An underwater measuring device launching and retrieving system for an unmanned survey vessel and a control method

Abstract

The application discloses an underwater measuring equipment launching and taking-up system for an unmanned surveying ship, which comprises a power mechanism unit, an executing mechanism unit and a control mechanism unit; the control mechanism unit is connected with the power mechanism unit; one end of the executing mechanism unit is rotatably connected with the deck edge of the ship body, and the other end is provided with a fixed pulley; the power mechanism unit comprises a power assembly and a wire arranging assembly connected with the power assembly; the wire arranging assembly comprises a wire arranging roller and corresponding wire guide wheels; the cable on the wire arranging roller is led out through the wire guide wheels and the fixed pulley on the executing mechanism unit in sequence, and the end of the led-out cable is provided with an underwater measuring equipment; and the application further discloses a corresponding control method. The application can remotely control the underwater measuring equipment at the cable end to be launched and taken up, intelligently detects whether the underwater measuring equipment is launched and taken up to the right position, saves human resources, and improves the automation degree of the unmanned surveying ship.

Description

Technical Field

[0001] This invention belongs to the field of unmanned exploration vessel technology, specifically relating to an underwater measurement equipment deployment and retrieval system and its control method for unmanned exploration vessels. Background Technology

[0002] In underwater research, a sound velocity profile is a cross-section of the water layer showing the change in sound velocity with depth at a specific water surface location. It represents the relationship between sound velocity and water depth. In the measurement of marine topography, sound velocity profiles are commonly used to correct topographic data acquired by sonar equipment. The speed of sound waves in water varies due to factors such as temperature, salinity, and pressure. Therefore, sound velocity profile measurements are necessary for each measurement of underwater topography. For measurements of large water areas, sound velocity profile measurements may need to be taken in different water areas.

[0003] The device used for measuring sound velocity profiles is called a sound velocity profiler. These profilers are typically carried on survey vessels used to measure underwater topography and landforms, and are used to obtain the sound velocity profile of the measured water area at a given time. A sound velocity profiler generally carries temperature, pressure, salinity, and sound velocity sensors, which are integrated into a cylindrical structure, making it small in size and lightweight.

[0004] In existing technologies, when measuring sound velocity profiles on manned research vessels, the sound velocity profiler is typically lowered to the bottom of the water via a cable and then manually pulled up to complete a measurement. However, on unmanned research vessels, it is necessary to achieve automatic deployment and retrieval of the sound velocity profiler. Summary of the Invention

[0005] In view of one or more of the above-mentioned defects or improvement needs of the prior art, the present invention provides an underwater measurement equipment deployment and retrieval system and control method for an unmanned exploration vessel, which realizes the automatic deployment and retrieval of underwater measurement equipment.

[0006] To achieve the above objectives, according to one aspect of the present invention, an underwater measurement equipment deployment and retrieval system for an unmanned exploration vessel is provided, comprising a power mechanism unit, an execution mechanism unit, and a control mechanism unit;

[0007] The control mechanism unit is connected to the power mechanism unit;

[0008] One end of the actuator unit is rotatably connected to the edge of the ship's deck, and the other end is equipped with a fixed pulley;

[0009] The power mechanism unit includes a power component and a cable assembly connected thereto. The cable assembly includes a cable roller and a corresponding guide wheel. The cable on the cable roller is led out sequentially through the guide wheel and the fixed pulley on the actuator unit, and the end of the cable is equipped with an underwater measuring device.

[0010] As a further improvement of the present application, the power assembly comprises a motor and a speed reducer connected to the motor, the motor is connected to the interface of the control mechanism unit.

[0011] The speed reducer is connected to the shaft of the wire rolling roller, and the first pulley on the shaft of the wire rolling roller is connected to the second pulley through a belt, the second pulley is provided with a screw rod, one end of the screw rod is connected to the second pulley, and the other end of the screw rod is arranged on the rack.

[0012] A sliding block is arranged on the screw rod, and the wire guide wheel is arranged on the top of the sliding block.

