CN115149462A - Control method for cable laying and related device - Google Patents
Control method for cable laying and related device Download PDFInfo
- Publication number
- CN115149462A CN115149462A CN202211019459.7A CN202211019459A CN115149462A CN 115149462 A CN115149462 A CN 115149462A CN 202211019459 A CN202211019459 A CN 202211019459A CN 115149462 A CN115149462 A CN 115149462A
- Authority
- CN
- China
- Prior art keywords
- cable
- path
- laid
- laying
- existing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000001514 detection method Methods 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 12
- 230000006870 function Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 5
- 239000013598 vector Substances 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 5
- 238000009933 burial Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Life Sciences & Earth Sciences (AREA)
- Operations Research (AREA)
- Probability & Statistics with Applications (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Algebra (AREA)
- Evolutionary Biology (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Bioinformatics & Computational Biology (AREA)
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
The application discloses a control method and a related device for cable laying, firstly determining a starting point position and an end point position of an existing cable in a cable area to be laid, collecting an underground magnetic field signal between the starting point position and the end point position, and calculating laying path information of the existing cable according to the underground magnetic field signal; setting a pre-laid path between the starting position and the end position of the cable laid path, comparing the laid path information of the existing cable with the pre-laid path, adjusting the pre-laid path according to the comparison result, and taking the adjusted path as the path to be laid; laying a cable to be laid through the cable laying device, acquiring driving parameters of the cable laying device in real time, and adjusting the driving parameters according to a path to be laid so that the cable to be laid is laid on the path to be laid. Therefore, when the underground cable laying is carried out in an unknown area, the position information of the underground cable in the area is collected, and the cable laying path is planned in advance.
Description
Technical Field
The present application relates to the field of cable laying technologies, and in particular, to a control method and a related apparatus for cable laying.
Background
Cabling refers to the process of laying and installing cables along the surveyed route to form a cable run. According to the use occasion, the method can be divided into a plurality of laying modes such as overhead, underground (pipelines and direct burial), underwater, walls, tunnels and the like. The reasonable selection of the laying mode of the cable is very important for ensuring the transmission quality, reliability, construction maintenance and the like of the line.
At present, the overhead line is mostly adopted in China, the line has the advantages of easiness in maintenance, low investment cost and convenience in operation of fault maintenance, but along with increasing demand for electric power energy, the overhead line can occupy excessive space resources due to the fact that a large number of overhead lines exist, so that the sky in cities and countryside becomes congested, and therefore the laying of underground cables can be gradually and widely applied.
However, when underground cable laying is performed in an unknown site, an operator often does not know that underground power cables are on the site in advance, and the existing power cables are cut off or damaged by carelessness, so that the power transmission line is interrupted, unnecessary economic loss is brought to users, crosstalk between cables is generated due to insufficient space between the cables, and if the operator does not know laying specific position information of the underground power cables, the newly laid cables and the laid cables may be too close to each other to generate crosstalk, and normal operation of the cables is affected.
Disclosure of Invention
The application provides a control method and a related device for cable laying, which are used for solving the following technical problems: when the underground cable laying is carried out in an unknown area, the position information of the underground cable in the area is collected, and a cable laying path is planned in advance.
In view of this, the first aspect of the present application provides a control method for cabling, the method comprising:
determining a starting point position and an end point position of an existing cable in a cable area to be laid, collecting an underground magnetic field signal between the starting point position and the end point position, and calculating laying path information of the existing cable according to the underground magnetic field signal;
setting a pre-laid path between the starting position and the end position of the cable laying path, comparing the laying path information of the existing cable with the pre-laid path, adjusting the pre-laid path according to the comparison result, and taking the adjusted path as the path to be laid;
laying a cable to be laid through the cable laying device, acquiring driving parameters of the cable laying device in real time, and adjusting the driving parameters according to the path to be laid so that the cable to be laid is laid on the path to be laid.
