Winding and laying device of sensing optical fiber for municipal pipeline and collaborative control method

Abstract

The application relates to the technical field of optical fiber sensing equipment and automatic control, and discloses a winding and laying device for sensing optical fibers of municipal pipelines and a cooperative control method. The device comprises a first rotating winding mechanism and a second rotating winding mechanism, a first driving mechanism, a second driving mechanism, a detection unit and a controller. The first rotating winding mechanism is used for laying at least one sensing optical fiber on the outer periphery of a pipe material in a spiral track, and the second rotating winding mechanism is used for covering a continuous strip-shaped fixing medium on the outside of the sensing optical fiber in a spiral track. The controller generates a motion reference according to the linear speed of the pipe material and the target winding parameters of the two-stage rotating winding mechanisms respectively, and performs phase constraint on the motion reference of the second rotating winding mechanism according to the corresponding historical phase of the pipe material cross section when arriving at the next-stage winding position at the previous-stage winding position. Therefore, the covering alignment of the continuous strip-shaped fixing medium and the target sensing optical fiber under the variable-speed conveying condition can be improved, and independent adjustment of the two-stage winding parameters can be realized.

Description

Technical Field

[0001] This invention relates to the field of fiber optic sensing equipment and automatic control technology, and in particular to a device for winding and laying fiber optic sensing fibers for municipal pipelines and a collaborative control method thereon. Background Technology

[0002] Municipal water supply and drainage, gas, heat, and industrial pipelines face safety monitoring needs due to issues such as leakage, external intrusion, deformation, strain concentration, and temperature anomalies during long-term operation. Distributed fiber optic sensing can utilize sensing fibers deployed along the pipeline to form a long-distance continuous sensing path. By forming a helical trajectory of the sensing fibers along the outer circumference of the pipe, sensing components in both the axial and circumferential directions can be obtained. Furthermore, the effective fiber length and directional response characteristics per unit axial length can be altered by adjusting the pitch and starting position of the helical trajectory. Therefore, during the manufacturing process of continuous pipes, there are certain stability requirements for the actual laying trajectory, spatial position, and mechanical coupling state between the sensing fibers and the pipe.

[0003] During continuous tubing production, the tubing moves continuously along its axial direction, while a winding mechanism carrying the fiber optic reel and guiding components rotates around the tubing's axis, thus forming the sensing fiber on the outer circumference of the tubing. After winding, the sensing fiber needs to maintain its position before entering subsequent coating or forming processes. Existing continuous winding devices for steel strips, reinforcing fibers, or cable cores often use auxiliary materials such as pressure rollers, pressure pads, or cylinder pressure heads for bonding. For sensing fibers with small diameters that are sensitive to local bending, indentation, and stress concentration, these methods require high adjustment of the clamping state and tubing outer diameter fluctuations, which can easily affect the laying of the sensing fiber and subsequent sensing performance.

[0004] Furthermore, when the fiber optic winding and the outer fixing material covering are completed at different axial positions on the production line, a certain distance exists between the two actual winding positions. Using a fixed mechanical transmission ratio or simply synchronizing the front and rear winding mechanisms according to the same rotation angle at the same moment can easily cause deviations in the positions of the tube materials corresponding to the preceding and following processes when the tube accelerates, decelerates, or its linear speed fluctuates. Simultaneously, when the strip material forms a helical trajectory along the cylindrical surface, the actual width of the strip, the projection of the bandwidth in the axial direction, the intersection width of the oblique strip at a fixed circumferential position, and the distance between adjacent strip loops are all different geometric quantities. Under conditions of small pitch and multiple overlapping layers, problems may arise regarding the difficulty in controlling the covering state and local thickness. Summary of the Invention

[0005] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the objective of this invention is to propose a winding and laying device and a collaborative control method for sensing optical fibers in municipal pipelines, so as to improve the parameter independence and material cross-section alignment accuracy of spiral laying and strip-shaped fixed medium coverage of sensing optical fibers under continuous transmission conditions.

[0006] According to an embodiment of the present invention, a device for winding and laying municipal pipeline sensing optical fiber includes a first rotating winding mechanism and a second rotating winding mechanism arranged at intervals along the pipeline conveying direction, a first driving mechanism and a second driving mechanism respectively for driving the first rotating winding mechanism and the second rotating winding mechanism to rotate around the pipeline axis, as well as a detection unit and a controller. The first rotary winding mechanism is for the tube to pass through, and the position of the first rotary winding mechanism is the pre-winding position. The first rotary winding mechanism is used to lay at least one sensing optical fiber on the outer periphery of the tube in a spiral trajectory. The second rotary winding mechanism is for the tube to pass through and is located downstream of the first rotary winding mechanism. The position of the second rotary winding mechanism is the subsequent winding position. The second rotary winding mechanism is used to cover the outside of the sensing optical fiber with a continuous strip of fixed medium in a spiral trajectory. The detection unit is used to acquire the linear velocity information of the pipe, the motion parameters of the first rotary winding mechanism, and the motion parameters of the second rotary winding mechanism; The controller is communicatively connected to the first drive mechanism, the second drive mechanism, and the detection unit. The controller is configured to: independently generate motion references for the first and second rotary winding mechanisms based on the pipe linear velocity and the target winding parameters of the first and second rotary winding mechanisms, and perform phase constraint on the motion reference of the second rotary winding mechanism based on the historical phase of the first rotary winding mechanism corresponding to the pipe material cross-section that has reached the subsequent winding position when it was at the previous winding position.

[0007] In addition, the apparatus of the above embodiments of the present invention may also have the following additional technical features: According to one embodiment of the present invention, the controller is further configured to: The axial movement of the pipe is accumulated based on the linear velocity information of the pipe to establish the pipe material coordinates, and the correspondence between the rotation phase of the first rotating winding mechanism and the pipe material coordinates is recorded. Based on the axial distance between the pre-winding position and the post-winding position, the historical phase corresponding to the cross-section of the pipe material that is currently reaching the post-winding position when it passes the pre-winding position is determined from the recorded correspondence. Based on the historical phase, and combined with the mechanical installation phase difference between the first rotary winding mechanism and the second rotary winding mechanism and / or the target offset of the continuous strip fixed medium relative to the target sensing fiber, the target phase of the second rotary winding mechanism is determined.

[0008] According to one embodiment of the present invention, the second rotary winding mechanism is provided with a wire feeding adjustment mechanism for feeding the continuous strip-shaped fixed medium and a fixed medium guide assembly for defining the tape exit direction and initial contact position of the continuous strip-shaped fixed medium. The wire feeding adjustment mechanism is used to maintain the longitudinal tension of the continuous strip-shaped fixed medium, so that the continuous strip-shaped fixed medium generates a distributed normal force pointing towards the outer periphery of the pipe along the spiral trajectory of the pipe. The second rotary winding mechanism is not equipped with a pressing actuator that applies independent normal pressure to the continuous strip-shaped fixed medium.

[0009] According to one embodiment of the present invention, the first rotary winding mechanism is provided with a plurality of optical fiber disks and an optical fiber laying adjustment mechanism and an optical fiber guiding assembly corresponding to each optical fiber disk; each sensing optical fiber is led out from the corresponding optical fiber disk and laid to the outer periphery of the tube through the corresponding optical fiber guiding assembly, and each sensing optical fiber is laid out independently to form a spiral trajectory with a predetermined starting phase. The second rotary winding mechanism is provided with at least one fixed medium reel for carrying the continuous strip fixed medium, so that one continuous strip fixed medium covers a specified sensing optical fiber or sensing optical fiber group, or that multiple continuous strip fixed media cover different sensing optical fibers or sensing optical fiber groups respectively.

[0010] According to one embodiment of the present invention, both the first rotary winding mechanism and the second rotary winding mechanism are annular rotary structures having a hollow channel through which the tube passes, and are respectively mounted on the frame via lifting supports, the lifting supports including height adjustment components and mechanical locking components; The upstream of the first rotary winding mechanism and the downstream of the second rotary winding mechanism are respectively provided with support components for supporting the pipe and limiting the lateral displacement of the pipe; The height adjustment component is used to align the first rotary winding mechanism and the second rotary winding mechanism coaxially with the pipe centerline determined by the hosting component as a reference, and the mechanical locking component locks them after alignment.

[0011] According to an embodiment of the present invention, a winding and laying device for sensing optical fibers in municipal pipelines, by setting a first rotating winding mechanism and a second rotating winding mechanism along the pipeline conveying direction, enables the spiral laying of the sensing optical fiber and the spiral covering of the continuous strip-shaped fixed medium to be carried out in a sequential manner. The controller generates motion references based on the pipeline linear velocity and the target winding parameters of each of the two rotating winding mechanisms, allowing the winding parameters of the sensing optical fiber and the covering parameters of the continuous strip-shaped fixed medium to be determined according to their respective process objectives, reducing the limitation of the fixed mechanical transmission ratio on the combination of the two-stage process parameters. Simultaneously, phase constraints are applied to the motion reference of the second rotating winding mechanism based on the historical phase corresponding to the cross-section of the pipeline material at the previous winding position when it reaches the subsequent winding position. This ensures that the cooperative relationship between the two rotating winding mechanisms corresponds to the same cross-section of the pipeline material, rather than simply corresponding to the motion state at the same moment, thereby improving the stability of the covering position relationship between the continuous strip-shaped fixed medium and the target sensing optical fiber when the pipeline linear velocity changes.