[0013] As a further improvement of the present application, the top of the sliding block is provided with an encoder corresponding to the wire guide wheel, and the encoder is connected to the interface of the control mechanism unit.

[0014] As a further improvement of the present application, the actuator unit comprises a fixed frame and a rotating frame, the fixed frame is fixed to the ship body, one end of the rotating frame is rotatably connected to the fixed frame through a bearing, and the other end of the rotating frame is provided with the fixed pulley; the rotating frame and the fixed frame are provided with a spring.

[0015] As a further improvement of the present application, a cross beam is arranged below the fixed pulley, the cross beam is provided with a through hole, and a blocking piece is arranged on the cable close to the end of the underwater measuring device.

[0016] As a further improvement of the present application, at least one side of the actuator unit is provided with a sensor for sensing the rotating frame, the sensor is arranged at a position corresponding to the position of the rotating frame when the cable is in place, and the sensor is connected to the interface of the control mechanism unit.

[0017] As a further improvement of the present application, the control mechanism unit is further provided with a host computer interface, which can be connected to a corresponding host computer.

[0018] As a further improvement of the present application, the underwater measuring device comprises a sound velocity profiler, a small underwater robot, a small underwater camera and a small towed antenna.

[0019] As a further improvement of the present application, the control mechanism unit is arranged in the ship body, and the power mechanism unit is arranged on the deck of the ship body.

[0020] According to another aspect of the present application, a control method for an underwater measuring device launching and retracting system of an unmanned detection ship is provided, which is used for the underwater measuring device launching and retracting system of the unmanned detection ship, and comprises the following steps:

[0021] The encoder is used to determine whether the motor is in a stop state, a cable launching state or a cable retracting state.

[0022] If the motor is in a stop state, it is inquired whether the control mechanism unit power is off, if not, the power is turned off;

[0023] If the motor is in a cable releasing state, it is judged by the encoder whether the cable releasing length reaches the specified cable releasing length;

[0024] If yes, the control mechanism unit power is turned off, if not, it is judged whether the cable length changes, if not, the cable length change is repeatedly inquired, if the inquiry times reach the set threshold, an automatic cable collecting state is entered, if the inquiry times do not reach the set threshold, the forced cable releasing is continued;

[0025] If the motor is in a cable collecting state, it is judged whether the cable collecting length is reached, if yes, the control mechanism unit power is turned off, if not, it is judged whether the cable length changes;

[0026] If yes, the cable collecting is continued, if not, the cable length change is repeatedly inquired, if the inquiry times reach the set threshold, it is continuously judged whether the current cable speed is zero, if yes, the control mechanism unit power is turned off, if not, the forced cable collecting is continued, if the inquiry times do not reach the set threshold, the forced cable collecting is continued.

[0027] Overall, compared with the prior art, the above technical scheme conceived by the present application has the following beneficial effects:

[0028] (1) The underwater measuring equipment releasing and collecting system of the unmanned detection ship of the present application releases and collects the underwater measuring equipment at the end of the cable through the power mechanism unit, the executing mechanism unit and the control mechanism unit, which saves human resources and improves the automation degree of the unmanned detection ship, and solves the problem that the underwater measuring equipment needs to be manually released and collected on the detection ship to obtain detection data.

[0029] (2) The underwater measuring equipment releasing and collecting system of the unmanned detection ship of the present application is provided with an encoder corresponding to the guide pulley on the power mechanism unit, which can determine whether the guide pulley is in a forward rotation, reverse rotation or stop state, so as to determine whether the system is in a cable releasing state or a cable collecting state, and the encoder can indirectly determine the cable releasing or collecting length through the number of rotations of the guide pulley, so as to intelligently detect whether the underwater measuring equipment is released or collected in place.

[0030] (3) The underwater measuring equipment releasing and collecting system of the unmanned detection ship of the present application is provided with a side sensor of the executing mechanism unit, which can stop the motor when the sensor senses that the rotating frame is rotated in place in the case of too fast cable collecting speed, so as to complete the cable collecting and further ensure the cable collecting process.