Optionally, the determining a starting position and an ending position of an existing cable in an area where the cable is to be laid, acquiring an underground magnetic field signal between the starting position and the ending position, and calculating a laying path of the existing cable according to the underground magnetic field signal specifically includes:
s11, selecting a point between a starting point position and an end point position of an existing cable in an area where the cable is to be laid as a coordinate origin, and respectively placing a first triaxial magnetoresistive sensor and a second triaxial magnetoresistive sensor on x and y axes;
s12, collecting vectors reaching the nearest point of the cable through the first triaxial magneto-resistive sensor and the second triaxial magneto-resistive sensor
And
s13, according to
And
acquiring coordinates L1 and L2 of a cable detection point, calculating a path function of the cable according to the coordinates L1 and L2, and determining path information of the cable according to the path function;
s14, determining the cable embedding depth as follows according to the cable detection point coordinates L1 and L2: and detecting point coordinates L1 and L2 are relative to the average value of the absolute value of the Z coordinate in the coordinate system of the step S11, so that the laying path of the existing cable is obtained according to the path information and the burying depth of the cable.
Optionally, the laying of a cable to be laid by a cable laying device, obtaining driving parameters of the cable laying device in real time, and adjusting the driving parameters according to the path to be laid, so that the cable to be laid is laid on the path to be laid, specifically including:
s31, arranging a cable laying device according to the path to be laid, wherein the cable laying device comprises: the device comprises a pay-off device, a cable traction device and a laying protection device;
the pay-off and pay-off device is used for conveying cables, the cable traction device is used for traction laying of the cables, and the laying protection device is arranged on a cable laying path and used for reducing the friction force borne by the cables in the laying process;
and S32, acquiring the driving parameters of the cable traction device and the unreeling device in real time, and adjusting the driving parameters according to the path to be laid, so that the rotating speeds of driving motors of the unreeling device and the cable traction device are adjusted respectively, and the cable to be laid is laid on the path to be laid.
Optionally, the step of taking the adjusted path as a path to be laid further includes: and displaying images of geographic position data of the path to be laid.
A second aspect of the present application provides a control system for cabling, the system comprising:
the calculation module is used for determining the starting position and the end position of the existing cable in the area to be laid of the cable, collecting an underground magnetic field signal between the starting position and the end position, and calculating the laying path information of the existing cable according to the underground magnetic field signal;
the analysis module is used for setting a pre-laying path between the starting point position and the end point position of the cable laying path, comparing the laying path information of the existing cable with the pre-laying path, adjusting the pre-laying path according to the comparison result, and taking the adjusted path as a path to be laid;
the control module is used for laying a cable to be laid through the cable laying device, acquiring the driving parameters of the cable laying device in real time, and adjusting the driving parameters according to the path to be laid so that the cable to be laid is laid on the path to be laid.
Optionally, the calculation module is specifically configured to:
s11, selecting a point between a starting point position and an end point position of an existing cable in a cable area to be laid as a coordinate origin, and respectively placing a first triaxial magnetoresistive sensor and a second triaxial magnetoresistive sensor on x and y axes;
s12, collecting vectors reaching the nearest point of the cable through the first triaxial magneto-resistive sensor and the second triaxial magneto-resistive sensor
And
s13, according to
And
acquiring coordinates L1 and L2 of a cable detection point, calculating a path function of the cable according to the coordinates L1 and L2, and determining path information of the cable according to the path function;
s14, determining the cable embedding depth as follows according to the cable detection point coordinates L1 and L2: and detecting point coordinates L1 and L2 are relative to the average value of the absolute value of the Z coordinate in the coordinate system of the step S11, so that the laying path of the existing cable is obtained according to the path information and the burying depth of the cable.
Optionally, the control module is specifically configured to:
s31, arranging a cable laying device according to the path to be laid, wherein the cable laying device comprises: the device comprises a pay-off and delivery device, a cable traction device and a laying protection device;
the pay-off and pay-off device is used for conveying cables, the cable traction device is used for traction laying of the cables, and the laying protection device is arranged on a cable laying path and used for reducing the friction force borne by the cables in the laying process;
and S32, acquiring the driving parameters of the cable traction device and the unreeling device in real time, and adjusting the driving parameters according to the path to be laid, so that the rotating speeds of driving motors of the unreeling device and the cable traction device are adjusted respectively, and the cable to be laid is laid on the path to be laid.
