阅读说明：本技术 一种线缆寻径方法、装置及车辆 (Cable routing method and device and vehicle ) 是由 胡斌炜 朱迎谷 罗凌波 涂绍平 王鸿飞 项立扬 宋俊辉 于会民 郭园园 于 2020-06-05 设计创作，主要内容包括：本发明提供一种线缆寻径方法、装置及车辆,装置包括：线缆抓手,用于抓取线缆；设置于所述线缆抓手上的第一位移传感器和第二位移传感器,在抓取线缆后的车行进过程中,所述第一位移传感器用于检测线缆的左向位移量,所述第二位移传感器用于检测线缆的右向位移量；控制器,用于根据所述左向位移量和所述右向位移量,确定线缆的偏移方向,根据所述偏移方向控制车行进方向,使得车行进方向跟随线缆延伸方向。本发明能够解决线缆寻径的问题。(The invention provides a cable routing method, a device and a vehicle, wherein the device comprises: the cable gripper is used for gripping the cable; the cable grabbing device comprises a first displacement sensor and a second displacement sensor, wherein the first displacement sensor and the second displacement sensor are arranged on the cable grabbing hand, and the first displacement sensor is used for detecting the left displacement of a cable and the second displacement sensor is used for detecting the right displacement of the cable in the process of vehicle traveling after the cable grabbing; and the controller is used for determining the deviation direction of the cable according to the left displacement and the right displacement, and controlling the vehicle traveling direction according to the deviation direction so that the vehicle traveling direction follows the cable extending direction. The invention can solve the problem of cable routing.)

1. A cable routing device, comprising:

the cable gripper is used for gripping the cable;

the cable grabbing device comprises a first displacement sensor and a second displacement sensor, wherein the first displacement sensor and the second displacement sensor are arranged on the cable grabbing hand, and the first displacement sensor is used for detecting the left displacement of a cable and the second displacement sensor is used for detecting the right displacement of the cable in the process of vehicle traveling after the cable grabbing;

and the controller is used for determining the deviation direction of the cable according to the left displacement and the right displacement, and controlling the vehicle traveling direction according to the deviation direction so that the vehicle traveling direction follows the cable extending direction.

2. The apparatus of claim 1,

the controller is used for calculating a difference value between the left displacement and the right displacement according to the left displacement and the right displacement, and if the difference value is zero, determining that the cable is not deviated and the vehicle traveling direction is unchanged; if the difference value is larger than zero, determining that the cable is deviated leftwards, and controlling the traveling direction of the vehicle to be deviated leftwards until the difference value is zero; and if the difference value is smaller than zero, determining that the cable deviates to the right, and controlling the traveling direction of the vehicle to deviate to the right until the difference value is zero.

3. The device according to claim 1, wherein the cable gripper comprises a left arm and a right arm, the left arm is pivotally connected to a left detection frame, the first displacement sensor is disposed at a connection position of the left arm and the left detection frame, the right arm is pivotally connected to a right detection frame, the second displacement sensor is disposed at a connection position of the right arm and the right detection frame, when the cable gripper grips a cable, the cable presses the left detection frame and/or the right detection frame, so that the left detection frame and/or the right detection frame rotates relative to the left arm and/or the right arm, and during the rotation, the first displacement sensor and/or the second displacement sensor detects a displacement of the left detection frame and/or the right detection frame, and obtaining the left offset and/or the right offset.

4. The apparatus according to claim 3, wherein a left-side limiting member is disposed between the left arm and the left detection frame for limiting a rotational position of the left detection frame relative to the left arm, and a right-side limiting member is disposed between the right arm and the right detection frame for limiting a rotational position of the right detection frame relative to the right arm.

5. The device according to claim 3 or 4, wherein a left elastic member is arranged between the left arm and the left detection frame, a right elastic member is arranged between the right arm and the right detection frame, and when the cable gripper does not grip the cable, the left detection frame and the right detection frame are in initial positions under the action of the left elastic member and the right elastic member respectively.

