CN-121983888-A - Cable laying system, cable laying method, electronic equipment and storage medium

CN121983888ACN 121983888 ACN121983888 ACN 121983888ACN-121983888-A

Abstract

The application provides a cable laying system, a cable laying method, electronic equipment and a storage medium, relates to the technical field of cable laying, and aims to improve cable laying efficiency. The system comprises an operation platform, a first mechanical arm, a conveying assembly, a second mechanical arm, a cable laying mechanism and a controller. The controller is configured to control the operation platform to move along the extending direction parallel to the channel, identify the position to be operated of the channel and generate a laying start instruction of the position to be operated, control the first mechanical arm to place the grabbed cover plate at the first position in response to the laying start instruction, control the cable laying machine to perform cable laying at the position to be operated, control the conveying assembly to convey the cover plate at the first position to the second position, and control the cover plate at the second position grabbed by the second mechanical arm to restore to the channel of the position to be operated where the cable laying is completed when the cable laying at the position to be operated is completed and the cover plate at the second position is reached.

Inventors

CHEN LIEQIANG
ZHU YOUFEN
ZENG FANJUN
LIU MINGSHENG
LAI BAIHUI
LUO YIMIN
LIU YANBIN
ZHANG JIANZHENG
ZHANG ZHAO
WANG BAOJUN
WANG MENG
LIU JUNFENG

Assignees

中国联合网络通信集团有限公司
中讯邮电咨询设计院有限公司

Dates

Publication Date: 20260505
Application Date: 20260127

Claims (12)