[0012] This invention also proposes a collaborative control method for the winding and laying of sensing optical fibers in municipal pipelines, comprising: Obtain the linear velocity information of the pipe being conveyed along the axial direction, and obtain the motion parameters of the first and second rotary winding mechanisms that rotate around the axis of the pipe. Based on the linear velocity of the tube and the target optical fiber winding parameters corresponding to the first rotary winding mechanism, a motion reference for the first rotary winding mechanism is generated. Based on the linear velocity of the pipe and the target strip coverage parameters corresponding to the second rotary winding mechanism, the motion reference of the second rotary winding mechanism is generated independently of the motion reference of the first rotary winding mechanism. The pipe material coordinates are established based on the axial movement of the pipe, and the correspondence between the rotation phase of the first rotating winding mechanism and the pipe material coordinates is recorded. The historical phase of the first rotary winding mechanism is determined based on the cross-section of the tube material when it passes the previous winding position. The motion reference of the second rotary winding mechanism is then phase-constrained based on the historical phase so that the continuous strip-shaped fixed medium and the target sensing optical fiber on the cross-section of the tube material maintain a preset coverage position relationship.

[0013] In addition, the method of the above embodiments of the present invention may also have the following additional technical features: According to one embodiment of the present invention, determining the historical phase of the first rotary winding mechanism corresponding to the pipe material cross-section when it passed the previous winding position based on the pipe material cross-section currently reaching the subsequent winding position, and performing phase constraint on the motion reference of the second rotary winding mechanism based on the historical phase, includes: The pipe's movement is accumulated based on its linear velocity to obtain the pipe's material coordinates, and the axial distance between the pre-winding position and the post-winding position is used as the corresponding distance of the material cross-section. For the pipe material cross section currently located at the subsequent winding position, search for the historical material coordinates in the historical phase data of the first rotary winding mechanism that are different from the material cross section by the current pipe material coordinates, and obtain the historical phase of the first rotary winding mechanism corresponding to the historical material coordinates; The target phase of the second rotary winding mechanism is generated based on the historical phase, the mechanical installation phase difference between the first and second rotary winding mechanisms, and / or the target offset of the continuous strip fixing medium relative to the target sensing fiber.

[0014] According to an embodiment of the present invention, the target strip coverage parameter is determined based on a fiber-following tracking coverage mode or a continuous surface coverage mode. The step of generating a motion reference for the second rotary winding mechanism, independently of the motion reference of the first rotary winding mechanism, based on the linear velocity of the tubing and the target strip coverage parameter corresponding to the second rotary winding mechanism, includes: In the fiber-guided tracking coverage mode, the tape covering pitch of the continuous strip fixed medium is the same as the fiber winding pitch of the covered target sensing fiber and the same rotation direction. The historical phase is used to constrain the second rotating winding mechanism so that the center line of the continuous strip fixed medium coincides with the spiral center line of the target sensing fiber or maintains a predetermined normal offset. In the continuous surface coverage mode, the tape coverage pitch of the continuous tape fixing medium is determined according to the bandwidth of the continuous tape fixing medium, the tube contact diameter corresponding to the continuous tape fixing medium, and the target normal spacing or target coverage ratio, and the tape coverage pitch is independent of the optical fiber winding pitch.

[0015] According to one embodiment of the present invention, in the continuous surface coverage mode, the determination of the target strip coverage parameters includes: The shortest normal distance between the centerlines of two adjacent continuous strip-shaped fixed media in the cylindrical unfolding plane is used as the design parameter of the coverage state. The target normal distance is determined according to at least one of the target gap amount, target overlap amount, or target coverage ratio. The strip coverage pitch is determined according to the helical geometry relationship between the target normal distance and the contact diameter of the pipe. The corresponding subsequent rotation speed and strip feeding speed are determined based on the determined strip cover pitch, and at least one of the equipment rotation speed, strip feeding speed, maximum local cover layer number and maximum local effective thickness corresponding to the strip cover pitch is checked. If the verification results do not meet the preset process limits, adjust the target normal spacing, the bandwidth of the continuous strip fixed medium, or the target coverage ratio, and redetermine the strip coverage pitch.

[0016] According to an embodiment of the present invention, when determining the historical phase of the first rotary winding mechanism corresponding to the previous winding position of the pipe material cross-section when the pipe material cross-section has passed the previous winding position based on the current arrival at the subsequent winding position, and applying phase constraint to the motion reference of the second rotary winding mechanism based on the historical phase, the method includes: Before starting the second rotary winding mechanism to perform fiber tracking and coverage, establish historical phase data of the first rotary winding mechanism that at least covers the transportation process required for the pipe to be transported from the pre-winding position to the post-winding position; When the pipe material coordinates are abnormal, the historical phase data is insufficient, or the pipe conveying direction is reversed, the second rotary winding mechanism is prohibited from entering the fiber-following tracking and covering state. When the linear velocity information of the pipe, the motion parameters of the first rotary winding mechanism or the motion parameters of the second rotary winding mechanism fail, or when any rotary winding mechanism experiences a drive failure or a continuous exceedance of motion error, a coordinated shutdown is performed on the axial conveying of the first rotary winding mechanism, the second rotary winding mechanism and the pipe.

[0017] Additional aspects and advantages 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

[0018] Figure 1 This is a schematic diagram of the overall structure of a fiber optic cable winding and laying device for municipal pipeline sensing in one embodiment. Figure 2 This is a schematic diagram of the transmission structure of the first rotary winding mechanism in one embodiment; Figure 3 This is a schematic diagram illustrating the geometric relationship between the sensing fiber spiral trajectory and the continuous strip-shaped fixed medium coverage trajectory in one embodiment; Figure 4 This is a schematic diagram of the tension-curvature wrapping of a continuous strip-shaped fixed medium and the local layering relationship of the pipe in one embodiment; Figure 5 This is a schematic diagram illustrating the collaborative control relationship of fiber optic sensing installation in a municipal pipeline in one embodiment.

[0019] Explanation of reference numerals in the attached drawings: 1. Tube; 2. First rotary winding mechanism; 3. Support frame; 4. V-shaped support roller; 5. Lifting support; 6. Drive motor; 7. External gear ring; 8. Pinion; 9. Support roller; 10. Fiber optic reel; 11. Inner ring positioning hole; 12. Fiber optic guide assembly; 13. Sensing fiber; 14. Second rotary winding mechanism; 15. Fixed media reel; 16. Fixed media guide assembly; 17. Continuous strip fixed media; 18. Frame; 20. Axial direction of tube; 21. Circumferential unfolding direction; 22. Fiber optic spiral path; 23. Fixed media covering strip; 24. Fixed media centerline; 25. Width of oblique strip intersection; 26. Axial direction of adjacent strips. 26. Cycle, 27. Minimal pitch overlap area, 28. Linear velocity detection unit, 29. Front / back angle or velocity detection unit, 30. Optional tension / state detection estimation unit, 31. Material coordinate and coverage parameter generation, 32. Coordinated speed control, 33. Wire feeding resistance / active wire feeding control, 34. Actuator, 35. Safety interlock and alarm unit, 36. Pipe wall normal support, 37. Fiber tension action direction, 38. Fixed medium tension covering action direction, 39. Fixed medium actual width, 40. Centerline normal spacing, 43. Polymer outer sheath, 44. External process formula input, 45. Material coordinate history cache. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0021] The following describes a device for winding and laying optical fiber for municipal pipeline sensing according to an embodiment of the present invention with reference to the accompanying drawings.

[0022] like Figure 1 As shown, a device for winding and laying sensing optical fibers for municipal pipelines is provided. The device includes a first rotating winding mechanism 2 and a second rotating winding mechanism 14, spaced apart along the pipeline's transport direction, a first driving mechanism, a second driving mechanism, a detection unit, and a controller. The first rotating winding mechanism 2 can specifically be a pre-stage optical fiber rotating frame, and the second rotating winding mechanism 14 can specifically be a post-stage fixed medium rotating frame. The first rotating winding mechanism 2 is located at the pre-stage winding position, and the second rotating winding mechanism 14 is located at the post-stage winding position, with the pre-stage and post-stage winding positions spaced apart along the pipeline's transport direction.

[0023] The tube 1 is continuously fed along the axial direction 20 and passes through the first rotary winding mechanism 2. When the tube 1 passes the previous winding position, the first rotary winding mechanism 2 rotates around the axis of the tube 1, causing at least one sensing optical fiber 13 led out from the first rotary winding mechanism 2 to be continuously laid to the outer periphery of the tube 1, forming a spiral trajectory with the axial movement of the tube 1. The sensing optical fiber 13 can be a single-mode optical fiber, multi-mode optical fiber, bend-insensitive optical fiber, or other sensing optical fiber that can form a slender and flexible sensing path with a protective coating. When the corresponding laying and bending conditions are met, a thin-diameter soft-sheathed sensing optical cable can also be used as the corresponding sensing element.

[0024] The second rotary winding mechanism 14 is located downstream of the first rotary winding mechanism 2. When the tube 1, after passing the previous winding position, continues to move along the tube axial direction 20 to the subsequent winding position, the second rotary winding mechanism 14 rotates around the axis of the tube 1, so that the continuous strip-shaped fixed medium 17 covers the outside of the sensing optical fiber 13 that has been formed on the outer periphery of the tube 1 in a spiral trajectory, thereby maintaining the position of the sensing optical fiber 13.

[0025] The continuous strip-shaped fixing medium 17 refers to a continuous rectangular thin strip of thermoplastic or thermally responsive adhesive material with a defined width and thickness. The continuous strip-shaped fixing medium 17 maintains a directional strip shape at the process temperature during the winding of the sensing optical fiber 13 and the covering of the continuous strip-shaped fixing medium 17. During the subsequent interface temperature process formed by the polymer outer sheath 43, it can undergo at least one of the following states: softening, partial melting, or interfacial bonding with adjacent polymers. After cooling, it can maintain the position of the sensing optical fiber 13, forming a transition layer between the sensing optical fiber 13 and the polymer outer sheath 43.