6. The device of claim 1, further comprising a power unit, wherein a power output end of the power unit is connected with the cable gripper, and the controller is configured to output a control signal to the power unit so that the power unit drives the cable gripper to open or close.

7. The device of claim 6, further comprising a support arm pivotally coupled to the cable grip, wherein the power unit is coupled to the support arm.

8. A cable routing method, comprising:

grabbing the cable by using a cable gripper;

in the process of vehicle traveling after the cable is grabbed, detecting the left displacement of the cable by using a first displacement sensor arranged on the cable grab, and detecting the right displacement of the cable by using a second displacement sensor arranged on the cable grab;

and determining the deviation direction of the cable according to the left displacement and the right displacement by using a controller, and controlling the vehicle traveling direction according to the deviation direction so that the vehicle traveling direction follows the cable extending direction.

9. The method of claim 8, wherein determining, with a controller, a direction of cable displacement based on the amount of left and right displacement, and controlling a direction of vehicle travel based on the direction of displacement such that the direction of vehicle travel follows a direction of cable extension comprises:

calculating a difference value between the left displacement and the right displacement according to the left displacement and the right displacement by using the controller, and if the difference value is zero, determining that the cable is not deviated and the vehicle travelling direction is unchanged; if the difference value is larger than zero, determining that the cable is deviated leftwards, and controlling the traveling direction of the vehicle to be deviated leftwards until the difference value is zero; and if the difference value is smaller than zero, determining that the cable deviates to the right, and controlling the traveling direction of the vehicle to deviate to the right until the difference value is zero.

10. A vehicle comprising a cable routing device according to any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of cable detection, in particular to a cable routing method, a cable routing device and a vehicle.

Background

In the process of underwater submarine cable laying operation, there is a working condition that a laying vessel lays a submarine cable to be laid on the seabed in advance according to a laying trajectory requirement, and then a laying device lays the submarine cable under the seabed according to the path of the submarine cable. Because marine environment is complicated changeable, laying equipment need accomplish submarine cable work of burying underground automatically, for realizing burying underground automatically, the prerequisite requirement is the detection submarine cable direction that can be accurate so that carry out the automatic route of seeking of cable and follow. The cable image can be shot by installing the camera on the laying equipment, but the shooting effect is poor because no good light source exists underwater and the cable image is influenced by environmental factors such as muddy sediment, shading and the like; install cable detection sensor on laying equipment, can utilize the position of electromagnetic induction principle detection submarine cable, and then realize seeking of submarine cable and follow through the position of surveying, however, cable detection sensor is high in price, and the cost is very high, is not suitable for ordinary operating system, can't obtain popularization and application.

Disclosure of Invention

In view of the above, the present invention provides a cable routing method, a device and a vehicle to solve the problem of cable routing.

Based on the above object, the present invention provides a cable routing device, comprising:

the cable gripper is used for gripping the cable;

the cable grabbing device comprises a first displacement sensor and a second displacement sensor, wherein the first displacement sensor and the second displacement sensor are arranged on the cable grabbing hand, and the first displacement sensor is used for detecting the left displacement of a cable and the second displacement sensor is used for detecting the right displacement of the cable in the process of vehicle traveling after the cable grabbing;

and the controller is used for determining the deviation direction of the cable according to the left displacement and the right displacement, and controlling the vehicle traveling direction according to the deviation direction so that the vehicle traveling direction follows the cable extending direction.

Optionally, the controller is configured to calculate a difference between the left displacement and the right displacement according to the left displacement and the right displacement, and if the difference is zero, determine that the cable is not offset and the vehicle traveling direction is not changed; if the difference value is larger than zero, determining that the cable is deviated leftwards, and controlling the traveling direction of the vehicle to be deviated leftwards until the difference value is zero; and if the difference value is smaller than zero, determining that the cable deviates to the right, and controlling the traveling direction of the vehicle to deviate to the right until the difference value is zero.