1. A cabling system for laying a cable into a channel, the system comprising: the device comprises a working platform, a first storage device and a second storage device, wherein the working platform is a device which moves along the extending direction parallel to the channel, and comprises a first position and a second position, wherein the first position is used for temporarily storing a cover plate removed from the channel; the first mechanical arm is arranged on the operation platform and is used for placing the cover plate on the channel to the first position; the conveying assembly is arranged on the working platform and used for conveying the cover plate at the first position to the second position; the second mechanical arm is arranged on the operation platform and is used for placing the cover plate at the second position on the channel; The cable laying mechanism is arranged on the working platform and is used for laying cables in the channel after the first mechanical arm removes the cover plate; a controller coupled with the first robotic arm, the second robotic arm, the transfer assembly, the cabling mechanism, and the work platform, the controller configured to: controlling the operation platform to move along the extending direction parallel to the channel, identifying the position to be operated of the channel and generating a laying start instruction for the position to be operated; in response to the laying start instruction of the position to be worked, executing the following operations: controlling the first mechanical arm to place the grasped cover plate at a first position of the operation platform; controlling the cable laying machine to perform cable laying on the position to be worked; Controlling the conveying assembly to convey the cover plate at the first position to a second position of the working platform; And when the cable laying at the to-be-operated position is finished and the cover plate is moved from the first position to the second position, controlling the cover plate at the second position grabbed by the second mechanical arm to restore to the channel at the to-be-operated position, wherein the cable laying is finished.
2. The cabling system of claim 1, wherein the controller is further configured to: acquiring the real-time moving speed of the operation platform; based on the real-time movement speed, a drive control amount for adjusting the cabling mechanism is determined to control a cable release rate of the cabling mechanism.
3. The cabling system of claim 2, wherein the drive control amount of the cabling mechanism satisfies the relationship: Wherein, the Is shown at the moment The driving control quantity of the cable laying mechanism is regulated; is shown at the moment A speed deviation between a cable release rate of the cable laying mechanism and a real-time moving speed of the work platform; is a proportional gain coefficient and is used for generating a control response according to the current error magnitude; the integral gain coefficient is used for eliminating the accumulated deviation of the cable tension caused by continuous errors; the differential gain coefficient is used for inhibiting overshoot and oscillation in the tracking process of the cable release rate; As a function of the time variable, Is an integral time variable.
4. The cabling system of claim 2, further comprising a tension sensor for detecting a tension value of a cable released by the cabling mechanism; the controller, coupled with the tension sensor, is further configured to: receiving a tension value of the cable released by the cable laying mechanism, which is detected by the tension sensor; And adjusting the cable release rate based on the tension value to maintain the tension value within a preset range.
5. The cabling system of claim 1, wherein the second robotic arm includes a vision sensor and a force control sensor; the force control sensor is used for acquiring contact force information when a cover plate to be restored on the second mechanical arm contacts with the channel; the controller is configured to control the cover plate at the second position grabbed by the second mechanical arm to restore to the channel at the to-be-worked position where the cable laying is completed, and the controller comprises: determining a rough positioning pose matrix for placing the cover plate on the position to be operated based on the channel image of the position to be operated, wherein the rough positioning pose matrix is used for representing the expected pose of the cover plate clamped by the second mechanical arm when the cover plate is pre-aligned above the position to be operated; Controlling the cover plate of the second mechanical arm to move based on the coarse positioning pose matrix; When the cover plate reaches a preset distance from the position to be operated, controlling a force control sensor of the second mechanical arm to acquire contact force information when the cover plate contacts with a channel of the position to be operated; Based on the force control deviation correction amount determined by the contact force information, adjusting the pose of the cover plate clamped by the second mechanical arm; And controlling the cover plate to restore to the channel of the to-be-operated position where the cable laying is completed under the condition that the deviation between the actual contact force and the preset target contact force in the contact force information is smaller than a preset threshold value.
6. The cabling system of claim 5, wherein the coarse localization pose matrix satisfies the following relationship: Wherein, the The rough positioning pose matrix is used for controlling the second mechanical arm to place the cover plate at the position to be operated; representing a positioning pose matrix of the position to be operated under a mechanical arm base coordinate system; Representing a translational deviation of the cover plate with respect to the position to be worked, 、、 Respectively represent the lower edges of the cover plates in the channel coordinate system 、、 Offset of direction; indicating the rotational deviation of the cover plate with respect to the position to be worked, 、、 Respectively represent the coordinate system of the cover plate around the channel 、、 An inclination angle of the shaft; Representing the deviation from translation Constructing a translation transformation matrix; Representing the deviation from rotation And constructing a rotation transformation matrix.
7. The cabling system of claim 5, wherein the force controlled deviation modifier satisfies the relationship: Wherein, the Representing a force control deviation correction amount; for a preset force-controlled stiffness matrix for use in connecting And (3) with The deviation of (2) is converted into a corresponding force control deviation correction quantity; The cover plate is a preset target contact force vector and is used for representing an expected mechanical state when the cover plate is in contact with the channel; And the actual contact force vector detected by the force control sensor is used for representing the actual mechanical state of the cover plate when the cover plate is in contact with the channel.
8. The cabling system of claim 1, wherein the first robotic arm includes a pressure sensor for obtaining grasping force information when the first robotic arm grasps the cover plate; The controller is configured to control the first robotic arm to place the grasped cover plate in a first position of the work platform, comprising: Controlling the first mechanical arm to move to a cover plate position on the position to be operated according to the planned track based on the planned track of the first mechanical arm determined by the preset track planning algorithm, wherein the planned track comprises a planned whole-process track from the position to be operated, which is ready to grab the cover plate on the position to be operated, to the position to be operated, which is planned to the first position of the operation platform, of the first mechanical arm; controlling the first mechanical arm to grasp the cover plate, and acquiring grasping force information of the pressure sensor in real time; And under the condition that the grabbing force information is in a preset safety threshold range, controlling the first mechanical arm to convey the cover plate to a first position of the working platform along the plan.
9. The cabling system of claim 8, wherein the preset trajectory planning algorithm satisfies the following relationship: Wherein, the The first mechanical arm is shown at the moment along the s coordinate axis direction Is a position of (2); As a coefficient, determined by a boundary condition of the first mechanical arm motion; representing a time variable from the beginning of the motion of the first mechanical arm, wherein the range of values is , Is the preset total movement time.
10. A method of cabling a cable into a channel, the method comprising: the method comprises the steps of controlling a working platform to move along an extending direction parallel to a channel, identifying a position to be worked of the channel and generating a laying start instruction for the position to be worked, wherein the working platform comprises a first position and a second position, the first position is used for temporarily storing a cover plate removed from the channel, and the second position is used for temporarily storing the cover plate before the cover plate is re-laid; in response to the laying start instruction of the position to be worked, executing the following operations: controlling a first mechanical arm on the operation platform to place a grabbed cover plate at a first position of the operation platform; controlling a cable laying machine on the working platform to perform cable laying on the position to be worked; controlling a conveying assembly on the working platform to convey the cover plate at the first position to a second position of the working platform; And when the cable laying at the to-be-operated position is finished and the cover plate is moved from the first position to the second position, controlling the cover plate at the second position grabbed by the second mechanical arm to restore to the channel at the to-be-operated position, wherein the cable laying is finished.
11. An electronic device comprising a processor and a memory coupled to the memory, the memory for storing computer instructions that are loaded and executed by the processor to cause the computer device to implement the cabling method of claim 10.
12. A computer-readable storage medium comprising computer-executable instructions that, when run on a computer, cause the computer to perform the cabling method of claim 10.

