling the lifting support 500 to move towards the lifting leg 210 in a preset second step length. If the second levelness data exceeds the preset levelness deviation range of the support, control the lifting support 500 to retract to the previous step by the preset second step length.
[0065] In this embodiment, once the second levelness data of the lifting support 500 stably meets the preset support levelness deviation range, the main controller 600 initiates the precision docking program, controlling the lifting support 500 to move once at the preset coordinate of the corresponding lifting leg 210 with a preset second step length. After each step is completed, the lifting support 500 pauses its movement, and the support control module 560 restarts the second levelness detection unit 540 to acquire the current second levelness data. If the second levelness data is still within the preset deviation range, the system jumps to the stepping movement step (i.e., controls the lifting bracket 500 to perform the next step) and continues to approach the coordinates of the lifting leg 210. If the second levelness data exceeds the preset deviation range, the system controls the lifting bracket 500 to retreat to the previous step position with the same preset second step length. After the retreat is completed, the levelness is checked again. If the levelness is confirmed to be up to standard after the retreat, the stepping stops, and a precision alignment completion mark is generated (i.e., the lifting bracket 500 is confirmed to have completed the movement) and a lifting command is generated. If the deviation between the center coordinates of the supporting plane 510 of the lifting bracket 500 and the coordinates of the lifting leg 210 is less than the preset precision docking threshold, a precision alignment completion mark is generated, the movement stops, and a lifting command is generated.
[0066] In this embodiment, the precise docking method employs a preset second-step approach, smaller than the horizontal adjustment step size, to achieve millimeter-level precise alignment between the lifting support 500 and the lifting outrigger 210. This ensures that the lifting outrigger 210 abuts as close as possible to the center of the support plane 510, reducing the risk of stress concentration and uneven force distribution caused by edge contact. The system pauses immediately after each step to check the levelness, capturing in real-time any tilting caused by minor ground unevenness and preventing accumulated deviations. A synchronized long-retreat protection mechanism immediately corrects the position when the levelness exceeds the standard, ensuring the support remains horizontally supported. The dual-termination condition design balances docking accuracy and support stability, guaranteeing lifting alignment accuracy while preventing over-adjustment that could affect efficiency. Fully automated closed-loop control eliminates the need for manual intervention, significantly improving the automation, reliability, and construction safety of the leveling operation.
[0067] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.
Claims
1. A cable laying vehicle, characterized in that, include: Vehicle body; A rotating platform is horizontally rotatable on the vehicle body. Each of the four corners of the rotating platform is equipped with a lifting leg, and each lifting leg faces the ground. A first level detection unit is provided on the rotating platform. Four image acquisition devices corresponding to the four lifting legs are provided at the bottom of the rotating platform. Each image acquisition device is arranged facing the ground and is used to acquire images of the ground area pointed to by the corresponding lifting leg. Multiple first Bluetooth modules, each of which is disposed on the vehicle body or rotating platform; A cable laying system, mounted on the rotating platform, is used to place the cable reel and drive the cable reel to rotate; Four lifting brackets are provided, corresponding to the four lifting legs. The top of each lifting bracket has a support plane for providing support for the corresponding lifting leg. Each lifting bracket is provided with a support control module and a second Bluetooth module, an electric walking mechanism, and a second level detection unit electrically connected to the support control module. The electric walking mechanism is located at the bottom of the lifting bracket, and the walking wheels of the electric walking mechanism are retractable. The main controller is used to acquire the first levelness data of the rotating platform collected by the first level detection unit, acquire ground area image data collected by the four image acquisition devices, and establish a communication connection with the four support control modules.
2. The cable laying vehicle according to claim 1, characterized in that, Each of the lifting supports is also equipped with an obstacle detection unit that is electrically connected to the support control module.
3. The cable laying vehicle according to claim 1, characterized in that, The first Bluetooth module has four components.
4. The cable laying vehicle according to claim 3, characterized in that, The four first Bluetooth modules are arranged at the four corners of the rotating platform.