Optionally, the method further comprises: a display module; the display module is specifically configured to: and displaying images of geographic position data of the path to be laid.
A third aspect of the application provides a control method apparatus for cabling, the apparatus comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is adapted to perform the steps of the control method for cabling as described in the first aspect above, in accordance with instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium for storing program code for executing the control method for cabling described in the first aspect.
According to the technical scheme, the method has the following advantages:
1. according to the invention, the laying path information of the underground existing cables is acquired in an unknown cable area to be laid in an electromagnetic induction mode, the path to be laid is determined according to the laying path information, the existing power cables are prevented from being cut off or damaged, meanwhile, a new path can keep a specific distance with the existing underground cables, and the phenomenon that the distances are too close to each other to cause crosstalk among the cables is avoided.
2. The invention replaces the traditional induction coil with the magnetic resistance sensor, thus improving the sensitivity and detection range of detection; in the detection range, the approximate path position and the trend of the underground power cable in the region to be detected can be quickly determined by one-time detection, and the working efficiency and the safety are greatly improved.
3. The invention obtains the established databases of the laying path information of the existing cable, and the databases can provide reference data about the underground cable path and the burial depth of a construction site for relevant departments of urban construction, thereby bringing great convenience to operators of engineering units and effectively improving the efficiency and the safety of cable laying.
4. According to the invention, the laying device is arranged on the underground cable laying path planned in advance, the driving parameters of the laying device are monitored and acquired in real time, and the rotating speed of the driving motors of the pay-off and delivery device and the traction device is respectively adjusted through the parameters, so that the safety of the cable laying process is ensured, and the cable is prevented from being scratched due to overlarge rotating speed.
Drawings
Fig. 1 is a schematic flow chart of an embodiment of a control method for cable laying provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of an embodiment of a control system for cabling provided in an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
Referring to fig. 1, in an embodiment of the present application, a control method for cabling includes:
the method specifically comprises the following steps:
s1011, selecting a point between the starting point position and the end point position of the existing cable in the area to be laid of the cable as a coordinate origin, and respectively placing a first triaxial magnetoresistive sensor and a second triaxial magnetoresistive sensor on the x axis and the y axis;
s1012, collecting vectors reaching the nearest point of the cable through the first triaxial magneto-resistive sensor and the second triaxial magneto-resistive sensor
And
it should be noted that the working principle of the three-axis magnetoresistive sensor is as follows: firstly, the magnetic field radial components of the nearest points of the underground existing cables are respectively received, and corresponding linear analog signals are output. Then the linear analog signals are sent to a preprocessing circuit for processing, digital filtering is carried out in a single chip microcomputer after A/D conversion, a magnetic field detection model is established again, the path trend and the burial depth of the power cable to be detected are obtained, and finally the display module displays the detected path information on a liquid crystal display screen.
S1013, according to
And
acquiring coordinates L1 and L2 of a cable detection point, calculating a path function of the cable according to the coordinates L1 and L2, and determining path information of the cable according to the path function;
s1014, determining the cable embedding depth as follows according to the cable detection point coordinates L1 and L2: and (3) obtaining the laying path of the existing cable according to the path information and the burying depth of the cable by comparing the detection point coordinates L1 and L2 with the average value of the absolute value of the Z coordinate in the coordinate system of the step S1011.
Furthermore, technicians in the field can also obtain the existing building databases of the laying path information of the cables by obtaining, the databases can provide reference data about the underground cable path and the burial depth of a construction site for relevant departments of urban construction, great convenience is brought to operators of engineering units, the efficiency and the safety of cable laying are effectively improved,
102, setting a pre-laid path between the starting position and the end position of the cable laying path, comparing the laying path information of the existing cable with the pre-laid path, adjusting the pre-laid path according to the comparison result, and taking the adjusted path as the path to be laid;
it should be noted that, according to the laying path of the existing cable obtained in step 101, a path to be laid is determined between the starting position and the ending position of the cable laying path, so as to avoid the cable already laid on the original site, prevent the existing power cable from being broken or damaged, and keep a certain distance from the cables, thereby preventing crosstalk between the cables due to insufficient distance; and the problem that the existing power cable is dug to be broken or damaged when being laid is avoided, so that the power transmission line is interrupted, and unnecessary economic loss is brought to users.