[0031] (4) The underwater measuring equipment receiving and releasing system of the unmanned detection ship is small in size, easy to install and small in space occupation.

[0032] (5) The underwater measuring equipment receiving and releasing system control method of the unmanned detection ship can intelligently detect whether the underwater measuring equipment is lowered and recovered in place through the encoder arranged on the corresponding wire guide wheel of the power mechanism unit, the cable length and the cable length change in the cable releasing state, and the cable length, the cable length change and the cable speed in the cable collecting state. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 The connection block diagram of the underwater measuring equipment receiving and releasing system for the unmanned detection ship of the embodiment of the present application;

[0034] Figure 2 The connection structure schematic diagram of the underwater measuring equipment receiving and releasing system for the unmanned detection ship of the embodiment of the present application;

[0035] Figure 3 The power mechanism unit structure schematic diagram related to the underwater measuring equipment receiving and releasing system for the unmanned detection ship of the embodiment of the present application;

[0036] Figure 4 The execution mechanism unit structure schematic diagram related to the underwater measuring equipment receiving and releasing system for the unmanned detection ship of the embodiment of the present application;

[0037] Figure 5 The execution mechanism unit top view related to the underwater measuring equipment receiving and releasing system for the unmanned detection ship of the embodiment of the present application;

[0038] Figure 6 The control method flow chart of the underwater measuring equipment receiving and releasing system for the unmanned detection ship of the embodiment of the present application.

[0039] In all the drawings, the same reference signs represent the same technical features, specifically: 1-power mechanism unit, 2-execution mechanism unit, 3-control mechanism unit, 4-acoustic profiler, 5-sensor; 101-motor, 102-reduction box, 103-wire arranging roller, 104-wire guide wheel, 105-belt, 106-guide rod, 107-screw rod, 108-second pulley, 109-rack, 110-sliding block, 111-encoder; 201-fixed frame, 202-spring, 203-rotary frame, 204-fixed pulley, 205-cross beam. DETAILED DESCRIPTION

[0040] In order to make the objects, technical solutions and advantages of the present application clearer, the following further describes the present application with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended to explain the present application and not to limit the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0041] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0042] In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0043] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0044] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or it can only mean that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or it can only mean that the horizontal height of the first feature is less than that of the second feature.

[0045] Refer to Figures 1 to 5 The underwater measuring equipment launch and recovery system for the unmanned detection ship of the embodiment of the present application, the underwater measuring equipment of the embodiment of the present application takes the sound velocity profiler as an example. The launch and recovery system comprises a power mechanism unit 1, an execution mechanism unit 2 and a control mechanism unit 3 arranged on the unmanned detection ship; wherein the power mechanism unit 1 is preferably arranged on the ship body clamping plate, is used for providing power for the lowering and recovery of the sound velocity profiler, and controls the arrangement of the cable connected with the underwater measuring equipment; the execution mechanism unit 2 is arranged on the side of the ship body clamping plate, is used for placing the sound velocity profiler inside and outside the ship body during the lifting and lowering of the sound velocity profiler; and the control mechanism unit 3 is preferably arranged inside the ship body, is connected with the power mechanism unit 1, and is used for controlling the start and stop of the motor in the power mechanism unit 1.

[0046] One end of the execution mechanism unit 2 is rotatably connected with the side of the ship body clamping plate, and the other end is provided with a fixed pulley; the execution mechanism unit can rotate towards the outside of the ship body, so that the fixed pulley is located above the water surface. The power mechanism unit 1 comprises a power assembly and a wire arrangement assembly connected with the power assembly; the wire arrangement assembly comprises a wire arrangement roller and a corresponding wire guide wheel; the cable on the wire arrangement roller is sequentially led out through the wire guide wheel and the fixed pulley on the execution mechanism unit, and the end of the led-out cable is provided with the underwater measuring equipment; through the action of the power assembly, the rotation of the wire arrangement roller and the wire guide wheel can be controlled, so as to lower or recover the underwater measuring equipment.