[0026] The first drive mechanism and the second drive mechanism respectively drive the first rotary winding mechanism 2 and the second rotary winding mechanism 14 to rotate. The first drive mechanism and the second drive mechanism may each include a drive motor 6 and a corresponding transmission structure. The two-stage rotational motion is independent of each other, and the speed ratio between the first rotary winding mechanism 2 and the second rotary winding mechanism 14 does not need to be determined by a fixed mechanical transmission ratio.

[0027] Combination Figure 5 As shown, the detection unit is used to acquire the linear velocity information of the pipe 1 and the motion parameters of the first rotary winding mechanism 2 and the second rotary winding mechanism 14. The linear velocity information can be acquired by the linear velocity detection unit 28, and the motion parameters of the first rotary winding mechanism 2 and the second rotary winding mechanism 14 can be acquired by the front / back angle or speed detection unit 29. The linear velocity of the pipe 1 can be obtained from the production line traction encoder, independent speed measuring wheel, or speed information provided by the production line. The motion parameters of the two-stage rotary winding mechanism can include at least one of rotation angle, rotation phase, and rotation speed. The corresponding detection position can be located on the main body of the rotary mechanism, the drive shaft, or the drive motor 6.

[0028] The controller is communicatively connected to the first drive mechanism, the second drive mechanism, and the detection unit. The controller can execute... Figure 5 The material coordinates and coverage parameters shown correspond to the control functions of generation 31 and coordinated speed control 32, and the corresponding rotation drive process is controlled by the actuator 34. The controller generates a pre-stage motion reference (i.e., the motion reference of the first rotary winding mechanism) based on the linear velocity of the tube 1 and the target fiber winding parameters corresponding to the first rotary winding mechanism 2, and generates a post-stage motion reference (i.e., the motion reference of the second rotary winding mechanism) based on the linear velocity of the tube 1 and the target strip coverage parameters corresponding to the second rotary winding mechanism 14. Thus, the pre-stage motion reference and the post-stage motion reference are generated by the corresponding process targets, without requiring the direct acquisition of the other stage motion reference from the current motion state of one stage according to a fixed ratio.

[0029] Since the pre-winding position and the post-winding position are spaced apart along the conveying direction of the tube 1, the controller records the historical motion information corresponding to the first rotating winding mechanism 2 during the movement of the tube 1 from the pre-winding position to the post-winding position. For the tube material cross-section that has now reached the post-winding position, the controller obtains the historical phase corresponding to the first rotating winding mechanism 2 when the material cross-section passed through the pre-winding position, and uses the historical phase to constrain the motion reference of the second rotating winding mechanism 14, so that the post-covering process establishes a correspondence between the tube material cross-section and the spiral trajectory of the pre-sensing optical fiber 13.

[0030] In one embodiment, the controller accumulates the axial movement of pipe 1 based on its linear velocity, and establishes pipe material coordinates corresponding to the pipe's physical position. Let the axial linear velocity of the pipe be... The cumulative material coordinates of the pipe are Then the coordinates of the pipe material can be expressed as: (1) Equation (1) converts the time information during the production process into the cumulative axial movement distance of pipe 1 by accumulating the axial linear velocity of pipe 1 over time. The pipe material coordinates established in this way follow the movement of the pipe body cross section, rather than simply using the control time as the position identifier. Therefore, when pipe 1 accelerates, decelerates, or fluctuates in linear velocity, the same pipe material cross section corresponding to different winding positions can still be determined based on the cumulative movement distance.

[0031] The controller records the correspondence between the rotation phase of the first rotating winding mechanism 2 and the coordinates of the pipe material, and can store the corresponding data in [the relevant storage location]. Figure 5 The material coordinates shown are in the history cache 45.

[0032] Let the axial distance between the positions of the preceding and following winding stages be... The current time is The preceding stage historical moment corresponding to the current pipe material cross-section reaching the subsequent winding position is... ,but: (2) Equation (2) states that the distance between the current material coordinates and the historical material coordinates is equal to the axial spacing between the previous winding position and the subsequent winding position. As a matching condition, this determines the historical moment when the cross-section of the pipe material currently at the subsequent winding position passed through the previous winding position. This matching relationship is determined by the actual distance the material moves, therefore pipe 1 is not required to maintain a constant linear velocity.

[0033] The controller determines the historical material coordinates according to equation (2) and obtains the corresponding previous historical phase in the material coordinate history cache 45.

[0034] In the specific case of fiber-coated coverage, let the preceding historical phase be... The mechanical installation phase difference between the first rotary winding mechanism 2 and the second rotary winding mechanism 14 is . The phase quantity corresponding to the target bias of the continuous strip fixed medium 17 relative to the target sensing fiber is: The phase of the subsequent target can be expressed as: (3) As can be seen from equation (3), the target phase of the second rotary winding mechanism 14 is based on the historical phase corresponding to the same pipe material cross-section at the previous winding position, and is further corrected by combining the actual installation relationship between the previous and subsequent stages and the required coverage offset. Therefore, the phase of the subsequent stage tracks the trajectory of the previous stage corresponding to the same pipe material cross-section, rather than the instantaneous phase of the first rotary winding mechanism 2 at the current moment.

[0035] in, This indicates that the phase is normalized according to one rotation cycle. The mechanical installation phase difference can be determined by the circumferential installation relationship of the corresponding guide positions of the front and rear stages. The target offset is used to make the center line of the continuous strip fixed medium 17 coincide with the spiral center line of the target sensing fiber or to maintain the set offset.

[0036] When pipe 1 maintains a constant linear velocity, the previous historical time can also be determined based on the spacing between the winding positions and the linear velocity of the pipe. When pipe 1 is in a state of acceleration, deceleration, or linear velocity fluctuation, the previous historical phase can be traced back based on the pipe material coordinates, which can reduce the material cross-section mismatch caused by directly synchronizing the current moment's front and back rotation phases.

[0037] In one embodiment, such as Figure 1 and Figure 4 As shown, the second rotary winding mechanism 14 includes a fixed medium reel 15, a pay-off adjustment mechanism corresponding to the fixed medium reel 15, and a fixed medium guide assembly 16. The continuous strip-shaped fixed medium 17 is drawn out from the fixed medium reel 15, passes through the pay-off adjustment mechanism and the fixed medium guide assembly 16, and reaches the outer periphery of the pipe 1. The fixed medium guide assembly 16 is used to define the exit direction, lateral position, cutting direction, and initial contact position of the continuous strip-shaped fixed medium 17.

[0038] The wire feeding adjustment mechanism maintains the corresponding longitudinal tension of the continuous strip-shaped fixed medium 17 during the winding process. After passing through the fixed medium guide assembly 16, the continuous strip-shaped fixed medium 17 approaches the pipe 1 in a tangential or near-tangential direction and forms a spiral trajectory along the outer periphery of the pipe 1. Due to the curvature of the spiral trajectory, the longitudinal tension generated along the tension-enveloping direction 38 of the fixed medium continuously changes direction during the movement of the continuous strip-shaped fixed medium 17, thereby forming a distributed normal force pointing towards the outer periphery of the pipe 1. The pipe 1 generates a corresponding pipe wall normal support 36 on the continuous strip-shaped fixed medium 17.

[0039] Let the helical radius corresponding to the centerline of the continuous strip-shaped fixed medium 17 be... The pitch is The angle between the helical tangent and the pipe axis is The curvature of the centerline of the continuous strip-shaped fixed medium 17 is ,but: (4) Equation (4) converts the helical trajectory parameters of the continuous strip-shaped fixed medium 17 into the centerline curvature. At the helical radius... Under the condition that it remains basically unchanged, the strip covers the pitch The smaller the value, the greater the curvature of the spiral trajectory, corresponding to the curvature. Larger; strip coverage pitch The larger the value, the smoother the spiral trajectory, and the corresponding curvature decreases. This relationship is used to link the subsequent tension effect with the actual winding trajectory of the strip.

[0040] Let the longitudinal tension of the continuous strip-shaped fixed medium 17 be... The normal linear load per unit arc length of the centerline can be estimated as: (5) Equation (5) shows that when the continuous strip-shaped fixed medium 17 maintains longitudinal tension along the spiral trajectory, the tension direction continuously changes with the curved path, thereby forming a normal linear load towards the outer periphery of the pipe 1. Under longitudinal tension... Under the same conditions, the greater the helical curvature, the greater the normal force generated per unit centerline arc length; with the same helical trajectory, increasing the longitudinal tension will also correspondingly increase the normal force. Therefore, the strip tension and the helical trajectory curvature jointly determine the resulting distributed normal force.

[0041] Let the actual width of the continuous strip-shaped fixed medium 17 be 39. When the strip has appropriate flexibility, the contact area is close to full-width contact, and the tension is approximately uniform along the width direction, the average normal pressure can be estimated as follows: (6) Equation (6) further applies the normal load obtained from equation (5) to the actual width of the continuous strip-shaped fixed medium 17. The distribution is used to estimate the average normal pressure between the strip and the tube 1. With the same longitudinal tension and helical curvature, the average normal pressure per unit area decreases as the strip width increases. This relationship is established under the conditions of appropriate strip compliance, near-full-width contact area, and approximately uniform tension along the strip width direction, and is used for process design estimation.

