An unmanned autonomous retraction and deployment control system based on Ether Cat

Abstract

The present invention relates to an unmanned autonomous retractable control system and control method based on EtherCat, belonging to the technical field of mechatronics. The control system includes a programmable controller, a touch screen, a host computer, a drive motor, a drive motor driver, a jacking motor and a jacking motor driver. The drive motor driver and the jacking motor driver are connected to the programmable controller based on EtherCat communication. The programmable controller is connected to the host computer through ModbusTCP communication and to the touch screen through RS485 communication. The programmable controller sends instructions to the drive motor driver and the jacking motor driver through EtherCat communication to realize the control of the drive motor and the jacking motor. The unmanned autonomous retractable control system designed by the present invention can independently complete the operation of lowering and recovering the towing linear array, and is also equipped with a manual operating system to cooperate with the mechanical structure debugging and fault repair.

Description

Technical Field

[0001] The present invention relates to the technical field of mechatronics, and in particular to an Ether Cat-based unmanned autonomous retractable control system and a control method. Background Art

[0002] Towed linear array sonar, also known as "towed array sonar", is mainly used to listen to submarine radiation noise, remote monitoring, direction finding and identification, etc. The array length is tens of meters to hundreds of meters, and the working depth is variable. It has the advantages of large array size, low working frequency, conducive to line spectrum monitoring, and the ability to detect targets at a long distance and covertly. When working, it is put into water, and the unmanned autonomous retractable control system controls the unmanned autonomous retractable device to realize the autonomous lowering and recovery of the towed linear array.

[0003] The technical value and product value of the towed array and the cables connected to it are relatively high. During the operation of the autonomous retraction and release device, it is necessary to ensure that the towed array and the cables connected to it are not damaged during the recovery or lowering process. Therefore, the reliability and accuracy of the unmanned autonomous retraction and release control system are particularly important.

[0004] At present, the towing line array is generally stored on the winch of the winch, and is recovered and lowered by rotating the winch. The disadvantage of this method is that the cable arrangement system is complicated. Since the diameter of the towing line array and the cable are generally different, in order to ensure the accuracy and reliability of the winch cable arrangement, the cable guide component of the cable arrangement system needs to achieve a diameter change operation, which generally requires manual intervention. However, with the development of automatic technology, more and more industrial fields require unmanned automatic operation, which limits the use environment of the equipment and the speed of the equipment is also limited because components with different diameters are wound on the same equipment. Summary of the invention

[0005] In order to solve the problems in the prior art, the present invention patent designs an unmanned autonomous retraction and release control system based on Ether Cat to realize the autonomous lowering and recovery of the towed linear array.

[0006] The technical solution adopted in the present invention is: the control system includes a programmable controller, a touch screen, a host computer, a drive motor, a drive motor driver, a jacking motor and a jacking motor driver, the programmable controller signal is connected with an analog input module, a state input module, a state output module, a drive motor encoder module and a jacking motor encoder module, the drive motor driver and the jacking motor driver are connected to the programmable controller based on EtherCat communication, the programmable controller is connected to the host computer through ModbusTCP communication and to the touch screen through RS485 communication, and the programmable controller sends instructions to the drive motor driver and the jacking motor driver through EtherCat communication to realize control of the drive motor and the jacking motor.

[0007] Furthermore, the programmable controller includes: a CPU module, a DI module, a DO module, an AD module, an EtherCat communication module, a ModbusTCP communication module and an RS485 communication module. The analog input module collects analog signals and transmits them to the CPU module of the programmable controller through the AD module. The state input module collects signals and transmits them to the CPU module of the programmable controller through the DI module. The CPU module sends control words through logical judgment and sends them to the drive motor driver and the jacking motor driver through the EtherCat communication module. The CPU module sends control words through the EtherCat communication module. The t communication module reads signals such as the driving motor speed and motor torque from the driving motor driver; reads signals such as the jacking motor speed, motor torque, and motor position from the jacking motor driver, wherein the motor position signal is provided by the jacking motor encoder; the CPU module transmits the required parameters related to the driving motor and the jacking motor and the cable tension information read to the host computer through the ModbusTCP communication module, and transmits it to the touch screen through the RS485 communication module; similarly, the host computer sends control instructions to the CPU module through the ModbusTCP communication module, and the touch screen sends control instructions to the RS485 communication module to control the operation of the driving motor and the jacking motor.