Description

Cable laying system, cable laying method, electronic equipment and storage medium Technical Field The present application relates to the field of cable laying technologies, and in particular, to a cable laying system, a cable laying method, an electronic device, and a storage medium. Background With the rapid development of rail transit technology, the demand for automation of cable laying operation is becoming urgent. Taking high-speed railway optical cable laying as an example, the high-speed railway optical cable is laid along the weak cable grooves on two sides of a track, reserved pipelines of a bridge or underground passages of a roadbed, not only is long-distance operation pressure of hundreds or thousands of kilometers of single lines required, but also complex and changeable line working conditions such as bridges, tunnels, ramps, curves and the like are required to be traversed, most of construction conditions are limited to night operation, and effective construction window period is very limited. However, in face of these serious challenges, the prior art scheme is still mainly operated manually, and not only needs to put into a lot of manpower and consume a lot of time, but also directly causes serious hysteresis of construction progress, and fully shows significant defects of the prior cable laying technology in terms of working efficiency. Disclosure of Invention The application provides a cable laying system, a cable laying method, electronic equipment and a storage medium, and aims to improve cable laying efficiency. In a first aspect, the present application provides a cable laying system for laying a cable into a channel, comprising a work platform being a device that moves in a direction parallel to the direction of extension of the channel, the work platform comprising a first position and a second position; the first position is a position for temporarily storing the cover plate removed from the channel; the second position is a position for temporarily storing the cover plate before the cover plate is re-laid, the first mechanical arm is arranged on the operation platform and used for placing the cover plate on the channel to the first position, the conveying component is arranged on the operation platform and used for conveying the cover plate at the first position to the second position, the second mechanical arm is arranged on the operation platform and used for placing the cover plate at the second position on the channel, the cable laying mechanism is arranged on the operation platform and used for laying cables in the channel after the cover plate is removed by the first mechanical arm, the controller is coupled with the first mechanical arm, the second mechanical arm, the conveying component, the cable laying mechanism and the operation platform, the controller is configured to control the operation platform to move in the extending direction parallel to the channel, identify the position to be laid of the channel and generate a laying start instruction of the position to be laid, in response to the laying start instruction of the position, the first mechanical arm is controlled to place the grabbed cover plate at the first position of the operation platform, the cable machine is controlled to be laid at the position, the cable laying machine is controlled, the conveying component is controlled to carry out the first position to the cable from the first position to the second position to be laid at the position of the cover plate when the first position is completed and the second position of the cover plate is moved from the first position to the position to be laid, and controlling the cover plate at the second position grabbed by the second mechanical arm to restore to the channel at the position to be operated, where the cable laying is completed. The technical scheme provided by the application has at least the following beneficial effects: The cable laying system comprises an operation platform, a first mechanical arm, a conveying assembly, a second mechanical arm, a cable laying mechanism and a controller, wherein the mechanical arm, the conveying assembly and the cable laying mechanism are integrated through the operation platform, and the controller realizes full-flow automatic control. When the operation platform moves along the channel and positions the position to be operated, the controller sequentially drives the first mechanical arm to move away from the cover plate to the first position, the cable laying mechanism finishes laying, the conveying assembly conveys the cover plate to the second position, and finally the cover plate is reset through the second mechanical arm. The design does not need to carry the cover plate manually frequently, realizes continuous automatic operation of removing the cover plate, laying the cable and resetting the cover plate, greatly improves the operation efficiency of laying the cable, reduces the manual operation intensity and th