Further, in one embodiment, the method further comprises: and displaying images of geographic position data of the path to be laid.
It should be noted that, in addition to the image display of the geographic position data of the path to be laid, the information of the path to be laid is visually obtained by the staff, so as to verify again whether the path to be laid is correct.
103, laying the cable to be laid through the cable laying device, acquiring the driving parameters of the cable laying device in real time, and adjusting the driving parameters according to the path to be laid so that the cable to be laid is laid on the path to be laid.
Specifically, the method comprises the following steps:
s1031, arranging a cable laying device according to the path to be laid, wherein the cable laying device comprises: the device comprises a pay-off device, a cable traction device and a laying protection device;
the cable laying and delivering device is used for conveying cables, the cable traction device is used for traction laying of the cables, and the laying protection device is arranged on a cable laying path and used for reducing the friction force borne by the cables in the laying process;
s1032, in the process of laying the cable, monitoring and acquiring the driving parameters of the traction device and the unreeling and sending device in real time and storing the driving parameters into an EEPROM of a main controller, and adjusting the driving parameters by the main controller according to the path to be laid, so that the rotating speeds of driving motors of the unreeling and sending device and the cable traction and traction device are adjusted respectively, and the cable to be laid is laid on the path to be laid.
The working principle is as follows: firstly, determining a starting point and an end point of an unknown area to be laid during cable laying; then, collecting underground magnetic field signals between the starting point position and the end point position, thereby obtaining the laying path and the buried depth geographical position information of the underground cable; then, according to the collected information, determining a laying path; then, arranging a pay-off and delivery device, a cable traction device and a laying protection device on the determined laying path; and finally, completing cable laying by matching the pay-off and pay-off device, the cable traction device and the laying protection device.
The above is a control method for cable laying provided in the embodiments of the present application, and the following is a control system for cable laying provided in the embodiments of the present application.
Referring to fig. 2, in an embodiment of the present application, a control system for cable laying includes:
the calculation module 201 is configured to determine a starting point position and an ending point position of an existing cable in an area where the cable is to be laid, acquire an underground magnetic field signal between the starting point position and the ending point position, and calculate laying path information of the existing cable according to the underground magnetic field signal;
the analysis module 202 is configured to set a pre-laid path between a start position and an end position of the cable laid path, compare the information of the existing cable laid path with the pre-laid path, adjust the pre-laid path according to a comparison result, and use the adjusted path as a path to be laid;
and the display module 203 is used for displaying images of the geographic position data of the path to be laid.
The control module 204 is configured to lay the cable to be laid by the cable laying device, obtain driving parameters of the cable laying device in real time, and adjust the driving parameters according to the path to be laid, so that the cable to be laid is laid on the path to be laid.
Further, an embodiment of the present application also provides a control method and apparatus for cabling, where the apparatus includes a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the control method for cabling described in the above method embodiments according to instructions in the program code.
Further, a computer-readable storage medium is provided in the embodiments of the present application, and the computer-readable storage medium is used for storing program codes, where the program codes are used for executing the control method for cable laying described in the above method embodiments.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The terms "first," "second," "third," "fourth," and the like (if any) in the description of the present application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances such that the embodiments of the application described herein may be implemented, for example, in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that, in this application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, which are essential or part of the technical solutions contributing to the prior art, or all or part of the technical solutions, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A control method for cabling, comprising:
determining a starting point position and an end point position of an existing cable in a cable area to be laid, collecting an underground magnetic field signal between the starting point position and the end point position, and calculating laying path information of the existing cable according to the underground magnetic field signal;
setting a pre-laying path between the starting position and the end position of the cable laying path, comparing the laying path information of the existing cable with the pre-laying path, adjusting the pre-laying path according to the comparison result, and taking the adjusted path as the path to be laid;
laying a cable to be laid through the cable laying device, acquiring driving parameters of the cable laying device in real time, and adjusting the driving parameters according to the path to be laid so that the cable to be laid is laid on the path to be laid.