[0042] Equations (4) to (6) are used to estimate the normal force formed by tension and helical curvature in the process design. The actual bonding state can also be affected by factors such as the bending stiffness, surface friction, bandwidth, guide position, local protrusions and production speed of the continuous strip fixed medium 17. Therefore, the corresponding tension range can be determined in conjunction with the first piece test.

[0043] By forming a distributed normal force through the aforementioned tension and helical curvature, the second rotary winding mechanism 14 does not require pressure rollers, pressure cylinders, cylinder heads, or swing arm pressure rollers whose primary function is to apply independent normal pressure to the continuous strip-shaped fixed medium 17. The guiding contact, edge-limiting contact, or contact formed by assembly gaps between the fixed medium guide assembly 16 and the continuous strip-shaped fixed medium 17 can be considered as part of the guiding process, rather than as the aforementioned independent pressing actuator.

[0044] The pay-off adjustment mechanism can employ an adjustable pay-off resistance mechanism or an active pay-off mechanism. An adjustable pay-off resistance mechanism can generate modulated torque through friction, hysteresis, or magnetic powder. An active pay-off mechanism can employ motor speed control, torque control, or a combination of both. Based on material type, roll diameter range, linear velocity range, and acceleration range, the corresponding pay-off parameters can be pre-established. When setting tension detection or roll diameter detection, feedback corrections can be made based on the corresponding pay-off parameters.

[0045] The specific material of the continuous strip fixing medium 17 can be a hot melt adhesive film or tape, a thermoplastic elastomer tape, a co-extruded composite adhesive tape, or other tape materials that simultaneously meet the above requirements for strip shape, thermal response state, and position retention after cooling. Different continuous strip fixing media 17 can be selected according to the material of the polymer outer sheath 43 and the actual interface temperature history formed by the coating, so that the continuous strip fixing medium 17 maintains the required strip shape during the winding and covering stages, and forms a corresponding position retention function during the subsequent coating and cooling processes.

[0046] In one embodiment, such as Figure 1 and Figure 2 As shown, the first rotating winding mechanism 2 is provided with multiple fiber optic disks 10, and each fiber optic disk 10 is provided with a corresponding fiber optic cable laying adjustment mechanism and a fiber optic guide assembly 12. Each sensing fiber optic cable 13 is led out from the corresponding fiber optic disk 10 and, under the tension shown in the fiber tension direction 37, reaches the outer periphery of the tube 1 through the corresponding fiber optic guide assembly 12. The fiber optic guide assembly 12 is used to define the outgoing direction, cutting direction, circumferential starting position, and initial contact position of the sensing fiber optic cable 13.

[0047] Multiple fiber optic discs 10 are used to lay out their corresponding sensing fibers 13 separately, without requiring different sensing fibers 13 to be connected in series. In the illustrated embodiment, four fiber optic discs 10 and four sets of fiber optic guide assemblies 12 can be set so that the four sensing fibers 13 form corresponding helical trajectories. The initial phase of each sensing fiber 13 can be set according to the monitoring direction and arrangement requirements. For example, the four sensing fibers 13 can be arranged with a circumferential phase difference of 90°, or they can form an unequally spaced initial phase relationship.

[0048] When different sensing optical fibers 13 have the same pitch The initial phase difference between the two sensing fibers is When this phase difference occurs, the axial offset corresponding to this phase difference within one pitch can be expressed as: (7) Equation (7) utilizes a complete rotation cycle With a fiber pitch The correspondence between them is used to convert the circumferential initial phase difference between the two sensing optical fibers 13 into an axial position difference within the same pitch range. Limiting the phase difference to one rotation cycle can be used to determine the relative spiral position formed when multiple sensing fibers 13 adopt different initial phases. Equation (7) can be used as a design verification relationship when configuring the initial phases of multiple sensing fibers 13, and is not required as a necessary real-time calculation step in the rotation and winding process.

[0049] The second rotary winding mechanism 14 can be equipped with one or more fixed medium reels 15. When one fixed medium reel 15 is provided, a continuous strip of fixed medium 17 can cover a designated sensing optical fiber 13 or a predetermined group of sensing optical fibers; when multiple fixed medium reels 15 are provided, different continuous strips of fixed medium 17 can correspond to different sensing optical fibers 13 or groups of sensing optical fibers. The number of fixed medium reels 15 shown in the attached figures is for illustrative purposes only and is not intended to limit the actual number provided.

[0050] In one embodiment, such as Figure 1 and Figure 2 As shown, both the first rotary winding mechanism 2 and the second rotary winding mechanism 14 adopt annular rotary structures with hollow channels. The pipe 1 passes laterally through the central area of ​​the corresponding annular rotary structure along the axial direction. The annular surface of the annular rotary structure is basically perpendicular to the axis of the pipe 1, so that the pipe 1 can pass through the two rotary winding mechanisms during continuous conveying, and the two rotary winding mechanisms rotate continuously around the axis of the pipe 1.

[0051] by Figure 2 Taking the first rotary winding mechanism 2, which uses a pre-stage fiber optic rotating frame as an example, an outer gear ring 7 can be provided on the outer circumference of the annular body. The drive motor 6 drives the pinion 8 to rotate, and the pinion 8 meshes with the outer gear ring 7, thereby driving the first rotary winding mechanism 2 to rotate around the axis of the tube 1. The support roller 9 provides radial and axial support or limit for the annular body. The annular body can also be provided with an inner ring positioning hole 11 for corresponding assembly positioning. The meshing transmission between the pinion 8 and the outer gear ring 7 is a specific transmission form. The rotary drive can also adopt a synchronous belt, chain drive, or direct drive, etc., which can form a corresponding rotary motion.

[0052] like Figure 1 As shown, the first rotary winding mechanism 2 and the second rotary winding mechanism 14 are respectively mounted on the frame 18 via lifting supports 5. The lifting support 5 includes a height adjustment component and a mechanical locking component. The height adjustment component can be a lead screw, worm gear screw, wedge, hydraulic cylinder, or electric push rod, etc.; the mechanical locking component can be a locking nut, pressure plate, positioning pin, or a structure that can maintain the position of the rotating mechanism after alignment is completed.

[0053] Upstream of the first rotary winding mechanism 2 and downstream of the second rotary winding mechanism 14, respectively, a support assembly is provided. The support assembly may include a support frame 3 and V-shaped support rollers 4 mounted on the support frame 3. The tube 1 passes through the roller grooves of the V-shaped support rollers 4, and is supported and has its lateral displacement restricted by the V-shaped support rollers 4. The support assembly is used to determine the centerline position of the tube 1 in the device and is not used to press against the sensing optical fiber 13 or the continuous strip-shaped fixing medium 17.

[0054] When installing the device or changing the type for different pipe diameters, the centerline of the pipe determined by the support assembly can be used as a reference. The heights of the first rotating winding mechanism 2 and the second rotating winding mechanism 14 can be adjusted by using the lifting support 5 to align the centers of the two annular rotating structures with the centerline of the pipe 1. The alignment process can be completed using a mechanical reference, a centering mandrel, a height gauge, or a centering instrument. After coaxial alignment is completed, the lifting support 5 is locked using a mechanical locking component.

[0055] In the above embodiment, the first rotary winding mechanism 2 and the second rotary winding mechanism 14 sequentially implement the spiral laying of the sensing optical fiber 13 and the spiral covering of the continuous strip-shaped fixed medium 17 according to the conveying direction of the pipe 1, and form two-level motion references according to the corresponding target winding parameters, so that the trajectory parameters of the sensing optical fiber 13 and the covering parameters of the continuous strip-shaped fixed medium 17 can be configured independently. At the same time, by making the second rotary winding mechanism 14 perform phase constraint according to the previous historical phase corresponding to the current pipe material cross-section, the spatial separation of the front and rear winding positions and the covering position deviation caused by the speed change of the pipe 1 can be reduced.

[0056] In one embodiment, such as Figure 5 As shown, a collaborative control method for the winding and laying of sensing optical fibers in municipal pipelines is also provided. This method can be applied to the above-mentioned winding and laying device and includes the following steps.

[0057] Step S101: Obtain the linear velocity information of the pipe being conveyed along the axial direction, and obtain the motion parameters of the first and second rotary winding mechanisms that rotate around the pipe axis.

[0058] Specifically, the axial linear velocity of the pipe 1 is obtained through the linear velocity detection unit 28. The rotation angle, rotation phase, or rotation speed of the first rotating winding mechanism 2 and the second rotating winding mechanism 14 are obtained through the front / back angle or speed detection unit 29.

[0059] Figure 5 The optional tension / condition detection and estimation unit 30 is also shown. For operating conditions with high production speeds, narrow allowable material tension ranges, or high requirements for coverage consistency, tension, roll diameter, strip position, temperature, tube outer diameter, and fiber or strip breakage status can be further collected. The above-mentioned enhanced detection is used to correct the unwinding status or to make anomaly judgments. The basic two-stage rotary motion control can still be executed based on the tube linear velocity and the angle or speed information of the two-stage rotary winding mechanism.

[0060] Step S102: Generate a motion reference for the first rotary winding mechanism based on the linear velocity of the pipe and the target optical fiber winding parameters corresponding to the first rotary winding mechanism.

[0061] The target fiber winding parameters may include the target fiber pitch. Let the axial pitch of the sensing fiber 13 be... The angular velocity of the first rotating winding mechanism 2 is ,but: (8) Equation (8) represents the axial movement distance of the pipe 1 when it completes one pre-stage rotation cycle, i.e., the axial pitch formed by the sensing fiber 13. When the angular velocity of the first rotating winding mechanism 2 remains constant, the linear velocity of the pipe... Increasing the pitch will increase the fiber pitch; while keeping the tube linear velocity constant, increasing the angular velocity of the first rotating winding mechanism 2 will decrease the fiber pitch.

[0062] Let the pitch of the target fiber be... The sign of the rotation direction of the preamp is ,in Depending on the direction of rotation, +1 or -1 can be used to determine the reference angular velocity of the preceding stage, which can then be expressed as: (9) Equation (9) determines the angular velocity reference of the first rotating winding mechanism 2 by reversing equation (8), so that the target fiber pitch is... It can be directly converted into equipment motion commands. Specifically, when the linear velocity of the pipe changes, the angular velocity reference changes accordingly to maintain the set target fiber pitch; rotation direction symbol. Used to determine the helical direction of the sensing fiber 13.

[0063] The target fiber pitch can be determined by Figure 5 The external process recipe input 44 is provided. The external process recipe can be determined based on production experience, distributed sensing spatial resolution design, orientation sensitivity design, bending conditions, subsequent shrinkage compensation, or corresponding multiphysics design results. In this embodiment, the corresponding target parameters are used to form the equipment motion reference, and it is not required that the target parameters be generated by the controller according to a certain fixed algorithm.

[0064] To design the process parameters for the target fiber winding, further verification can be performed based on the helical geometry. Let the equivalent diameter at the location of the helical centerline be... The pitch is The angle between the helical tangent and the pipe axis is ,but: (10) (11) (12) Equations (10) to (12) describe the helix angle from different trigonometric relationships. With pitch and equivalent diameter The relationships between these relationships are as follows: For the same equivalent diameter, a decrease in pitch increases the inclination of the helix trajectory relative to the pipe axis; for the same pitch, an increase in the equivalent diameter also increases the helix angle. These relationships are also used for subsequent geometric conversions of bandwidth projection, normal spacing, and theoretical feed rate.

[0065] Let the helix radius be The radius of curvature of the corresponding spiral centerline is ,but: (13) Equation (13) determines the radius of curvature of the helical centerline based on the helical radius and pitch. When the helical radius remains essentially constant, increasing the pitch increases the radius of curvature, and the degree of curvature of the helical trajectory decreases accordingly; this radius of curvature can be further used to determine the bending state of the sensing fiber 13 under the corresponding helical trajectory.

[0066] For sensing fiber 13, let the equivalent outer diameter of the fiber be... According to the corresponding radius of curvature The estimated bending strain is Allowable bending strain is Then the following verification can be performed: (14) Equation (14) represents the distance from the centerline to the outer edge of the sensing fiber 13. With the radius of curvature of the spiral trajectory The bending strain is estimated by the ratio of the calculated bending strain to the allowable bending strain. When the calculated value does not exceed the allowable value, the corresponding combination of fiber pitch and tube diameter meets the bending strain check requirement.

[0067] This bending strain relationship is used for process verification of the target winding parameters. The actual optical loss of the sensing fiber 13 is also related to factors such as the coating layer, contact state, temperature, and microbending, which can be further determined through corresponding experiments.

[0068] Subsequent outer layer processing may cause axial shrinkage of the pipe, and effective axial shrinkage strain estimates have been obtained through testing. In this case, the target fiber pitch can also be corrected using the following feedforward relationship: (15) Equation (15) is used to compensate for the axial shrinkage of the pipe material that has been experimentally determined during subsequent outer layer processing and cooling. When the effective axial shrinkage strain... When it is positive, the actual command pitch of the preceding stage. Relative to the final target pitch The pitch is pre-increased so that the actual pitch after subsequent axial shrinkage is close to the target value. This correction is only used when the corresponding shrinkage test data has been obtained. The target pitch is the one expected to be obtained after the corresponding subsequent processing. Equation (15) is an example of process recipe generation and does not constitute a step that must be performed for basic rotation control.

[0069] Step S103: Based on the linear velocity of the pipe and the target strip coverage parameters corresponding to the second rotary winding mechanism, generate the motion reference of the second rotary winding mechanism independently of the motion reference of the first rotary winding mechanism.

[0070] Specifically, the target strip coverage parameters of the second rotary winding mechanism 14 may include the target strip coverage pitch. Let the axial coverage pitch of the continuous strip-shaped fixed medium 17 be... The angular velocity of the second rotating winding mechanism 14 is The distance that the tube 1 moves axially during one rotation cycle of the second rotary winding mechanism 14 constitutes the corresponding strip cover pitch, which can be expressed as: (16) Equation (16) shows that the strip cover pitch is determined by the axial linear velocity of the tube 1 and the angular velocity of the second rotary winding mechanism 14. When the angular velocity is constant, increasing the linear velocity of the tube increases the strip cover pitch; when the linear velocity of the tube is constant, increasing the angular velocity of the second rotary winding mechanism 14 decreases the strip cover pitch.

[0071] Let the target strip cover pitch be The sign of the direction of rotation of the subsequent stage is ,in Depending on the direction of rotation, +1 or -1 can be taken, and the angular velocity reference of the second rotating winding mechanism 14 can be expressed as: (17) Equation (17) converts the target strip coverage pitch of the subsequent stage into a motion reference for the second rotary winding mechanism 14. Because... The motion reference of the second rotary winding mechanism 14 is determined based on the corresponding strip coverage target of the subsequent stage, rather than being generated according to a fixed ratio based on the current motion reference of the first rotary winding mechanism 2. Therefore, the motion reference of the second rotary winding mechanism 14 can be generated independently of the motion reference of the first rotary winding mechanism 2.

[0072] In one embodiment, combined Figure 3 and Figure 5 As shown, the target strip coverage parameters can be determined based on either the fiber-tracked coverage mode or the continuous surface coverage mode.

[0073] In the fiber-guided tracking coverage mode, the covering pitch of the continuous strip-shaped fixed medium 17 is made the same as the fiber winding pitch of the target sensing fiber being covered, and the rotation directions of the preceding and following stages are made the same. The controller then combines the historical phase of the preceding stage corresponding to the material coordinates to perform phase constraint on the second rotating winding mechanism 14, thereby... Figure 3 The center line 24 of the fixed medium shown coincides with the fiber spiral path 22 formed by the target sensing fiber, or maintains a predetermined normal offset in the cylindrical unfolding plane.

[0074] In a specific coverage verification process, let the first... The equivalent outer diameter of the root sensing fiber 13 is , No. Root sensing fiber 13 centerline to the The normal offset of the centerline of the continuous strip-shaped fixed medium 17 is as follows: , No. The actual width of the continuous strip-shaped fixed medium 17 is The total allowance considering positional error, strip misalignment, and process variations is: Then, the following formula can be used to determine whether the target sensing fiber is located within the effective bandwidth: (18) Equation (18) converts the normal offset of the sensing fiber 13 relative to the center line of the strip, the radius of the sensing fiber 13 itself, and the positional error, deviation and shrinkage allowance that may occur during the manufacturing process into the normal width direction of the strip. When the sum of the three does not exceed half the width of the continuous strip fixed medium 17, it can be considered that the target sensing fiber is located within the effective coverage width range of the corresponding strip.

[0075] When a continuous strip of fixed medium 17 covers multiple sensing optical fibers 13, each covered sensing optical fiber 13 can be checked according to formula (18).

[0076] In continuous surface coverage mode, the tape coverage pitch is not required to be the same as the fiber winding pitch of the sensing fiber 13. Instead, the subsequent motion parameters are determined based on the bandwidth of the continuous tape-shaped fixed medium 17 itself and the required surface coverage state.

[0077] like Figure 3 As shown, Figure 3The upper part shows the three-dimensional spiral coverage relationship of the outer circumference of the pipe, the middle part shows the cylindrical unfolding relationship after unfolding along the circumferential direction, and the lower part shows the partial schematic relationship when adjacent fixed medium covering strips are in a state of gap, exactly adjacent, and overlapping. After the pipe 1 is unfolded along the circumference, a cylindrical unfolding plane can be formed by the pipe axial direction 20 and the circumferential unfolding direction 21. The sensing optical fiber 13 forms an inclined optical fiber spiral path 22 in the unfolding plane, and the continuous strip-shaped fixed medium 17 forms a fixed medium covering strip 23, which extends along the fixed medium centerline 24.

[0078] The width of the continuous strip-shaped fixed medium 17, measured along a direction perpendicular to the center line 24 of the fixed medium, is the actual width 39 of the fixed medium, denoted as . Let the angle between the helical tangent of the strip and the axis of the pipe be . The actual width of the strip is projected onto the tube along the axial direction 20. for: (19) Equation (19) represents the orthographic projection of the actual width 39 of the fixed medium onto the axial direction 20 of the pipe, thus describing the axial component of the strip width vector. With the strip helix angle... As the axial projection increases, the projection gradually increases; this parameter cannot be directly used as a basis for judging whether there is a gap or overlap between two adjacent strips.

[0079] Within the cylindrical unfolded plane, a reference line corresponding to a fixed circumferential position intersects with an inclined fixed medium covering strip 23; the resulting intersection length constitutes... Figure 3 The width of the oblique strip intersection shown is 25, denoted as ,but: (20) Equation (20) describes the intersection length obtained when a fixed circumferential reference line passes through the inclined fixed medium covering strip 23 in the cylindrical unfolded plane. This differs from the axial projection of the width vector in Equation (19). This indicates the axial intersection range visible at a fixed circumferential position, which can be compared with the axial period of two adjacent strip rings. Compare them.