Optionally, the cable gripper includes a left arm and a right arm, the left arm is pivoted with the left detection frame, the first displacement sensor is disposed at a connection position of the left arm and the left detection frame, the right arm is pivoted with the right detection frame, the second displacement sensor is disposed at a connection position of the right arm and the right detection frame, when the cable gripper grips the cable, the cable generates pressure on the left detection frame and/or the right detection frame, so that the left detection frame and/or the right detection frame rotates relative to the left arm and/or the right arm, and during the rotation process, the first displacement sensor and/or the second displacement sensor detects a displacement of the left detection frame and/or the right detection frame, and obtaining the left offset and/or the right offset.

Optionally, a left side arm and be equipped with between the left side detection frame and be used for the restriction the left side detection frame is relative the left side locating part of left side arm rotational position, the right side arm with be equipped with between the right side detection frame and be used for the restriction the right side detection frame is relative right side locating part of right side arm rotational position.

Optionally, the left arm with be equipped with left side elastic component between the left side detection frame, the right arm with be equipped with right side elastic component between the right side detection frame, when the cable tongs did not snatch the cable, receive respectively the effort of left side elastic component and right side elastic component, left side detection frame and right side detection frame are in initial position.

Optionally, the device further comprises a power unit, a power output end of the power unit is connected with the cable gripper, and the controller is used for outputting a control signal to the power unit so that the power unit drives the cable gripper to open or close.

Optionally, the device further comprises a support arm, the support arm is pivoted with the cable gripper, and the power unit is connected with the support arm.

The invention also provides a cable routing method, which comprises the following steps:

grabbing the cable by using a cable gripper;

in the process of vehicle traveling after the cable is grabbed, detecting the left displacement of the cable by using a first displacement sensor arranged on the cable grab, and detecting the right displacement of the cable by using a second displacement sensor arranged on the cable grab;

and determining the deviation direction of the cable according to the left displacement and the right displacement by using a controller, and controlling the vehicle traveling direction according to the deviation direction so that the vehicle traveling direction follows the cable extending direction.

Optionally, determining, by the controller, an offset direction of the cable according to the left displacement amount and the right displacement amount, and controlling a vehicle traveling direction according to the offset direction, so that the vehicle traveling direction follows a cable extending direction, including:

calculating a difference value between the left displacement and the right displacement according to the left displacement and the right displacement by using the controller, and if the difference value is zero, determining that the cable is not deviated and the vehicle travelling direction is unchanged; if the difference value is larger than zero, determining that the cable is deviated leftwards, and controlling the traveling direction of the vehicle to be deviated leftwards until the difference value is zero; and if the difference value is smaller than zero, determining that the cable deviates to the right, and controlling the traveling direction of the vehicle to deviate to the right until the difference value is zero.

The invention also provides a vehicle comprising the cable routing device.

From the above, the invention provides a cable routing method, a device and a vehicle, wherein the device comprises: the cable grabbing device comprises a cable grabbing hand used for grabbing a cable, and a first displacement sensor and a second displacement sensor which are arranged on the cable grabbing hand, wherein in the process of vehicle traveling after grabbing the cable, the first displacement sensor is used for detecting the left displacement of the cable, and the second displacement sensor is used for detecting the right displacement of the cable; and the controller is used for determining the deviation direction of the cable according to the left displacement and the right displacement and controlling the vehicle traveling direction according to the deviation direction so that the vehicle traveling direction follows the cable extending direction. The invention can solve the problem of cable routing.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic perspective view of an apparatus according to an embodiment of the present invention, with cable grippers in a closed position;

FIG. 2 is a schematic perspective view of an apparatus according to an embodiment of the present invention, with the cable gripper in an open position;

FIG. 3 is a front view of the apparatus of an embodiment of the present invention with the cable grip in a closed position;

FIG. 4 is a front view of the apparatus of an embodiment of the present invention with the cable grip in an open position;

FIGS. 5-8 are schematic diagrams of an apparatus for detecting cable orientation according to an embodiment of the present invention;

FIGS. 9 and 10 are schematic diagrams illustrating the operation of the vehicle according to the embodiment of the present invention, which travels along the direction of the cable;

FIG. 11 is a schematic workflow diagram of an embodiment of the present invention;

FIG. 12 is a flowchart illustrating a method according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.