5. A leveling method, characterized in that, The leveling method, applied to the cable laying vehicle as described in any one of claims 1 to 4, comprises: In response to the leveling command, acquire ground area image data collected by the four image acquisition devices; Based on the preset outrigger position information of each lifting outrigger and the geometric structure data of the lifting bracket corresponding to each lifting outrigger, a candidate area is determined in the corresponding ground area image data. When the lifting bracket is in the candidate area, the lifting outrigger can abut against the support plane of the lifting bracket after it is extended. The flatness information of the candidate area corresponding to each of the lifting supports is determined based on the ground area image data, and the flatness information includes multiple flatness areas of different levels; The geometric center coordinates of the flatness region with the highest flatness level in the flatness information are sent to the support control module of each lifting bracket, so that each support control module determines the real-time coordinates of the bracket based on the Bluetooth strength information of multiple first Bluetooth modules obtained by the second Bluetooth module, and navigates the lifting bracket to the geometric center coordinates based on the real-time coordinates of the bracket. Obtain the second levelness data for each of the lifting supports; When the deviation between the real-time coordinates of each lifting bracket and the geometric center coordinates is within a preset coordinate deviation range, the position of the lifting bracket is adjusted according to the corresponding second levelness data so that the second levelness data meets the preset bracket levelness deviation range. When the second levelness data of each of the lifting supports is within the preset levelness deviation range of the support, the lifting support is controlled to move so that the distance between the center coordinate of the support plane of the lifting support and the coordinate of the lifting leg is shortened, and a lifting command is generated when the movement of the lifting support is completed. Obtain the first levelness data of the rotating platform; In response to the lifting command, the four lifting outriggers are controlled to extend until they abut against the support plane of the corresponding lifting bracket, and a leveling operation is performed according to the first levelness data so that the first levelness data meets the preset main platform levelness deviation range.
6. The leveling method according to claim 5, characterized in that, Each of the lifting supports is further equipped with an obstacle detection unit electrically connected to the support control module. Navigating the lifting support to the geometric center coordinates based on the real-time coordinates of the support includes: Control the lifting support to move towards the geometric center coordinate; During the movement of the lifting support towards the geometric center coordinates, obstacle information collected by the obstacle detection unit is acquired. When the obstacle information indicates the presence of an obstacle, an obstacle avoidance operation is performed so that the lifting support can pass around the obstacle indicated by the obstacle information.
7. The leveling method according to claim 5, characterized in that, The flatness information of the candidate area corresponding to each of the lifting supports is determined by the following steps: Based on the ground area image data, the flatness of each candidate sub-region in the candidate area is determined, wherein the candidate area includes multiple candidate sub-regions; Based on multiple preset flatness levels, threshold ranges are defined to determine the flatness level of each candidate sub-region, thereby obtaining the flatness information.
8. The leveling method according to claim 5, characterized in that, The step of adjusting the position of the lifting support according to the corresponding second levelness data so that the second levelness data meets the preset support levelness deviation range includes: If the second levelness data exceeds the preset support levelness deviation range, the lifting support is controlled to move step by step in the flatness region with the highest flatness level in the flatness information at a first preset step size, and the second levelness data is re-determined after each step movement until the second levelness data is within the preset support levelness deviation range. When the second levelness data is within the preset levelness deviation range of the support, the lifting support stops moving.
9. The leveling method according to claim 8, characterized in that, The step of adjusting the position of the lifting support according to the corresponding second levelness data so that the second levelness data meets the preset support levelness deviation range further includes: If the second levelness data exceeds the preset support levelness deviation range, and after moving with the first preset step size a preset number of adjustment steps, the second levelness data still exceeds the preset support levelness deviation range, the lifting support is controlled to move step by step with the first preset step size in the flatness information between the highest and second highest flatness levels, and the second levelness data is re-determined after each step movement until the second levelness data is within the preset support levelness deviation range.
10. The leveling method according to claim 5, characterized in that, When the second levelness data of each of the lifting supports is within the preset levelness deviation range, controlling the lifting support to move so as to shorten the distance between the center coordinate of the support plane of the lifting support and the coordinate of the lifting leg includes: The lifting support is controlled to move one step towards the coordinate of the lifting leg by a preset second step length, and the second levelness data is reacquired after the step movement is completed; If the second levelness data is within the preset levelness deviation range of the support, the process switches to controlling the lifting support to move towards the coordinates of the lifting leg by a preset second step length. If the second levelness data exceeds the preset levelness deviation range of the support, the lifting support is controlled to retract to the previous step by the preset second step length.