[0080] in, Figure 3 The axial period of the adjacent belt rings is 26. , represents the distance along the axial direction 20 of the pipe between the intersection points of the center lines 24 of two adjacent rings of fixed medium and the same fixed circumferential reference line in the cylindrical unfolded plane, and the axial period 26 of the adjacent rings is the strip cover pitch of the continuous strip fixed medium 17.

[0081] For two adjacent continuous strip-shaped fixed media 17, the shortest distance between the centerlines 24 of the adjacent fixed media in the cylindrical unfolded plane is taken as the normal distance 40 between the centerlines, denoted as... Let the equivalent diameter at the contact point of the centerline of the continuous strip-shaped fixed medium 17 be... ,but: (twenty one) Equation (21) represents the period of two adjacent strips in the axial direction of the tube. This is converted to the shortest normal distance between the centerlines 24 of the two fixed media in the cylindrical unfolded plane. Since the actual width 39 of the fixed media is also measured along the normal direction of the centerline 24 of the fixed media, therefore... Can directly with Comparison is used to determine whether adjacent strips are in a covering state with gaps, are exactly adjacent, or overlap.

[0082] according to and The relationship between the edges of adjacent fixed media covering strips 23 can be used to determine their relative positions. The relative edge positions are used to indicate the relative relationship between the edges of two adjacent rings of fixed media covering strips 23. When they are separated, a gap is formed; when they cross each other, they overlap. Normal gap measurement. and normal overlap It can be represented as: (twenty two) (twenty three) Equations (22) and (23) address two different coverage states for adjacent strips, respectively. When At that time, normal clearance amount Positive normal overlap It is zero; when At that time, normal overlap For positive and normal gap quantity It is zero; when When both are zero, the corresponding two adjacent strips are exactly adjacent. Therefore, the two equations do not use two different names for the same quantity, but rather quantify the mutually exclusive gap state and overlap state respectively.

[0083] Correspondingly, the intersection gap formed in the direction of the fixed circumferential reference line and overlap It can be represented as: (twenty four) (25) Equations (24) and (25) convert the gap or overlap measured along the normal direction of the strip to the axial intersection direction corresponding to the fixed circumferential reference line, so as to match... Figure 3 The cylindrical expansion relationship shown corresponds to this. This conversion is consistent with the geometric relationship of the oblique zone intersection in equation (20).

[0084] The ratio of the actual width of the fixed medium (39) to the centerline normal spacing (40) is further defined as the coverage ratio, denoted as . ,but: (26) Equation (26) uses dimensionless coverage ratio A unified description is provided regarding the relationship between strip width and the centerline spacing of adjacent strips. Among these, There are corresponding uncovered gaps. The corresponding adjacent strips are exactly adjacent to each other. The corresponding adjacent strips overlap. and These are two equivalent representations of the same coverage state in the normal direction and in the direction of the fixed circumferential reference line.

[0085] when At that time, there is a gap between adjacent fixed media covering strips 23; when When, adjacent fixed media covering strips 23 are adjacent to each other; when At this time, adjacent fixed medium covering strips 23 overlap, and can form under relatively small pitch conditions. Figure 3 The minimal pitch overlap region 27 is shown.

[0086] In a further embodiment, in continuous surface coverage mode, the centerline normal spacing of 40 is used as a direct design parameter. Let the target normal spacing be... The target normal gap is The target normal overlap is The target coverage ratio is The target normal spacing can be determined using one of the following relationships according to the process objectives: (27) or: (28) or: (29) Equations (27) to (29) correspond to three formulation setting methods using target gap amount, target overlap amount, or target coverage ratio as process inputs, respectively. The actual formulation can select one of them according to the coverage target adopted. When the target gap is required to be maintained between adjacent strips, the target normal spacing is greater than the actual width of the strip; when the target overlap is required to be formed, the target normal spacing is less than the actual width of the strip; when the target coverage ratio is set, the target normal spacing is directly obtained from the bandwidth and the target coverage ratio.

[0087] In satisfying:

[0088] In this case, according to the helical geometry relationship of equation (21), the target strip coverage pitch can be directly determined from the target normal spacing: (30) Equation (30) is obtained by inverse solving the normal spacing relationship of equation (21), and the target normal spacing can be directly converted into the target strip coverage pitch required by the second rotary winding mechanism 14. When the square root remains positive, an effective tape coverage pitch can be obtained. This avoids repeatedly iterating to obtain the pitch using the oblique tape intersection width, allowing the coverage state to be directly converted into subsequent motion parameters.

[0089] After obtaining the target strip coverage pitch using equation (30), the angular velocity reference corresponding to the second rotary winding mechanism 14 is generated according to equation (17). Thus, the actual width 39 of the fixed medium, the centerline normal spacing 40, or the coverage ratio can be further converted into executable subsequent motion parameters.

[0090] The target strip coverage pitch obtained from equation (30) can also be used for process verification based on the equipment's maximum rotational speed, the strip's maximum unwinding speed, the allowable tension and acceleration range, the maximum number of local coverage layers, and the maximum local effective thickness. When the corresponding parameters exceed the preset process limits, the target normal spacing can be adjusted. The actual width of the continuous strip-shaped fixed medium 17 Or target coverage ratio Then, the strip coverage pitch is redefined.

[0091] For periodic coverage areas where the strip width and strip pitch are basically constant, and the centerlines 24 of adjacent fixed media are basically parallel, the number of local layers can be further estimated. Let the position variable along the normal direction be... The number of local cover layers is ,but: (31) Equation (31) uses statistical methods to determine the normal position. The number of local overlay layers at a given location is determined by the number of periodically arranged strip widths within which the strip falls. This relationship is applicable under ideal periodic overlay conditions, where adjacent strip centerlines are parallel, normal spacing is essentially constant, and bandwidth and pitch are essentially stable. Therefore, it is used for offline formulation and local overlay layer estimation. This indicates that the corresponding overlay layer is included when the conditions within the parentheses are met.

[0092] The coverage ratio is expressed as: (32) Equation (32) decomposes the coverage ratio into integer parts. and decimal part Within the ideal periodic coverage area, the integer part The fractional part indicates the base coverage layer number. Corresponding appearance The proportion of the area covered by the layer can be used to further estimate the distribution of different local layers in the periodic region.

[0093] Within the ideal periodic coverage area, local areas can form Layers and Layer coverage, The proportion of the layer area is , The proportion of the layer area is The maximum number of local coverage layers can be expressed as: (33) Equation (33) indicates that under the above ideal periodic coverage conditions, the maximum number of possible local coverage layers can be obtained by rounding up the coverage ratio, which is used to check the maximum number of layers limit for continuous surface coverage formulations.

[0094] For example, when the coverage ratio At that time, the ideal periodic area can have approximately 50% of the area covered by single-layer coverage and 50% of the area covered by double-layer coverage; when At that time, the stable periodic region has a double-layer coverage; when At that time, approximately 50% of the area can have double-layer coverage, and 50% of the area can have triple-layer coverage. At the same time, it can create uncovered areas and single-layer covered areas.

[0095] For example, when the coverage ratio is 1.15, the proportion of double-layer coverage in the ideal periodic area is approximately 15%; when the coverage ratio is 2.20, the proportion of triple-layer coverage is approximately 20%. These relationships illustrate the coverage geometry in the ideal periodic area. For the starting end, rewind joints, necking areas caused by tension variations in bandwidth, pipe diameter fluctuation areas, or strip misalignment areas, the local coverage status can be further determined through actual measurements.

[0096] Combination Figure 4 As shown, when multiple layers of the continuous strip-shaped fixed medium 17 overlap, different local layers will change the local thickness of the outer periphery of the pipe 1. Assume local common... Layered continuous strip fixed medium 17, the first The actual thickness of the layer is The corresponding compression ratio is The local effective thickness is denoted as ,but: (34) Equation (34) accumulates the local effective thickness layer by layer according to the actual thickness of each strip and the corresponding compression state, thus reflecting the situation that different cover layers may have different thicknesses or different degrees of compression.

[0097] When the materials and pressure conditions of each continuous strip of fixed medium 17 are approximately the same, a simplified relationship can be used: (35) in, The nominal thickness of a single layer of the continuous strip-shaped fixed medium 17. Equation (35) represents the average compression ratio under the corresponding multilayer conditions. Equation (35) simplifies Equation (34) by using a uniform nominal thickness of a single layer and an average compression state, and can be used in multilayer regions where the differences in materials and compression states are small.

[0098] In a specific manufacturing scenario where a polymer outer sheath 43 is subsequently formed on the continuous strip-shaped fixed medium 17, further thermal and interface state checks can be performed on the multi-layered covered area. Let the first... The thickness of the layer is Thermal conductivity is The density is Specific heat capacity is The shear modulus is The interfacial shear stiffness between adjacent layers is Then the local thermal resistance can be estimated as: (36) Equation (36) is used to estimate the degree of obstruction of heat transfer along the thickness direction by summing the thermal resistance of each layer of material along the thickness direction.

[0099] The local heat capacity per unit area can be estimated as follows: (37) Equation (37) sums up the mass heat capacity corresponding to the unit area of ​​each layer, which is used to characterize the overall heat capacity level when the multi-layer covered area absorbs or releases heat.

[0100] Local equivalent shear compliance can be expressed as: (38) Equation (38) simultaneously considers the shear flexibility of each layer of material as well as the shear flexibility of the interface between adjacent layers. The components are accumulated in series to estimate the overall deformation capacity of the multi-layer covered area under shear action.

[0101] Equations (34) to (38) can be used for further verification of offline formulations, equipment capabilities, or first-piece status, without requiring the basic collaborative control process to be executed cycle by cycle. For specific implementations using a continuous strip-shaped fixed medium 17 with thermal response characteristics, corresponding thickness, thermal, and interface state limits can be set in combination with the actual materials and subsequent coating processes.

[0102] In one embodiment, to coordinate with the movement of the front and rear rotating winding mechanisms, the theoretical pay-off speed corresponding to the sensing fiber 13 or the continuous strip-shaped fixed medium 17 can be determined based on the helical path. Let the helical radius of the corresponding material be... angular velocity of rotation is The helix angle is The theoretical linear velocity of the material along the spiral path is... It can be represented as: (39) Equation (39) represents the axial velocity of pipe 1. The circumferential motion speed of the material generated by the rotating winding mechanism This is synthesized into the theoretical linear velocity of the material moving along the actual helical trajectory. This theoretical linear velocity is greater than or equal to the axial linear velocity of the tube and can be used as the feedforward basis for the pay-off speed of the optical fiber pay-off adjustment mechanism or the fixed medium pay-off adjustment mechanism.

[0103] Figure 5 The pay-off resistance / active pay-off control 33 can control the fiber optic pay-off adjustment mechanism or the fixed medium pay-off adjustment mechanism according to equation (39) and the corresponding process parameters. For the adjustable pay-off resistance mode, the braking torque or braking setting can be determined according to the material type, tube linear velocity, acceleration, and roll diameter range. For the active pay-off mode, the speed feedforward can be formed according to the theoretical pay-off speed, and the corresponding torque range can be set in combination with the allowable tension range. The pay-off parameters of multiple sensing optical fibers 13 can be set separately.

[0104] Step S104: Establish the pipe material coordinates based on the axial movement of the pipe, and record the correspondence between the rotation phase of the first rotating winding mechanism and the pipe material coordinates.

[0105] Specifically, the axial movement of pipe 1 is accumulated according to the aforementioned formula (1) based on the pipe linear velocity obtained by the linear velocity detection unit 28. The material coordinate and coverage parameter generation 31 establishes a correspondence between the corresponding pipe material coordinates and the rotation phase of the first rotating winding mechanism 2, and writes the corresponding information into the material coordinate history cache 45.

[0106] The pipe material coordinates are used to identify the material position along the continuous length of pipe 1. Therefore, even if the pipe linear velocity changes, the motion state of the pipe material cross-section currently at the subsequent winding position can be determined based on the cumulative travel distance when it was previously at the preceding winding position.

[0107] Step S105: Determine the historical phase of the first rotary winding mechanism corresponding to the pipe material cross-section when it passes the previous winding position based on the pipe material cross-section that has reached the subsequent winding position, and perform phase constraint on the motion reference of the second rotary winding mechanism based on the historical phase.

[0108] For the pipe material cross-section currently located at the later winding position, the axial distance between the current pipe material coordinates and the preceding and following winding positions is determined according to the aforementioned formula (2). The historical material coordinates are obtained, and then the corresponding previous historical phase is obtained from the material coordinate history cache 45. The coordinated speed control 32 performs phase constraint on the motion reference of the second rotating winding mechanism 14 based on the historical phase, so that the continuous strip fixed medium 17 maintains the set coverage position relative to the target sensing optical fiber on the cross section of the tube material.

[0109] In one embodiment, the coordinates of the current pipe material are... The cross-section of the pipe material is determined by searching for the historical phase data of the first rotary winding mechanism 2 according to the aforementioned formula (2). A historic moment , obtain Then, the target phase of the second rotating winding mechanism 14 is formed according to the aforementioned formula (3).

[0110] Under constant linear velocity conditions, it can be determined that... The corresponding transportation time is obtained. When the linear velocity of the pipe changes, the material coordinates are used to look up historical information, so that the historical phase corresponds to the same pipe material cross-section that has reached the current winding position of the next stage, rather than simply using the current rotation phase of the previous stage.

[0111] In another embodiment, before the second rotary winding mechanism 14 enters the fiber-following tracking and covering state, the material coordinate history cache 45 should be filled with historical phase data covering the transportation process required for the tube 1 to be transported from the previous winding position to the subsequent winding position. The amount of historical cache data may further include corresponding control margins.

[0112] When the pipe material coordinates are abnormal, historical phase data is insufficient, or the conveying direction of pipe 1 is reversed, the second rotating winding mechanism 14 will not enter the fiber tracking and covering state to avoid using data lacking effective material cross-section correspondence to form the subsequent phase reference.

[0113] Combination Figure 5 As shown, the safety interlock and alarm unit 35 can judge the linear speed information, motion parameters of the two-stage rotary winding mechanism, drive status, and corresponding motion error. When the pipe linear speed information, the motion parameters of the first rotary winding mechanism 2, or the motion parameters of the second rotary winding mechanism 14 fail, or when any rotary winding mechanism experiences a drive failure or the motion error continues to exceed the preset range, the axial conveying of the first rotary winding mechanism 2, the second rotary winding mechanism 14, and the pipe 1 can be coordinated and stopped.

[0114] Emergency stop can deactivate the two-stage drive mechanism via an independent hardware safety channel and send a stop interlock signal to the production line. In a specific ordinary signal fault handling method, when the linear speed signal is briefly lost before the emergency stop is triggered, the motion setting before the fault can be temporarily maintained for no more than 0.5 seconds and the cumulative stroke of the corresponding pipe material should not exceed 50 mm, whichever condition is met first. If the signal is not restored within the corresponding range and passes the validity verification, controlled stop will be executed according to coordinated deceleration. The above time and stroke parameters are a specific safety strategy and can be determined according to the actual motion performance of the equipment and the production process.

[0115] In a specific production operation embodiment, before startup, the centerline of the pipe is determined using the hosting component. The first rotary winding mechanism 2 and the second rotary winding mechanism 14 are coaxially aligned and mechanically locked using the lifting support 5. Subsequently, the pipe linear speed and the direction, zero point, and validity of the angle or speed feedback of the two-stage rotary winding mechanisms are confirmed. The target fiber pitch, coverage mode, width and thickness of the continuous strip fixing medium 17, target normal spacing or target coverage ratio, target phase offset, laying parameters, and safety limits are loaded through the external process formula input 44.

[0116] During startup, the axial conveying of the tube 1 and the first rotary winding mechanism 2 can be started at a lower production speed to form a stable optical fiber spiral path 22 for the sensing optical fiber 13. During fiber-guided tracking and coverage, after the material coordinate history cache 45 has historical data that meets the transportation distance requirements, the second rotary winding mechanism 14 performs material coordinate phase capture; during continuous surface coverage, the tape coverage pitch is determined according to the target normal spacing and the second rotary winding mechanism 14 is started. After the initial product is formed, the actual pitch, coverage offset, tape edge condition, and local layer thickness can be checked, and then the production speed can be increased according to the set acceleration.

[0117] During normal production, the linear speed detection unit 28 and the front / rear angle or speed detection unit 29 continuously provide basic feedback information. When the optional tension / condition detection and estimation unit 30 is set, information such as tension, roll diameter, visual information, temperature, or outer diameter can be used to correct the wire feeding status or execute enhanced interlocks. During normal shutdown, the two rotating winding mechanisms and the conveying of the tube 1 can be stopped through a coordinated deceleration process; in the event of an emergency stop, a safe shutdown is executed through the corresponding safety circuit.

[0118] In a further embodiment, such as Figure 4 As shown, after the sensing fiber 13 is wound and the continuous strip fixing medium 17 is covered, the tube 1 can continue to enter the polymer outer sheath coating process. The polymer outer sheath 43 is formed on the outside of the continuous strip fixing medium 17, so that the tube 1, the sensing fiber 13, the continuous strip fixing medium 17 and the polymer outer sheath 43 form a corresponding hierarchical relationship from the inside to the outside.

[0119] During the coating process of the polymer outer sheath 43, the continuous strip-shaped fixing medium 17 undergoes at least one of the following states under the interfacial temperature history formed by the coating of the polymer outer sheath 43: softening, partial melting, or interfacial bonding with adjacent polymers. After cooling, it forms a position-maintaining transition layer located between the sensing optical fiber 13 and the polymer outer sheath 43. The specific thermal response range of the continuous strip-shaped fixing medium 17 can be determined based on the material of the polymer outer sheath 43 and the actual coating temperature history. For this specific embodiment, the position of the sensing optical fiber 13, the continuity of the continuous strip-shaped fixing medium 17, and the coating state of the polymer outer sheath 43 can be checked by cross-sectional observation.

[0120] Therefore, in the above embodiments, the winding parameters of the front-stage sensing fiber and the coverage parameters of the subsequent continuous strip fixed medium can be determined according to the corresponding process objectives. During fiber-tracked coverage, the subsequent coverage movement is made to correspond to the historical phase of the current tube material cross-section by using the tube material coordinates. During continuous surface coverage, the corresponding strip coverage pitch is determined by the actual width of the fixed medium (39), the center line normal spacing (40), and the coverage ratio. The process can be verified by combining the local layer number and local effective thickness, thereby forming a continuous manufacturing process of the sensing fiber spiral laying, the geometric relationship of the fixed medium coverage, and the coordinated movement of the front and rear stages.