It is to be noted that technical terms or scientific terms used in the embodiments of the present invention should have the ordinary meanings as understood by those having ordinary skill in the art to which the present disclosure belongs, unless otherwise defined. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

As shown in fig. 1 to 4, an embodiment of the present invention provides a cable routing device, including:

a cable gripper 10 for gripping a cable;

the first displacement sensor 21 and the second displacement sensor 22 are arranged on the cable gripper 10, and in the process of vehicle traveling after the cable gripper grips the cable, the first displacement sensor 21 is used for detecting the left displacement of the cable, and the second displacement sensor 22 is used for detecting the right displacement of the cable;

and the controller is used for determining the deviation direction of the cable according to the left displacement and the right displacement, and controlling the vehicle traveling direction according to the deviation direction so that the vehicle traveling direction follows the cable extending direction.

In this embodiment, the cable seeks the footpath device and includes cable tongs 10, two displacement sensor 21, 22 and controller, behind cable tongs 10 snatchs the cable, at the car in-process of advancing, first displacement sensor 21 detects the left displacement volume of the cable that snatchs, second displacement sensor 22 detects the right displacement volume of the cable that snatchs, calculate the skew direction of confirming the cable by the controller according to left displacement volume and right displacement volume, and according to the skew direction control car advancing direction of cable, so that the car advancing direction follows the cable extending direction, thereby realize that automatic cable seeks the footpath.

In some embodiments, the controller is configured to calculate a difference between the left displacement and the right displacement according to the left displacement and the right displacement, and if the difference is zero, determine that the cable is not offset and the vehicle traveling direction is not changed; if the difference value is larger than zero, determining that the cable is deviated leftwards, and controlling the traveling direction of the vehicle to be deviated leftwards until the difference value is zero; if the difference value is smaller than zero, the cable is determined to be shifted rightwards, and the traveling direction of the vehicle is controlled to be shifted rightwards until the difference value is zero.

In this embodiment, after the cable gripper 10 grips the cable, in the traveling process of the vehicle, the controller determines the offset direction of the cable according to the difference between the left displacement amount of the cable detected by the first displacement sensor 21 and the right displacement amount of the cable detected by the second displacement sensor 22, determines that the cable is offset leftward if the left displacement amount is greater than the right displacement amount, controls the traveling direction of the vehicle to be leftward to follow the extending direction of the cable, and stops adjusting the traveling direction of the vehicle leftward when the controller determines that the difference between the real-time detected left displacement amount and the real-time detected right displacement amount is zero in the process of adjusting the traveling direction of the vehicle; according to the determined offset direction of the cable, if the right offset is larger than the left offset, judging that the cable is offset rightwards, controlling the travelling direction of the vehicle rightwards so as to adjust the left displacement detected by the first displacement sensor 21 in real time and the right displacement detected by the second displacement sensor 22 in real time in the process of adjusting the travelling direction of the vehicle according to the extension direction of the cable, and stopping adjusting the travelling direction of the vehicle rightwards when the controller judges that the difference value between the left displacement and the right displacement detected in real time is zero, so as to keep the current travelling direction; and according to the determined cable offset direction, if the left offset and the right offset are the same, judging that the cable direction is not offset, and continuously keeping the current vehicle traveling direction.

Therefore, by using the cable routing device of the embodiment, the deviation direction of the cable can be judged only according to the difference value of the left displacement amount and the right displacement amount of the cable, the method is simple, the calculated amount is small, the extending direction of the cable can be accurately detected, and compared with a scheme that the central position of the cable diameter needs to be determined firstly and then the deviation direction of the cable is judged according to the central position of the cable diameter, the extending direction of the cable can be detected quickly, simply and conveniently no matter the size of the cable diameter, and the cable routing device can be suitable for routing cables with different cable diameters; moreover, since the displacement sensor is used to determine the cable displacement direction by sensing the displacement amount of the cable, compared with the cable detection sensor, the cable applied in this embodiment is not limited to a cable, but may be made of other different materials, and may be applied to cables in different scenes, or may be any object whose extending direction needs to be determined, as long as the object is along the extending direction of the object, the object may cause the left displacement amount and the right displacement amount generated by the first displacement sensor and the second displacement sensor, that is, the extending direction of the object may be determined according to the left displacement amount and the right displacement amount, thereby expanding the application range.

As shown in fig. 1-4, in some embodiments, the cable gripper 10 includes a left arm 11 and a right arm 12, the left arm 11 is pivotally connected to a left detection frame 31, a first displacement sensor 21 is disposed at a position where the left arm 11 is connected to the left detection frame 31, the right arm 12 is pivotally connected to a right detection frame 32, a second displacement sensor 22 is disposed at a position where the right arm 12 is connected to the right detection frame 32, when the cable gripper 10 grips the cable, the cable presses the left detection frame 31 and/or the right detection frame 32, so that the left side detecting frame 31 and/or the right side detecting frame 32 can rotate relative to the left arm 11 and/or the right arm 12, during the rotation, the first displacement sensor 21 and/or the second displacement sensor 22 detects the displacement amount of the left detection frame 31 and/or the right detection frame 32 to obtain the amount of left displacement and/or right displacement.

As shown in the drawings, in the present embodiment, the cable routing device includes a supporting arm 40, a cable gripper 10, a left detection frame 31, a right detection frame 32, a first displacement sensor 21, and a second displacement sensor 22, wherein the cable gripper 10 is connected to the supporting arm 40 and can move relative to the supporting arm 40 to reach an open state or a closed state; the left side detection frame 31 and the right side detection frame 32 are connected with the cable gripper 10, the first displacement sensor 21 and the second displacement sensor 22 are respectively arranged at the connection positions of the left side detection frame 31 and the right side detection frame 32 with the cable gripper 10, when the cable gripper 10 grabs the cable, the left side detection frame 31 and the right side detection frame 32 act relative to the cable gripper 10, and the displacement of the grabbed cable can be detected through the first displacement sensor 21 and the second displacement sensor 22.

Specifically, the cable gripper 10 includes a left arm 11 and a right arm 12, the left arm 11 and the right arm 12 are pivoted with the support arm 40, the left arm 11 and the right arm 12 can rotate relative to the support arm 40, both the left arm 11 and the right arm 12 rotate outwards, the cable gripper 10 is opened, and the cable is gripped in the opened state; the left arm 11 and the right arm 12 both rotate towards the middle, the cable gripper 10 is closed, and after the cable is gripped, the cable is enclosed in a closed space formed under the closed state of the left arm 11 and the right arm 12.

The left arm 11 is pivoted with the left detection frame 31, the first displacement sensor 21 is disposed at a connection position between the left arm 11 and the left detection frame 31, the left arm 11 is opened or closed, the left detection frame 31 is opened or closed along with the left arm 11, and when the left detection frame 31 is stressed, the left detection frame can rotate relative to the left arm 11. The right arm 12 is pivotally connected to the right detecting frame 32, the second displacement sensor 22 is disposed at a connecting position between the right arm 12 and the right detecting frame 32, the right arm 12 is opened or closed, the right detecting frame 32 is opened or closed along with the right arm 12, and when the right detecting frame 32 is stressed, the right detecting frame can rotate relative to the right arm 12.

After the cable gripper 10 grips the cable, the cable is located in a closed space, the cable generates pressure on the left detection frame 31 and/or the right detection frame 32, the left detection frame 31 and/or the right detection frame 32 rotates relative to the left arm 11 and/or the right arm 12 under stress, during the rotation, the first displacement sensor 21 and/or the second displacement sensor 22 detect a displacement amount during the rotation, a detection result of the first displacement sensor 21 is a left displacement amount of the cable, and a detection result of the second displacement sensor 22 is a right displacement amount of the cable.

In some embodiments, a left position-limiting element 51 for limiting a rotation position of the left detection frame 31 relative to the left arm 11 is disposed between the left arm 11 and the left detection frame 31, and a right position-limiting element 52 for limiting a rotation position of the right detection frame 32 relative to the right arm 12 is disposed between the right arm 12 and the right detection frame 32.

In this embodiment, when the cable gripper 10 does not grip the cable and is in the closed state, the left detection frame 31 and the right detection frame 32 are in the initial positions. During the rotation of the left detection frame 31 relative to the left arm 11, the left position-limiting member 51 can limit the rotation position of the left detection frame 31 to prevent the left detection frame 31 from rotating past the initial position, and similarly, during the rotation of the right detection frame 32 relative to the right arm 12, the right position-limiting member 52 can limit the rotation position of the right detection frame 32 to prevent the right detection frame 32 from rotating past the initial position.

In some embodiments, a left elastic member 61 is disposed between the left arm 11 and the left detection frame 31, a right elastic member 62 is disposed between the right arm 12 and the right detection frame 32, and when the cable gripper 10 does not grip the cable, the left detection frame 31 and the right detection frame 32 are in initial positions under the action of the left elastic member 61 and the right elastic member 62, respectively.

In this embodiment, a left elastic member 61 is disposed between the left arm 11 and the left detecting frame 31, and a right elastic member 62 is disposed between the right arm 12 and the right detecting frame 32, so that the left detecting frame 31 and the right detecting frame 32 are kept at initial positions when the cable gripper 10 does not grip the cable. In some ways, the left elastic member 61 and the right elastic member 62 may be provided as a member having an elastic force such as a spring.

In some embodiments, the cable routing device further includes a power unit 70, a power output end of the power unit 70 is connected to the cable gripper 10, and the controller is configured to output a control signal to the power unit 70, so that the power unit 70 drives the cable gripper 10 to open or close. In some embodiments, the power unit 70 is connected to the supporting arm 40, and can drive the left arm 11 and the right arm 12 pivotally connected to the supporting arm 40 to rotate outwards or towards the middle at the same time, so that the cable gripper can be opened or closed. In some forms, the power unit 70 may be provided as a hydraulic power unit, a motor unit, or the like that is capable of providing power.

The following describes the cable routing device according to this embodiment with reference to specific embodiments and operating principles.

As shown in fig. 5 to 8, the left detection frame 31 is rotatable with respect to the left arm 11 between an initial position and a left limit position, which is a detection range of the first displacement sensor 21; the right detection frame 32 is rotatable with respect to the right arm 12 between an initial position and a right limit position, which is a detection range of the first displacement sensor 22.

When the cable gripper 10 is not gripping the cable and is in the closed state, the left detection frame 31 and the right detection frame 32 are located at the initial positions; when a cable gripper grabs a cable and closes the cable, the grabbed cable presses a left detection frame 31 and a right detection frame 32 which are positioned in a closed space, the left detection frame 31 rotates leftwards relative to a left arm 11 under pressure, in the rotating process, a first displacement sensor 21 detects the displacement of the left detection frame 31, namely the leftward displacement a of the cable, the right detection frame 32 rotates rightwards relative to a right arm 12 under pressure, and in the rotating process, a second displacement sensor 22 detects the displacement of the right detection frame 32, namely the rightward displacement b of the cable, which is deviated rightwards; the left displacement a and the right displacement b respectively sensed by the first displacement sensor 21 and the second displacement sensor 22 are transmitted to the controller, the controller calculates the difference between the left displacement a and the right displacement b according to the left displacement a and the right displacement b, if a-b is equal to 0, the cable is judged to be located in the middle of the closed space, the direction of the cable is not deviated, the vehicle does not need to be adjusted, and the vehicle can continuously travel according to the current direction; if a-b is greater than 0, judging that the cable is located at the left position of the closed space, enabling the direction of the cable to deviate leftwards, and controlling the traveling direction of the vehicle to deviate leftwards so as to follow the extending direction of the cable; if a-b is less than 0, judging that the cable is located at the position, deviated from the right, of the closed space, and controlling the traveling direction of the vehicle to deviate to the right so as to follow the extending direction of the cable.

As shown in fig. 9 to 11, in an application scenario, the cable routing device is disposed on a vehicle for detecting the direction of a submarine cable, the submarine cable is laid on the seabed in advance, and the vehicle is used to accurately detect the extending direction of the laid submarine cable and to travel along the extending direction of the submarine cable, so as to facilitate the submarine cable to be buried under the seabed by using the burying device.

In the working process, the controller controls the cable gripper 10 to open first, then controls the supporting arm 40 to descend to the height corresponding to the position of the submarine cable, and then controls the cable gripper 10 to close to grip the submarine cable; after the cable gripper 10 is closed, the controller judges whether the submarine cable is not gripped by the cable gripper 10 according to the received leftward displacement detected by the first displacement sensor 21 and the received rightward displacement detected by the second displacement sensor 22, if the submarine cable is not gripped, the controller readjusts the positions of the vehicle, the support arm 40 and the cable gripper 10, and grips the submarine cable again until the submarine cable is gripped according to the received leftward displacement and the received rightward displacement.

After the submarine cable is grabbed, the controller adjusts the height of the supporting arm 40 so that the cable routing device is located at a proper working height, so that a subsequent vehicle can conveniently move along with the submarine cable. During the running process of the vehicle, the controller continuously receives the left displacement detected by the first displacement sensor 21 and the right displacement of the second displacement sensor 22, judges the extension direction of the submarine cable according to the difference value delta x (delta x is b-a) between the left displacement and the right displacement, and does not adjust the running direction of the vehicle if delta x is 0; if the delta x is larger than 0, controlling the vehicle to move to the right in a deviation mode until the delta x is detected and calculated to be 0; if the delta x is less than 0, controlling the vehicle to move leftwards until the delta x is detected and calculated to be 0; therefore, in the running process of the vehicle, the deviation direction of the submarine cable is judged by detecting the left displacement and the right displacement of the submarine cable in real time and according to the difference value between the left displacement and the right displacement, and the running direction of the vehicle is controlled according to the deviation direction of the submarine cable, so that the running direction of the vehicle advances along with the extension direction of the submarine cable.

As shown in fig. 12, an embodiment of the present invention further provides a cable routing method, including:

s101: grabbing the cable by using a cable gripper;

s102: in the process of advancing the vehicle after grabbing the cable, detecting the left displacement of the cable by using a first displacement sensor arranged on a cable grab, and detecting the right displacement of the cable by using a second displacement sensor arranged on the cable grab;

s103: and determining the deviation direction of the cable according to the left displacement and the right displacement by using the controller, and controlling the vehicle traveling direction according to the deviation direction so that the vehicle traveling direction follows the cable extending direction.

In some embodiments, the controller is used for calculating the difference value between the left displacement and the right displacement according to the left displacement and the right displacement, and if the difference value is zero, the cable is determined not to be deviated, and the traveling direction of the vehicle is unchanged; if the difference value is larger than zero, determining that the cable is deviated leftwards, and controlling the traveling direction of the vehicle to be deviated leftwards until the difference value is zero; if the difference value is smaller than zero, the cable is determined to be shifted rightwards, and the traveling direction of the vehicle is controlled to be shifted rightwards until the difference value is zero.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.

In addition, well known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures for simplicity of illustration and discussion, and so as not to obscure the invention. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the invention, and also in view of the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the present invention is to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the invention, it should be apparent to one skilled in the art that the invention can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.

While the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.

The embodiments of the invention are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements and the like that may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.