2. The method according to claim 1, wherein the determining a starting position and an ending position of an existing cable in an area where the cable is to be laid, acquiring an underground magnetic field signal between the starting position and the ending position, and calculating a laying path of the existing cable according to the underground magnetic field signal comprises:
s11, selecting a point between a starting point position and an end point position of an existing cable in an area where the cable is to be laid as a coordinate origin, and respectively placing a first triaxial magnetoresistive sensor and a second triaxial magnetoresistive sensor on x and y axes;
s12, collecting vectors reaching the nearest point of the cable through the first triaxial magneto-resistive sensor and the second triaxial magneto-resistive sensor
And
s13, according to
And
acquiring coordinates L1 and L2 of cable detection points, calculating a path function of the cable according to the coordinates L1 and L2, and determining path information of the cable according to the path function;
s14, according to the coordinates L1 and L2 of the cable detection point, determining the burying depth of the cable as follows: and (3) detecting point coordinates L1 and L2 are relative to the average value of the absolute value of the Z coordinate in the coordinate system in the step S11, so that the laying path of the existing cable is obtained according to the path information and the burying depth of the cable.
3. The method according to claim 1, wherein the laying of the cable to be laid by the cable laying device, the real-time acquisition of the driving parameters of the cable laying device, and the adjustment of the driving parameters according to the path to be laid are performed so that the cable to be laid is laid on the path to be laid, specifically include:
s31, arranging a cable laying device according to the path to be laid, wherein the cable laying device comprises: the device comprises a pay-off and delivery device, a cable traction device and a laying protection device;
the pay-off and pay-off device is used for conveying cables, the cable traction device is used for traction laying of the cables, and the laying protection device is arranged on a cable laying path and used for reducing the friction force borne by the cables in the laying process;
and S32, acquiring driving parameters of the cable traction device and the cable pay-off and take-off device in real time, and adjusting the driving parameters according to the path to be laid, so that the rotating speeds of driving motors of the cable pay-off and take-off device and the cable traction device are adjusted respectively, and the cable to be laid is laid on the path to be laid.
4. A control method for cabling according to claim 1, wherein the adjusted route is taken as the route to be laid, and thereafter further comprising: and displaying images of geographic position data of the path to be laid.
5. A control system for cabling comprising:
the calculation module is used for determining the starting position and the end position of the existing cable in the area to be laid of the cable, collecting an underground magnetic field signal between the starting position and the end position, and calculating the laying path information of the existing cable according to the underground magnetic field signal;
the analysis module is used for setting a pre-laying path between the starting point position and the end point position of the cable laying path, comparing the laying path information of the existing cable with the pre-laying path, adjusting the pre-laying path according to the comparison result, and taking the adjusted path as a path to be laid;
and the control module is used for laying the cable to be laid through the cable laying device, acquiring the driving parameters of the cable laying device in real time, and adjusting the driving parameters according to the path to be laid so as to lay the cable to be laid on the path to be laid.
6. Control system for cabling according to claim 5, wherein said calculation module is particularly adapted to:
s11, selecting a point between a starting point position and an end point position of an existing cable in a cable area to be laid as a coordinate origin, and respectively placing a first triaxial magnetoresistive sensor and a second triaxial magnetoresistive sensor on x and y axes;
s12, collecting vectors reaching the nearest point of the cable through the first triaxial magneto-resistive sensor and the second triaxial magneto-resistive sensor
And
s13, according to
And
acquiring coordinates L1 and L2 of cable detection points, calculating a path function of the cable according to the coordinates L1 and L2, and determining the path of the cable according to the path functionInformation;
s14, determining the cable embedding depth as follows according to the cable detection point coordinates L1 and L2: and (3) detecting point coordinates L1 and L2 are relative to the average value of the absolute value of the Z coordinate in the coordinate system in the step S11, so that the laying path of the existing cable is obtained according to the path information and the burying depth of the cable.