[0121] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0122] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0123] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A device for winding and laying optical fiber sensing fibers for municipal pipelines, characterized in that, It includes a first rotary winding mechanism and a second rotary winding mechanism arranged at intervals along the pipe conveying direction, a first driving mechanism and a second driving mechanism respectively for driving the first rotary winding mechanism and the second rotary winding mechanism to rotate around the pipe axis, as well as a detection unit and a controller; The first rotary winding mechanism is for the tube to pass through, and the position of the first rotary winding mechanism is the pre-winding position. The first rotary winding mechanism is used to lay at least one sensing optical fiber on the outer periphery of the tube in a spiral trajectory. The second rotary winding mechanism is for the tube to pass through and is located downstream of the first rotary winding mechanism. The position of the second rotary winding mechanism is the subsequent winding position. The second rotary winding mechanism is used to cover the outside of the sensing optical fiber with a continuous strip of fixed medium in a spiral trajectory. The detection unit is used to acquire the linear velocity information of the pipe, the motion parameters of the first rotary winding mechanism, and the motion parameters of the second rotary winding mechanism; The controller is communicatively connected to the first drive mechanism, the second drive mechanism, and the detection unit. The controller is configured to: independently generate motion references for the first and second rotary winding mechanisms based on the pipe linear velocity and the target winding parameters of the first and second rotary winding mechanisms, and perform phase constraint on the motion reference of the second rotary winding mechanism based on the historical phase of the first rotary winding mechanism corresponding to the pipe material cross-section that has reached the subsequent winding position when it was at the previous winding position.

2. The device for winding and laying optical fiber for municipal pipeline sensing according to claim 1, characterized in that, The controller is also configured to: The axial movement of the pipe is accumulated based on the linear velocity information of the pipe to establish the pipe material coordinates, and the correspondence between the rotation phase of the first rotating winding mechanism and the pipe material coordinates is recorded. Based on the axial distance between the pre-winding position and the post-winding position, the historical phase corresponding to the cross-section of the pipe material that is currently reaching the post-winding position when it passes the pre-winding position is determined from the recorded correspondence. Based on the historical phase, and combined with the mechanical installation phase difference between the first rotary winding mechanism and the second rotary winding mechanism and / or the target offset of the continuous strip fixed medium relative to the target sensing fiber, the target phase of the second rotary winding mechanism is determined.

3. The device for winding and laying optical fiber for municipal pipeline sensing according to claim 1, characterized in that, The second rotary winding mechanism is provided with a wire feeding adjustment mechanism for feeding the continuous strip-shaped fixed medium and a fixed medium guide assembly for limiting the output direction and initial contact position of the continuous strip-shaped fixed medium. The wire feeding adjustment mechanism is used to maintain the longitudinal tension of the continuous strip-shaped fixed medium, so that the continuous strip-shaped fixed medium generates a distributed normal force pointing towards the outer periphery of the pipe along the spiral trajectory of the pipe. The second rotary winding mechanism is not equipped with a pressing actuator that applies independent normal pressure to the continuous strip-shaped fixed medium.

4. The device for winding and laying optical fiber for municipal pipeline sensing according to claim 1, characterized in that, The first rotating winding mechanism is provided with multiple fiber optic discs and fiber optic laying adjustment mechanisms and fiber optic guiding components corresponding to each fiber optic disc; each sensing fiber is led out from the corresponding fiber optic disc and laid to the outer periphery of the tube through the corresponding fiber optic guiding component, and each sensing fiber is laid out independently to form a spiral trajectory with a predetermined starting phase. The second rotary winding mechanism is provided with at least one fixed medium reel for carrying the continuous strip fixed medium, so that one continuous strip fixed medium covers a specified sensing optical fiber or sensing optical fiber group, or that multiple continuous strip fixed media cover different sensing optical fibers or sensing optical fiber groups respectively.

5. The device for winding and laying optical fiber for municipal pipeline sensing according to claim 1, characterized in that, Both the first rotary winding mechanism and the second rotary winding mechanism are annular rotary structures with hollow channels through which the tubes pass, and are respectively mounted on the frame via lifting supports, the lifting supports including height adjustment components and mechanical locking components; The upstream of the first rotary winding mechanism and the downstream of the second rotary winding mechanism are respectively provided with support components for supporting the pipe and limiting the lateral displacement of the pipe; The height adjustment component is used to align the first rotary winding mechanism and the second rotary winding mechanism coaxially with the pipe centerline determined by the hosting component as a reference, and the mechanical locking component locks them after alignment.

6. A collaborative control method for the winding and laying of optical fiber sensing fibers for municipal pipelines, applied to the winding and laying device for optical fibers sensing fibers for municipal pipelines as described in any one of claims 1 to 5, characterized in that, The method includes: Obtain the linear velocity information of the pipe being conveyed along the axial direction, and obtain the motion parameters of the first and second rotary winding mechanisms that rotate around the axis of the pipe. Based on the linear velocity of the tube and the target optical fiber winding parameters corresponding to the first rotary winding mechanism, a motion reference for the first rotary winding mechanism is generated. Based on the linear velocity of the pipe and the target strip coverage parameters corresponding to the second rotary winding mechanism, the motion reference of the second rotary winding mechanism is generated independently of the motion reference of the first rotary winding mechanism. The pipe material coordinates are established based on the axial movement of the pipe, and the correspondence between the rotation phase of the first rotating winding mechanism and the pipe material coordinates is recorded. The historical phase of the first rotary winding mechanism is determined based on the cross-section of the tube material when it passes the previous winding position. The motion reference of the second rotary winding mechanism is then phase-constrained based on the historical phase so that the continuous strip-shaped fixed medium and the target sensing optical fiber on the cross-section of the tube material maintain a preset coverage position relationship.

7. The collaborative control method for the winding and laying of sensing optical fibers in municipal pipelines according to claim 6, characterized in that, The step of determining the historical phase of the first rotary winding mechanism corresponding to the pipe material cross-section when it passed the previous winding position based on the current pipe material cross-section reaching the subsequent winding position, and performing phase constraint on the motion reference of the second rotary winding mechanism based on the historical phase, includes: The pipe's movement is accumulated based on its linear velocity to obtain the pipe's material coordinates, and the axial distance between the pre-winding position and the post-winding position is used as the corresponding distance of the material cross-section. For the pipe material cross section currently located at the subsequent winding position, search for the historical material coordinates in the historical phase data of the first rotary winding mechanism that are different from the material cross section by the current pipe material coordinates, and obtain the historical phase of the first rotary winding mechanism corresponding to the historical material coordinates; The target phase of the second rotary winding mechanism is generated based on the historical phase, the mechanical installation phase difference between the first and second rotary winding mechanisms, and / or the target offset of the continuous strip fixing medium relative to the target sensing fiber.

8. The collaborative control method for the winding and laying of sensing optical fibers in municipal pipelines according to claim 6, characterized in that, The target strip coverage parameters are determined according to either a fiber-following tracking coverage mode or a continuous surface coverage mode. The step of generating a motion reference for the second rotary winding mechanism, independent of the motion reference of the first rotary winding mechanism, based on the linear velocity of the tubing and the target strip coverage parameters corresponding to the second rotary winding mechanism, includes: In the fiber-guided tracking coverage mode, the tape covering pitch of the continuous strip fixed medium is the same as the fiber winding pitch of the covered target sensing fiber and the same rotation direction. The historical phase is used to constrain the second rotating winding mechanism so that the center line of the continuous strip fixed medium coincides with the spiral center line of the target sensing fiber or maintains a predetermined normal offset. In the continuous surface coverage mode, the tape coverage pitch of the continuous tape fixing medium is determined according to the bandwidth of the continuous tape fixing medium, the tube contact diameter corresponding to the continuous tape fixing medium, and the target normal spacing or target coverage ratio, and the tape coverage pitch is independent of the optical fiber winding pitch.

9. The collaborative control method for the winding and laying of sensing optical fibers in municipal pipelines according to claim 8, characterized in that, In the continuous surface coverage mode, the determination of the target strip coverage parameters includes: The shortest normal distance between the centerlines of two adjacent continuous strip-shaped fixed media in the cylindrical unfolding plane is used as the design parameter of the coverage state. The target normal distance is determined according to at least one of the target gap amount, target overlap amount, or target coverage ratio. The strip coverage pitch is determined according to the helical geometry relationship between the target normal distance and the contact diameter of the pipe. The corresponding subsequent rotation speed and strip feeding speed are determined based on the determined strip cover pitch, and at least one of the equipment rotation speed, strip feeding speed, maximum local cover layer number and maximum local effective thickness corresponding to the strip cover pitch is checked. If the verification results do not meet the preset process limits, adjust the target normal spacing, the bandwidth of the continuous strip fixed medium, or the target coverage ratio, and redetermine the strip coverage pitch.

10. The collaborative control method for the winding and laying of sensing optical fibers in municipal pipelines according to claim 6, characterized in that, When determining the historical phase of the first rotary winding mechanism corresponding to the pipe material cross-section when it passed the previous winding position based on the current pipe material cross-section reaching the subsequent winding position, and applying phase constraints to the motion reference of the second rotary winding mechanism based on the historical phase, the method includes: Before starting the second rotary winding mechanism to perform fiber tracking and coverage, establish historical phase data of the first rotary winding mechanism that at least covers the transportation process required for the pipe to be transported from the pre-winding position to the post-winding position; When the pipe material coordinates are abnormal, the historical phase data is insufficient, or the pipe conveying direction is reversed, the second rotary winding mechanism is prohibited from entering the fiber-following tracking and covering state. When the linear velocity information of the pipe, the motion parameters of the first rotary winding mechanism or the motion parameters of the second rotary winding mechanism fail, or when any rotary winding mechanism experiences a drive failure or a continuous exceedance of motion error, a coordinated shutdown is performed on the axial conveying of the first rotary winding mechanism, the second rotary winding mechanism and the pipe.

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