[0008] Furthermore, the analog input module signal is connected to a tension sensor, and the tension sensor detection value is transmitted to the CPU module. The tension sensor is arranged at the tail of the cable to measure the cable tension value in real time. If the tension value is abnormal, the system alarm buzzer is triggered to alarm.

[0009] Furthermore, the state quantity input module includes an upper limit sensor for jacking, a lower jacking sensor, a linear array inlet sensor, a linear array outlet sensor, an infrared marking sensor and a stop switch, wherein the stop switch outputs a stop operation signal, i.e., stops the motor; when the upper limit sensor for jacking is triggered, it outputs a signal for the jacking motor to move upward to a specified target position and stop the motor; when the lower jacking sensor is triggered, it outputs a signal for the jacking motor to move downward to a specified target position and stop the motor; when the linear array inlet sensor is triggered, it indicates that the tail of the linear array has begun to enter the retracting device during the recovery process of the linear array; when the linear array outlet sensor is triggered, it indicates that the linear array has left the retracting device during the lowering process of the linear array; there are a total of 10 infrared marking sensors, which are respectively installed at set positions of the retracting device, and when triggered, they indicate the current position of the linear array in the retracting device.

[0010] Furthermore, the state quantity output module includes a linear array lowering indicator light, a linear array recovery indicator light, an alarm buzzer and a solenoid valve. The linear array lowering indicator light is lit during the linear array lowering process, and the linear array recovery indicator light is lit during the linear array recovery process. The alarm buzzer sounds an alarm when an abnormality occurs in the system, and the solenoid valve opens to clean the wet end when the linear array is recovered.

[0011] The process of the control method for lowering a towed linear array based on the Ether Cat unmanned autonomous retractable control system disclosed in the present invention is as follows:

[0012] a) After the system is turned on, the programmable controller will self-check whether the system is normal. If the system is abnormal, it will report the specific location of the fault to the host computer;

[0013] b) The programmable controller passes the self-test. If the tension value is detected abnormally during the operation of the system, the cable will be automatically cut or an overload will be prompted and the unmanned boat will be reported to stop;

[0014] c) After receiving the work instruction from the upper computer, the jacking motor reverses at the set speed until the jacking lower limit sensor is triggered, and the jacking motor stops; after the jacking motor stops, the drive motor lowers the acoustic array at the initial lowering speed V0. Here, it is stipulated that the drive motor rotates forward to lower the linear array, the electric winch releases the cable at the same speed, and the cable-laying motor releases the cable at the corresponding speed; during the lowering process of the towed linear array, the system determines whether the infrared marking sensor is triggered. If it is not triggered, it means that the lowering process is abnormal: if 3 or more infrared sensors are not triggered in succession, the abnormality is reported and the unmanned ship is controlled to stop; if the continuous infrared marking sensors are not triggered for no more than 3 times, the fault position is uploaded and the cable-laying operation continues; if all 10 infrared sensors are triggered, the array position is fed back normally and reported to the programmable controller; when lowering to the towed linear array into the water, the linear array outlet sensor triggers the jacking motor to rotate forward until the jacking upper limit sensor is triggered, the jacking motor stops running, and the winch is driven at V 放 The cable is released at a certain speed, and the drive motor runs at the corresponding speed; the cable is lowered until the programmable controller receives a stop command from the host computer or the system default maximum towing cable length is reached, and all motors stop working and brake for protection; if the tension value is detected abnormally during the operation of the system, the cable is automatically cut or an overload prompt is given and the unmanned boat is reported to stop.

[0015] The control method for recovering a towed linear array based on the Ether Cat unmanned autonomous retractable control system disclosed in the present invention has the following process:

[0016] a) After the system is turned on, the programmable controller will self-check whether the system is normal. If the system is abnormal, it will report the specific location of the fault to the host computer;

[0017] b) The programmable controller passes the self-test. If the tension value is detected abnormally during the operation of the system, the cable will be automatically cut or an overload will be prompted and the unmanned boat will be reported to stop;

[0018] c) After receiving the work instruction from the host computer, the towing cable is recovered and the solenoid valve is opened for wet end cleaning. The electric winch is operated at V 放 The towline is recovered at a speed, and the cable-laying motor completes the cable-laying work at a corresponding speed; when the remaining cable length is less than 70m, the electric winch reels the cable at a speed of V0, and after the linear array is out of water, until the linear array inlet sensor is triggered, the drive motor recycles the linear array at V0, and it is stipulated here that the drive motor is reversed to recycle the linear array; after the linear array enters the drive device, the system determines whether the infrared mark sensor is triggered; if it is not triggered, it means that the recovery process is abnormal: if 3 or more infrared mark sensors are not triggered in a row, the abnormality is reported, and protective measures such as controlling the unmanned boat to stop are taken; if the number of untriggered infrared mark sensors is less than 3, the fault position is uploaded, and the cable-laying operation continues; if all 10 infrared sensors are triggered, the array position is fed back normally and reported to the programmable controller; after the equipment reaches the predetermined position and triggers the linear array in-place sensor, all motors stop and the solenoid valve is closed; if the tension value is detected abnormally during the operation of the system, the cable is automatically cut or an overload prompt is given and the unmanned boat is reported to stop.

[0019] Furthermore, the signals collected by the state quantity input module, Modbus Tcp communication module and RS485 communication module of the control system are uploaded to the CPU module. The CPU sends control words to the drive motor driver and the jacking motor driver through the EtherCat communication module, so that the drive motor and the jacking motor run in the direction and speed of the lowering or recovery process; the state quantity input module collects the infrared marking sensor signal and uploads it to the CPU module through the DI module. The CPU sends control words to the drive motor and the winch motor driver through the EtherCat communication module, which can effectively protect the system from cable stacking and protect the cable; the analog quantity input module collects the tension sensor signal and uploads it to the CPU module through the AD module. The CPU sends control words to the drive motor and the winch motor driver through the EtherCat communication module, which can effectively avoid the risk of damage to the linear array due to external force.

[0020] Furthermore, the control method also includes an emergency stop process, which is an emergency stop under non-alarm conditions. The touch screen sends a stop command to the CPU module of the programmable controller through an RS485 communication module or the host computer sends a stop command through a Modbus TCP communication module, and the system stops smoothly.

[0021] Compared with the prior art, the progress of the unmanned autonomous retractable control system based on Ether Cat designed by the patent of the present invention is as follows: 1. The towed linear array retractable control system designed by the present invention does not require human intervention, and the programmable controller combines various sensors to realize unmanned autonomous retractable linear array; the infrared position sensor is used to determine the position of the linear array in the retractable device, and the operation of the infrared position sensor control system prevents the accumulation of cables, which greatly improves the accuracy and stability of the unmanned retractable control system, reduces the failure rate, and effectively protects the cables;

[0022] 2. The CPU module of the towed linear array retractable and deployable control system designed by the present invention uses Ether Cat communication with the drive motor, jacking motor and other motors. The communication process is fast and stable, ensuring the speed and reliability of the entire system.

[0023] 3. The towed linear array retracting and releasing control system designed by the present invention can be applied to the lowering and recovery of linear arrays of different diameters, is not limited by the type of cables, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the Ether Cat unmanned autonomous retraction and deployment control system.

[0025] Figure 2 This is a schematic diagram of the principle of the Ether Cat unmanned autonomous retraction and deployment control system.

[0026] Figure 3 It is a schematic diagram of the partial structure of the retracting and launching device based on the Ether Cat unmanned autonomous retracting and launching control system.

[0027] Figure 4 This is a schematic diagram of the position of the infrared position sensor of the retracting and releasing device based on the Ether Cat unmanned autonomous retracting and releasing control system.