7. Control system for cabling according to claim 5, wherein said control module is particularly adapted to:
s31, arranging a cable laying device according to the path to be laid, wherein the cable laying device comprises: the device comprises a pay-off and delivery device, a cable traction device and a laying protection device;
the pay-off and pay-off device is used for conveying cables, the cable traction device is used for traction laying of the cables, and the laying protection device is arranged on a cable laying path and used for reducing the friction force borne by the cables in the laying process;
and S32, acquiring the driving parameters of the cable traction device and the unreeling device in real time, and adjusting the driving parameters according to the path to be laid, so that the rotating speeds of driving motors of the unreeling device and the cable traction device are adjusted respectively, and the cable to be laid is laid on the path to be laid.
8. A control system for cabling according to claim 5, further comprising: a display module; the display module is specifically configured to: and displaying images of geographic position data of the path to be laid.
9. A control method apparatus for cabling, the apparatus comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the control method for cabling according to any one of claims 1-4 in accordance with instructions in the program code.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium is used for storing program code for executing the control method for cabling of any of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211019459.7A CN115149462A (en) | 2022-08-24 | 2022-08-24 | Control method for cable laying and related device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211019459.7A CN115149462A (en) | 2022-08-24 | 2022-08-24 | Control method for cable laying and related device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115149462A true CN115149462A (en) | 2022-10-04 |
Family
ID=83416417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211019459.7A Pending CN115149462A (en) | 2022-08-24 | 2022-08-24 | Control method for cable laying and related device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115149462A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000209725A (en) * | 1999-01-14 | 2000-07-28 | Toenec Corp | Cable feeding device and cable laying method |
| JP2005012899A (en) * | 2003-06-18 | 2005-01-13 | Fuji Electric Holdings Co Ltd | Method and device for searching cable |
| CN102621582A (en) * | 2012-03-27 | 2012-08-01 | 淄博威特电气有限公司 | Method for detecting positions of underground metal pipelines by aid of space vector method and device |
| CN103837900A (en) * | 2013-09-09 | 2014-06-04 | 北京鼎臣超导科技有限公司 | Underground cable locating method and device based on vector magnetic field detection |
| KR20140100116A (en) * | 2013-02-05 | 2014-08-14 | 한국전력기술 주식회사 | A method and an apparatus for detecting optimized cable routing |
| CN105173881A (en) * | 2015-07-24 | 2015-12-23 | 博锋智能科技（大连）有限公司 | Automatic cable conveying system |
| CN107958127A (en) * | 2017-12-22 | 2018-04-24 | 国网河北省电力公司经济技术研究院 | Cable laying design method, device, computer equipment and readable storage medium storing program for executing |
| CN109244952A (en) * | 2018-10-26 | 2019-01-18 | 江苏宏鹏电气科技有限公司 | A kind of cable laying tele-control system |
| CN112117700A (en) * | 2019-09-20 | 2020-12-22 | 谷歌有限责任公司 | Underwater cable route planning tool |
| CN112271649A (en) * | 2020-10-29 | 2021-01-26 | 国网浙江省电力有限公司舟山供电公司 | Comprehensive control system and control method for laying construction of submarine power cable |
| CN112558006A (en) * | 2020-11-30 | 2021-03-26 | 华中科技大学 | Double-triaxial electromagnetic detection and route positioning method for submarine cable |
| CN114818218A (en) * | 2022-05-06 | 2022-07-29 | 国核电力规划设计研究院有限公司 | Cable laying path determining method, device and storage medium |
-
2022
- 2022-08-24 CN CN202211019459.7A patent/CN115149462A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000209725A (en) * | 1999-01-14 | 2000-07-28 | Toenec Corp | Cable feeding device and cable laying method |