[0047] The underwater measuring equipment launch and recovery system for the unmanned detection ship of the present application is suitable for the equipment lowered to the underwater for detection; in the specific embodiment of the present application, the sound velocity profiler is taken as an example; in addition to the sound velocity profiler, the system is also suitable for small underwater robots, small underwater cameras, small towed antennas and the like.

[0048] Specifically, the power mechanism unit 1 comprises a rack 109, and the rack 109 is provided with a power assembly connected with a wire arrangement assembly.

[0049] The power assembly comprises a motor 101 and a reduction box 102, and the motor is connected with the reduction box 102; the wire arrangement assembly comprises a wire arrangement roller 103 and a wire guide wheel 104; the shaft of the reduction box 102 is connected with the wire arrangement roller 103, so as to control the rotation of the wire arrangement roller 103; at the same time, a first pulley (not shown in the figure) on the shaft of the wire arrangement roller 103 is linked through a belt 105 and a second pulley 108; the second pulley 108 is provided with a screw rod 107, one end of the screw rod 107 is connected with the second pulley 108, and the other end is arranged on the rack; a sliding block 110 is sleeved on the screw rod 107; the wire guide wheel 104 is arranged on the top of the sliding block; a guide rod 106 is arranged above the sliding block 110 and penetrates through the sliding block 110, and plays a guiding role when the sliding block 110 moves along the screw rod 107. The guide rod 106 is connected with the racks on both sides at both ends.

[0050] The motor rotates to drive the cable arranging roller through a speed reducer, and a belt transmission device transmits power to a screw rod. The screw rod has threads that enable a sliding block to rotate in an axial direction. The screw rod drives the sliding block to move linearly, and a wire guide wheel moves linearly under the drive of the sliding block and the guide of a guide rod to arrange the cable on the cable arranging roller or to pull the cable out of the cable arranging roller.

[0051] Preferably, the sliding block 110 is provided with an encoder 111 corresponding to the wire guide wheel 104 at the top of the sliding block 110, which is used to determine whether the wire guide wheel 104 is in a forward rotation state, a reverse rotation state or a stop state, so as to determine whether the system is in a cable releasing state or a cable collecting state. Meanwhile, the encoder 111 can indirectly determine the length of the cable releasing or collecting through the number of rotations of the wire guide wheel.

[0052] The actuator unit 2 comprises a fixed frame 201 fixed to the ship body, and the fixed frame 201 is provided with a rotating frame 203, preferably a U-shaped frame. One end of the rotating frame 203 is rotatably connected to the fixed frame 201 through a bearing, and the other end is provided with a fixed pulley 204 for cable turning. The sound velocity profiler is lowered or recovered through the rotation of the rotating frame. The rotating frame 203 and the fixed frame 201 are further provided with a spring 202. When the cable is released, the sound velocity profiler 4 drives the rotating frame 203 to rotate under the action of gravity and the restoring force of the spring 202, so as to be lowered to the outside of the ship body. The spring 202 provides the rotating power of the rotating frame 203. When the cable is collected, the elastic force of the spring 202 can make the rotating frame 203 and the sound velocity profiler 4 gently recover to the inside of the ship body.

[0053] Preferably, a cross beam 205 is arranged below the fixed pulley 204, and the two ends of the cross beam 205 are connected to the rotating frame 203. The cross beam 205 is provided with a through hole (not shown in the figure) for the cable to pass through. More preferably, a cable knot or other blocking member is arranged on the cable close to the end where the sound velocity profiler is arranged. When the cable is collected, the cable knot or other blocking member can prevent the cable from being further pulled, and the cable is limited to prevent the cable from being stretched too much or separated from the pulley. At the same time, it can prevent the sound velocity profiler from colliding with the actuator unit at a high cable collecting speed and causing damage.

[0054] In the preferred embodiment, at least one side of the actuator unit 2 is provided with a sensor 5 for sensing the rotating frame. The sensor 5 is arranged at a position corresponding to the position of the rotating frame 203 when the cable is collected to the position. When the rotating frame 203 is sensed, it is determined that the cable is collected to the position. Preferably, the rotating frame 203 and the edge of the bottom of the ship body form an acute angle when the cable is collected to the position. Preferably, the bottom of the sensor 5 is supported by a support.

[0055] Through the arrangement of the sensor, when the rotating frame is rotated to the position and sensed by the sensor, the motor is stopped to work, and the cable collection is completed, which further ensures the cable collection process.

[0056] Correspondingly, the control mechanism unit 3 is provided with a motor interface, an encoder interface, an upper computer interface and a sensor interface, the motor interface is connected with the motor 101 to control the start and stop of the motor, the encoder interface is connected with the encoder 111, the upper computer interface is connected with the upper computer for remote control and real-time reading of the PLC register data in the control mechanism unit 3 to monitor the motor 1 state, and the sensor interface is connected with the sensor 5 to control the sensor to detect the position signal of the rotating frame 203 to determine whether the actuator unit is in place and whether the cable is in place. Preferably, the power supply interface of the control mechanism unit 3 is connected with 220V alternating current.

[0057] The underwater measuring equipment launching and retracting system control method for the unmanned exploration ship provided by the application comprises the following steps:

[0058] The encoder 111 is used to determine whether the motor is in a stop state, a cable launching state or a cable retracting state;

[0059] If the motor 1 is in the stop state, it is determined whether the power supply of the control mechanism unit 3 is closed, and if not, the power supply is closed;

[0060] If the motor 1 is in the cable launching state, it is determined whether the cable launching length reaches a specified cable launching length through the encoder 111;

[0061] If yes, the power supply of the control mechanism unit 3 is closed; if not, it is determined whether the cable length changes, and if not, the cable length change is repeatedly queried, if the number of query times reaches a set threshold, the motor 1 is in the automatic cable retracting state, and if the number of query times does not reach the set threshold, the motor 1 is in the forced cable launching state.

[0062] If the number of cable length change query times reaches the set threshold and no change is detected, it is possible that the encoder cannot detect the rotation of the wire guide wheel due to the wire guide wheel jamming, so as to prevent the wire guide wheel from jamming and unlimited cable launching, and in this case, the system enters the cable retracting state; if the cable length change is detected within the set threshold, it is possible that the wire guide wheel rotation cannot be detected due to cable slipping, and in this case, the forced cable launching can still be continued.

[0063] If the motor 1 is in the cable retracting state, it is determined whether the cable retracting length reaches a specified cable retracting length;

[0064] If yes, the power supply of the control mechanism unit 3 is closed; if not, it is determined whether the cable length changes;

[0065] Different from the cable releasing, when the cable is collected, if the cable length change query times reach the set threshold, it is needed to judge whether the current cable speed is zero, if yes, the controller power is closed to prevent the cable from being collected but the motor still working to produce the stall; if no, the wire wheel may be stuck, at this time, the cable can still be forced to collect; if the query times do not reach the set threshold, it may be that the wire slip occurs to make the wire wheel not be detected to rotate, at this time, the cable can still be forced to collect to prevent the cable length from changing due to the tension and immersion.

[0066] The power mechanism unit, the actuator unit and the control mechanism unit are used to sequentially lead out the cable on the wire arranging roller through the wire wheel on the power mechanism unit and the fixed pulley on the actuator unit, the underwater measuring device at the cable end can be remotely controlled to be released and recovered, the state of the motor is judged through the encoder arranged on the power mechanism unit corresponding to the wire wheel, whether the cable is released to the position is judged through the cable releasing length and the cable length change in the cable releasing state, whether the cable is collected to the position is judged through the cable collecting length, the cable length change and the cable speed in the cable collecting state, whether the release and recovery is to the position can be intelligently detected, the manpower resource is saved, the unmanned ship automation degree is improved, and the problem that the underwater measuring device needs to be manually released and recovered on the detection ship to obtain the detection data is solved.

[0067] Those skilled in the art can easily understand that the above description is only the preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An underwater measuring device launch and recovery system for an unmanned survey vessel, characterized by, The power mechanism unit, the actuator unit and the control mechanism unit are connected together; The control mechanism unit is connected with the power mechanism unit; One end of the actuator unit is rotatably connected with the deck edge of the ship body, and the other end is provided with a fixed pulley; The power mechanism unit comprises a power assembly and a wire arrangement assembly connected with the power assembly, the wire arrangement assembly comprises a wire arrangement roller and corresponding wire guide wheels, the cable on the wire arrangement roller is sequentially led out through the wire guide wheels and the fixed pulley on the actuator unit, and the end of the led-out cable is provided with an underwater measuring device; The actuator unit comprises a fixed frame and a rotating frame, the fixed frame is fixed on the ship body, one end of the rotating frame is rotatably connected with the fixed frame through a bearing, and the other end is provided with the fixed pulley; a spring is arranged between the rotating frame and the fixed frame; a cross beam is arranged below the fixed pulley, the cross beam is provided with a through hole, and a blocking piece is arranged on the cable close to the end provided with the underwater measuring device; At least one side of the actuator unit is provided with a sensor for sensing the rotating frame, the sensor is arranged at a position corresponding to the position of the rotating frame when the cable is in place, and the sensor is connected with the control mechanism unit.

2. The underwater measuring device launch and recovery system for an unmanned survey vessel of claim 1, wherein, The power assembly comprises a motor and a speed reducer connected with the motor, and the motor is connected with the corresponding interface of the control mechanism unit; The speed reducer is connected with the shaft of the wire arrangement roller, a first pulley on the shaft of the wire arrangement roller is connected with a second pulley through a belt, a screw rod is arranged in the second pulley, one end of the screw rod is connected with the second pulley, and the other end of the screw rod is arranged on the frame; A sliding block is arranged on the screw rod, the wire guide wheel is arranged on the top of the sliding block, and a guide rod is arranged on the sliding block.

3. The underwater measuring device launch and recovery system for an unmanned survey vessel of claim 2, wherein, An encoder is arranged on the top of the sliding block corresponding to the wire guide wheel, and the encoder is connected with the corresponding interface of the control mechanism unit.

4. The underwater measuring device launch and recovery system for an unmanned survey vessel of any one of claims 1-3, wherein, The control mechanism unit is also provided with an upper computer interface, which can be connected with the corresponding upper computer.

5. The underwater measuring equipment launch and recovery system for an unmanned survey vessel according to any one of claims 1-3, characterized in that, The underwater measuring device comprises a sound velocity profiler, a small underwater robot, a small underwater camera or a small trailing antenna.

6. The underwater measuring device launch and recovery system for an unmanned survey vessel of any one of claims 1-3, wherein, The control mechanism unit is arranged inside the ship body, and the power mechanism unit is arranged on the deck of the ship body.

7. A control method of an underwater measuring device winding system for an unmanned detection ship, the control method is used for the underwater measuring device winding system of the unmanned detection ship according to any one of claims 1-6, and the control method comprises the following steps: It is judged by the encoder whether the motor is in a stop state, a cable releasing state or a cable winding state; If the motor is in the stop state, it is inquired whether the power supply of the control mechanism unit is turned off, and if not, the power supply is turned off; If the motor is in the cable releasing state, it is judged by the encoder whether the cable releasing length reaches a specified cable releasing length; If yes, the power supply of the control mechanism unit is turned off; if no, it is judged whether the cable length changes, and if not, the cable length change is repeatedly inquired, if the inquiry times reach a set threshold, an automatic cable winding state is entered, and if the inquiry times do not reach the set threshold, the cable releasing is continuously forced; If the motor is in the cable winding state, it is judged whether the cable winding length reaches a specified cable winding length, if yes, the power supply of the control mechanism unit is turned off, and if no, it is judged whether the cable length changes. If there is a change, continue to collect the cable, if there is no change, repeat the query cable length change, if the number of queries reaches the set threshold, continue to judge whether the current cable speed is zero, if it is zero, turn off the power supply of the control mechanism unit; if it is not zero, continue to force the cable to be collected; if the number of queries does not reach the set threshold, continue to force the cable to be collected.

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