[0028] Figure 5 It is a control flow chart based on the Ether Cat unmanned autonomous retractable control system for the lowering process of the towed linear array.

[0029] Figure 6 It is a control flow chart based on the Ether Cat unmanned autonomous retraction and release control system for the towed linear array recovery process.

[0030] In the figure, 1 is a programmable controller, 2 is a touch screen, 3 is a host computer, 4 is a drive motor, 5 is a drive motor driver, 7 is a jacking motor, 8 is a jacking motor driver, 9 is a drive motor encoder module, 10 is a jacking motor encoder module, 11 is an analog input module, 12 is a tension sensor, 13 is a state input module, 14 is a state output module, 16 is a DI module, 17 is a CPU module, 18 is a DO module, 19 is an EtherCat communication module, 20 is an RS485 communication module, 21 is a ModbusTCP communication module, 22 is an AD module, 23 is an upper limit sensor for jacking, 24 is a lower sensor for jacking, 25 is an infrared array smoke detector at the position, 26 is a linear array inlet sensor, 27 is a linear array outlet sensor, 28 is an infrared marking sensor, 29 is a stop switch, 30 is a linear array lowering indicator light, 31 is a linear array recovery indicator light, 32 is an alarm buzzer, and 33 is an electromagnetic valve. DETAILED DESCRIPTION

[0031] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. The technical solutions in the embodiments of the present invention are clearly and completely described, and the described embodiments are only embodiments of a part of the present invention, not all of them. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] like Figure 1-4 As shown, the patent of the present invention designs an embodiment of an unmanned autonomous retractable control system based on Ether Cat. In this embodiment, the control system includes a programmable controller 1, a touch screen 2, a host computer 3, a drive motor 4, a drive motor driver 5, a jacking motor 7 and a jacking motor driver 8. The drive motor driver 5 and the jacking motor driver 8 are connected to the programmable controller 3 based on EtherCat communication. The programmable controller 3 is connected to the host computer 3 through ModbusTCP communication and to the touch screen 2 through RS485 communication. The programmable controller 3 sends instructions to the drive motor driver 5 and the jacking motor driver 8 through EtherCat communication to control the drive motor 4 and the jacking motor 7.

[0033] The control system also includes an analog input module 11, a state input module 13, a state output module 14, a drive motor encoder module 9 and a jacking motor encoder module 10. The programmable controller 3 includes: a CPU module 17, a DI module 16, a DO module 18, an AD module 22, an EtherCat communication module 19, a ModbusTCP communication module 21 and an RS485 communication module 20. The analog input module 11 collects analog signals and transmits them to the CPU module 17 of the programmable controller 3 through the AD module 22, the state input module 13 collects signals and transmits them to the CPU module 17 of the programmable controller 3 through the DI module 16, the CPU module 17 sends control words through logical judgment, and sends them to the drive motor driver 5 and the jacking motor driver 7 through the EtherCat communication module 19. The CPU module 17 reads the signals such as the rotation speed and motor torque of the driving motor 4 from the driving motor driver 5 through the EtherCat communication module 19; reads the signals such as the rotation speed, motor torque and motor position of the jacking motor 7 from the jacking motor driver 8, wherein the motor position signal is provided by the jacking motor encoder 10; the CPU module 17 transmits the required parameters related to the driving motor 4 and the jacking motor 7 and the cable tension information read out to the host computer 3 through the ModbusTCP communication module 21, and transmits it to the touch screen 2 through the RS485 communication module 20; similarly, the host computer 3 sends control instructions to the CPU module 17 through the ModbusTCP communication module 21, and the touch screen 2 sends control instructions to the CPU module 17 through the RS485 communication module 20, thereby controlling the operation of the driving motor 4 and the jacking motor 7.

[0034] The analog input module 11 is connected to the tension sensor 12 by signal, and transmits the detection value of the tension sensor 12 to the CPU module 17. The tension sensor 12 is placed at the tail of the cable to measure the cable tension value in real time. If the tension value is abnormal, the alarm buzzer 32 of the system is triggered to alarm. The state input module 13 includes an upper limit sensor 23, a lower sensor 24, a linear array inlet sensor 26, a linear array outlet sensor 27, an infrared position sensor 28 and a stop switch 29. The stop switch 29 outputs a stop operation signal, that is, stops the motor from working; when the upper limit sensor 23 is triggered, the output is that the jacking motor 7 moves up to the specified target position and stops the motor; when the lower sensor 24 is triggered, the output is that the jacking motor 7 moves down to the specified target position and stops the motor. When the linear array inlet tube sensor 26 is triggered, it indicates that the tail of the linear array has begun to enter the retracting device during the linear array recovery process; when the linear array outlet tube sensor 27 is triggered, it indicates that the linear array has left the retracting device during the linear array lowering process; there are 10 infrared position sensors 28, which are respectively installed at the set positions of the retracting device, and when they are triggered, they indicate the current position of the linear array in the retracting device.

[0035] The state quantity output module 14 includes a linear array lowering indicator light 30, a linear array recovery indicator light 31, an alarm buzzer 32 and a solenoid valve 33. The linear array lowering indicator light 30 is lit during the linear array lowering process, the linear array recovery indicator light 31 is lit during the linear array recovery process, the alarm buzzer 32 sounds an alarm when an abnormality occurs in the system, and the solenoid valve 33 is opened to clean the wet end when the linear array is recovered.

[0036] The control process of the Ether Cat unmanned autonomous retractable control system for lowering a towed linear array disclosed in the present invention includes the following steps:

[0037] 1. Hardware connection

[0038] After the mechanical structure is installed, correctly connect the required wires for the programmable controller, sensor, drive motor and jacking motor.

[0039] 2. Drag array lowering process

[0040] The control process of the towed array lowering is as follows: Figure 5 As shown, after receiving the task instruction to lower the acoustic array, the control system sends a confirmation ready instruction to the PLC. After receiving the confirmation ready reply, the PLC control system controls the jacking motor to reverse at the set speed until the jacking lower limit sensor is triggered, and the jacking motor stops. After the jacking motor stops, the drive motor lowers the acoustic array at the initial lowering speed V0. At the same time, the winch system releases the cable at the speed V0. During the lowering process, the state of the infrared marking sensor installed in the retracting device is detected to determine the progress of the cable release. The trigger state of the linear array tube outlet sensor is used to determine whether the acoustic array has entered the water. After the acoustic array enters the water, the electric winch moves at the set water entry speed V 放 Continue to release the cable, and the drive motor continues to run at speed V. After receiving the system's command to stop releasing the cable or monitoring that the actual cable release length reaches the set value, all motors are stopped and brake protection is performed.

[0041] The specific control process of the cable release mode is as follows:

[0042] a) After the system is turned on, the programmable controller will self-check whether the system is normal. If the system is abnormal, it will report the specific location of the fault to the host computer;

[0043] b) The programmable controller passes the self-test. If the tension value is detected abnormally during the operation of the system, the cable will be automatically cut or an overload will be prompted and the unmanned boat will be reported to stop;

[0044] c) After receiving the work instruction from the upper computer, the jacking motor reverses at the set speed until the jacking lower limit sensor is triggered, and the jacking motor stops; after the jacking motor stops, the drive motor lowers the acoustic array at the initial lowering speed V0. Here, it is stipulated that the drive motor rotates forward to lower the linear array, the electric winch releases the cable at the same speed, and the cable-laying motor releases the cable at the corresponding speed; during the lowering process of the towed linear array, the system determines whether the infrared marking sensor is triggered. If it is not triggered, it means that the lowering process is abnormal: if 3 or more infrared sensors are not triggered in succession, the abnormality is reported and the unmanned ship is controlled to stop; if the continuous infrared marking sensors are not triggered for no more than 3 times, the fault position is uploaded and the cable-laying operation continues; if all 10 infrared sensors are triggered, the array position is fed back normally and reported to the programmable controller; when lowering to the towed linear array into the water, the linear array outlet sensor triggers the jacking motor to rotate forward until the jacking upper limit sensor is triggered, the jacking motor stops running, and the winch is driven at V 放 The cable is released at a certain speed, and the drive motor runs at the corresponding speed; the cable is lowered until the programmable controller receives a stop command from the host computer or the system default maximum towing cable length is reached, and all motors stop working and brake for protection; if the tension value is detected abnormally during the operation of the system, the cable is automatically cut or an overload prompt is given and the unmanned boat is reported to stop.

[0045] like Figure 6 As shown, the process of the Ether Cat unmanned autonomous retractable control system disclosed in the present invention for recovering the towed linear array is as follows:

[0046] a) After the system is turned on, the programmable controller will self-check whether the system is normal. If the system is abnormal, it will report the specific location of the fault to the host computer;

[0047] b) The programmable controller passes the self-test. If the tension value is detected abnormally during the operation of the system, the cable will be automatically cut or an overload will be prompted and the unmanned boat will be reported to stop;

[0048] c) After receiving the work instruction from the host computer, the towing cable is recovered and the solenoid valve is opened for wet end cleaning. The electric winch is operated at V 放The towline is recovered at a speed, and the cable-laying motor completes the cable-laying work at a corresponding speed; when the remaining cable length is less than 70m, the electric winch reels the cable at a speed of V0, and after the linear array is out of water, until the linear array inlet sensor is triggered, the drive motor recycles the linear array at V0, and it is stipulated here that the drive motor is reversed to recycle the linear array; after the linear array enters the drive device, the system determines whether the infrared mark sensor is triggered; if it is not triggered, it means that the recovery process is abnormal: if 3 or more infrared mark sensors are not triggered in a row, the abnormality is reported, and protective measures such as controlling the unmanned boat to stop are taken; if the number of untriggered infrared mark sensors is less than 3, the fault position is uploaded, and the cable-laying operation continues; if all 10 infrared sensors are triggered, the array position is fed back normally and reported to the programmable controller; after the equipment reaches the predetermined position and triggers the linear array in-place sensor, all motors stop and the solenoid valve is closed; if the tension value is detected abnormally during the operation of the system, the cable is automatically cut or an overload prompt is given and the unmanned boat is reported to stop.

[0049] The above-mentioned Ether Cat-based unmanned autonomous retractable control system disclosed by the present invention is used in the lowering and recovery process of towing the linear array. The signals collected by the state quantity input module, Modbus Tcp communication module and RS485 communication module of the control system are uploaded to the CPU module. The CPU sends control words to the drive motor driver and the jacking motor driver through the EtherCat communication module, so that the drive motor and the jacking motor run according to the running direction and speed of the lowering or recovery process; the state quantity input module collects the infrared marking sensor signal and uploads it to the CPU module through the DI module. The CPU sends control words to the drive motor and the winch motor driver through the EtherCat communication module, which can effectively protect the system from cable pile-up and protect the cable; the analog quantity input module collects the tension sensor signal and uploads it to the CPU module through the AD module. The CPU sends control words to the drive motor and the winch motor driver through the EtherCat communication module, which can effectively avoid the risk of damage to the linear array due to external force.

[0050] The parameters of the drive motor and the jacking motor include motor speed, torque, position and other information. The CPU module reads them from the drive motor driver and the jacking motor driver through the EtherCat communication module. The CPU module transmits the collected motor parameter information to the host computer through the ModbusTCP communication module and transmits it to the touch screen through RS485 communication; the host computer sends control instructions to the CPU through the ModbusTCP communication module; the touch screen sends control instructions to the CPU through the RS485 communication module.

[0051] The above-mentioned Ether Cat-based unmanned autonomous retractable control system disclosed by the present invention also includes an emergency stop, which is an emergency stop without an alarm. The touch screen sends a stop command to the CPU module of the programmable controller through the RS485 communication module or the host computer sends a stop command through the Modbus TCP communication module to the CPU module of the programmable controller, and the system stops smoothly.

[0052] The above contents are only preferred embodiments of the present invention and cannot be used to limit the scope of implementation of the present invention. That is, any simple equivalent changes and modifications made according to the claims and description of the present invention are still within the scope of the present invention.

Claims

1. An unmanned autonomous retractable control system based on Ether Cat, characterized in that: The control system includes a programmable controller, a touch screen, a host computer, a drive motor, a drive motor driver, a jacking motor and a jacking motor driver. The programmable controller is signal-connected with an analog input module, a state input module, a state output module, a drive motor encoder module and a jacking motor encoder module. The drive motor driver and the jacking motor driver are connected to the programmable controller based on EtherCat communication. The programmable controller is connected to the host computer through ModbusTCP communication and to the touch screen through RS485 communication. The programmable controller sends instructions to the drive motor driver and the jacking motor driver through EtherCat communication to realize control of the drive motor and the jacking motor. The analog input module signal is connected to a tension sensor, and the tension sensor detection value is transmitted to the CPU module. The tension sensor is arranged at the tail of the cable, and measures the cable tension value in real time. If the tension value is abnormal, the system alarm buzzer is triggered to alarm; The state quantity input module includes an upper limit sensor for jacking, a lower jacking sensor, a linear array inlet sensor, a linear array outlet sensor, an infrared position sensor and a stop switch. The stop switch outputs a stop operation signal, that is, stops the motor; when the upper limit sensor for jacking is triggered, it outputs that the jacking motor moves upward to the specified target position and stops the motor; when the lower jacking sensor is triggered, it outputs that the jacking motor moves downward to the specified target position and stops the motor; when the linear array inlet sensor is triggered, it indicates that the tail of the linear array has begun to enter the retracting device during the recovery process of the linear array; when the linear array outlet sensor is triggered, it indicates that the linear array has left the retracting device during the lowering process of the linear array; there are 10 infrared position sensors in total, which are respectively installed at the set positions of the retracting device, and when triggered, they indicate the current position of the linear array in the retracting device; The state quantity output module includes a linear array lowering indicator light, a linear array recovery indicator light, an alarm buzzer and a solenoid valve. The linear array lowering indicator light is lit during the linear array lowering process, the linear array recovery indicator light is lit during the linear array recovery process, the alarm buzzer buzzes when an abnormality occurs in the system, and the solenoid valve is opened to clean the wet end when the linear array is recovered; The process of lowering the towed linear array based on the Ether Cat unmanned autonomous retractable control system is as follows: a) After the system is turned on, the programmable controller will self-check whether the system is normal. If the system is abnormal, it will report the specific location of the fault to the host computer; b) The programmable controller passes the self-test. If the tension value is detected abnormally during the operation of the system, the cable will be automatically cut or an overload will be prompted and the unmanned boat will be reported to stop; c) After receiving the work instruction from the upper computer, the jacking motor reverses at the set speed until the jacking lower limit sensor is triggered, and the jacking motor stops; after the jacking motor stops, the drive motor lowers the acoustic array at the initial lowering speed V0. Here, it is stipulated that the drive motor rotates forward to lower the linear array, the electric winch releases the cable at the same speed, and the cable-laying motor releases the cable at the corresponding speed; during the lowering process of the towed linear array, the system determines whether the infrared marking sensor is triggered. If it is not triggered, it means that the lowering process is abnormal: if 3 or more infrared sensors are not triggered in succession, the abnormality is reported and the unmanned ship is controlled to stop; if the continuous infrared marking sensors are not triggered for no more than 3 times, the fault position is uploaded and the cable-laying operation continues; if all 10 infrared sensors are triggered, the array position is fed back normally and reported to the programmable controller; when lowering to the towed linear array into the water, the linear array outlet sensor triggers the jacking motor to rotate forward until the jacking upper limit sensor is triggered, the jacking motor stops running, and the winch is driven at V 放 The cable is released at a certain speed, and the drive motor runs at the corresponding speed; the cable is released until the programmable controller receives a stop command from the host computer or the system default maximum cable length is reached, and all motors stop working and brake for protection; If the tension value is detected abnormally during the operation of the system, the cable will be automatically cut or an overload will be prompted and the unmanned boat will be reported to stop; The process of using the Ether Cat unmanned autonomous retractable control system for towed linear array recovery is as follows: a) After the system is turned on, the programmable controller will self-check whether the system is normal. If the system is abnormal, it will report the specific location of the fault to the host computer; b) The programmable controller passes the self-test. If the tension value is detected abnormally during the operation of the system, the cable will be automatically cut or an overload will be prompted and the unmanned boat will be reported to stop; c) After receiving the work instruction from the host computer, the towing cable is recovered and the solenoid valve is opened for wet end cleaning. The electric winch is operated at V 放 The tow cable is recovered at a speed, and the cable-laying motor completes the cable-laying work at a corresponding speed; when the remaining cable length is less than 70m, the electric winch reels the cable at a speed of V0, and after the linear array is out of water, until the linear array inlet sensor is triggered, the drive motor recycles the linear array at V0, and it is stipulated here that the drive motor is reversed to recycle the linear array; after the linear array enters the drive device, the system determines whether the infrared mark sensor is triggered; if it is not triggered, it means that the recovery process is abnormal: if 3 or more infrared mark sensors are not triggered in a row, the abnormality is reported and the unmanned boat is controlled to stop; if the number of untriggered infrared mark sensors is less than 3, the fault position is uploaded and the cable-laying operation continues; if all 10 infrared sensors are triggered, the array position is fed back normally and reported to the programmable controller; after the equipment reaches the predetermined position and triggers the linear array in-place sensor, all motors stop and the solenoid valve is closed; if the tension value is detected abnormally during the operation of the system, the cable is automatically cut or an overload prompt is given and the unmanned boat is reported to stop.

2. According to claim 1, an Ether Cat-based unmanned autonomous retractable control system is characterized in that: The programmable controller includes: a CPU module, a DI module, a DO module, an AD module, an EtherCat communication module, a ModbusTCP communication module and an RS485 communication module. The analog input module collects analog signals and transmits them to the CPU module of the programmable controller through the AD module. The state input module collects signals and transmits them to the CPU module of the programmable controller through the DI module. The CPU module sends control words through logical judgment and sends them to the drive motor driver and the jacking motor driver through the EtherCat communication module. The CPU module reads the drive motor speed and motor torque signals from the drive motor driver through the EtherCat communication module; reads the jacking motor speed, motor torque and motor position signals from the jacking motor driver, wherein the motor position signal is provided by the jacking motor encoder; the CPU module transmits the required parameters related to the drive motor and the jacking motor and the cable tension information read to the host computer through the ModbusTCP communication module, and transmits them to the touch screen through the RS485 communication module; similarly, the host computer sends control instructions to the CPU module through the ModbusTCP communication module and the touch screen through the RS485 communication module to control the operation of the drive motor and the jacking motor.

3. The unmanned autonomous retractable control system based on Ether Cat according to claim 2 is characterized in that: The signals collected by the state quantity input module, Modbus Tcp communication module and RS485 communication module of the control system are uploaded to the CPU module. The CPU sends control words to the drive motor driver and the jacking motor driver through the EtherCat communication module, so that the drive motor and the jacking motor run in the direction and speed of the lowering or recovery process; the state quantity input module collects the infrared marking sensor signal and uploads it to the CPU module through the DI module. The CPU sends control words to the drive motor and the winch motor driver through the EtherCat communication module, which can effectively protect the system from cable stacking and protect the cable; the analog quantity input module collects the tension sensor signal and uploads it to the CPU module through the AD module. The CPU sends control words to the drive motor and the winch motor driver through the EtherCat communication module, which can effectively avoid the risk of damage to the linear array due to external force.

4. The unmanned autonomous retractable control system based on Ether Cat according to claim 3 is characterized in that: It also includes an emergency stop process, in which the emergency stop is an emergency stop under non-alarm conditions, and a stop command is sent from the touch screen end through the RS485 communication module or the host computer through the Modbus TCP communication module to the CPU module of the programmable controller, and the system stops smoothly.

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