| JP2005012899A (en) * | 2003-06-18 | 2005-01-13 | Fuji Electric Holdings Co Ltd | Method and device for searching cable |
| CN102621582A (en) * | 2012-03-27 | 2012-08-01 | 淄博威特电气有限公司 | Method for detecting positions of underground metal pipelines by aid of space vector method and device |
| KR20140100116A (en) * | 2013-02-05 | 2014-08-14 | 한국전력기술 주식회사 | A method and an apparatus for detecting optimized cable routing |
| CN103837900A (en) * | 2013-09-09 | 2014-06-04 | 北京鼎臣超导科技有限公司 | Underground cable locating method and device based on vector magnetic field detection |
| CN105173881A (en) * | 2015-07-24 | 2015-12-23 | 博锋智能科技（大连）有限公司 | Automatic cable conveying system |
| CN107958127A (en) * | 2017-12-22 | 2018-04-24 | 国网河北省电力公司经济技术研究院 | Cable laying design method, device, computer equipment and readable storage medium storing program for executing |
| CN109244952A (en) * | 2018-10-26 | 2019-01-18 | 江苏宏鹏电气科技有限公司 | A kind of cable laying tele-control system |
| CN112117700A (en) * | 2019-09-20 | 2020-12-22 | 谷歌有限责任公司 | Underwater cable route planning tool |
| CN112271649A (en) * | 2020-10-29 | 2021-01-26 | 国网浙江省电力有限公司舟山供电公司 | Comprehensive control system and control method for laying construction of submarine power cable |
| CN112558006A (en) * | 2020-11-30 | 2021-03-26 | 华中科技大学 | Double-triaxial electromagnetic detection and route positioning method for submarine cable |
| CN114818218A (en) * | 2022-05-06 | 2022-07-29 | 国核电力规划设计研究院有限公司 | Cable laying path determining method, device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107479601B (en) | A kind of automatic deploying and retracting cable monitoring system and method for ROV umbilical cables winch | |
| US6748340B2 (en) | Cable position information management system, facility information management system, cable core wire management system, and methods and programs thereof | |
| CN103196416B (en) | The robot monitoring method of deformation inside dam and monitoring system | |
| KR100814642B1 (en) | Inspection system for under ground duct | |
| US20080249723A1 (en) | Intelligent, self-propelled automatic grid crawler high impedance fault detector and high impedance fault detecting system | |
| US7852780B1 (en) | Method and system for provisioning facility-based displays in support of repairing outside network facilities | |
| CN109826248B (en) | Method for applying three-dimensional laser scanner to foundation pit deformation monitoring | |
| WO2011118947A2 (en) | Underground utility management system and information processing method for same | |
| CN107872275B (en) | Optical cable fault positioning method, server, terminal and system | |
| CN103217948A (en) | Cable laying long-range control system | |
| CN116673967B (en) | Walking control method, system, device and storage medium for wrapping robot | |
| CN210431427U (en) | Optical cable line fault positioning and visualization system based on AI image identification | |
| CN106093973A (en) | The trajectory measurement of a kind of buried pipeline and the method for internal detection | |
| CN112083263A (en) | Multi-source data fusion high-voltage cable line fault online positioning device and method based on traveling wave principle | |
| CN115149462A (en) | Control method for cable laying and related device | |
| CN115275876B (en) | Cable laying dynamic release system and method | |
| CN116879957A (en) | Sliding window inversion method and system based on cross-hole resistivity CT | |
| CN110365402B (en) | Optical cable fault positioning and retrieving system | |
| CN111541481A (en) | Distribution network communication optical cable fault distance detection method and system | |
| CN111257622A (en) | Swing method-based live-wire work entrance position determining method and device | |
| CN108679456A (en) | Pressure water pipe seepage detection system and method | |
| JP2003234708A (en) | Optical network system in sewerage | |
| CN114065361A (en) | Model construction and management system and method for pipeline construction | |
| CN203396962U (en) | Pipeline fault detection apparatus | |
| CN110991672A (en) | Visual inspection system for underground cable |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |