Monitoring control system for A frame and umbilical cable winch

Abstract

The invention discloses a monitoring control system for an A frame and an umbilical cable winch, and relates to the technical field of diving hoisting. The monitoring control system for the A frame and the umbilical cable winch comprises an A frame control system, an umbilical cable winch control system, a collection system, a network system and a real-time system, and the A frame control system and the umbilical cable winch control system are used for collecting working parameters of the A frame and the umbilical cable winch. The acquisition system is used for acquiring an A frame control signal and an umbilical cable winch control signal, then the network system transmits the acquired working parameters and control signals to the real-time system for data collaboration, and then a collaboration signal after data collaboration is sent to the A frame control system and the umbilical cable winch control system; and the A frame control system and the umbilical cable winch control system carry out cooperative adjustment on the motion trail of the A frame and the cable winding and unwinding of the umbilical cable winch according to the cooperative signal, so that the A frame and the umbilical cable winch can be coordinated and consistent, and the umbilical cable is prevented from being damaged.

Description

Technical Field

[0001] The invention relates to the technical field of diving and hoisting, and in particular to a monitoring and control system for an A-frame and an umbilical cable winch. Background Art

[0002] With my country's exploration and development of deep-sea areas, heavy-load and long-travel underwater robots are being used in deep-sea operations. A-frames and winches are increasingly used in LARS (diving launch and recovery system) systems. As the operation time increases with the depth of the operation, the requirements for automation in practical applications are becoming increasingly higher.

[0003] When the research vessel performs daily tasks, the A-frame installed on the ship and the umbilical winch equipped for the mission are independent working systems, with control equipment provided by different manufacturers, and are not fixed. During operation, the A-frame operator and the winch operator need to communicate through wireless communication equipment. In this operation mode, there is a problem of inconsistent coordination between the A-frame and the umbilical winch, and the inconsistent coordination will cause the umbilical cable to be subjected to bidirectional tension, causing the umbilical cable to be damaged or even torn. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a monitoring control system and method for an A-frame and an umbilical cable winch to solve or improve the problem of inconsistent coordination between the A-frame and the umbilical cable winch.

[0005] According to a first aspect, an embodiment of the present invention provides a monitoring and control system for an A-frame and an umbilical cable winch, the monitoring system comprising:

[0006] A-frame control system, used to collect the working parameters of A-frame and control the moving track of A-frame;

[0007] Umbilical cable winch control system, used to collect the working parameters of the umbilical cable winch and control the umbilical cable winch to retract and release the cable;

[0008] The acquisition system is used to acquire the A-frame control signal and the umbilical winch control signal sent by the user;

[0009] A network system connected to the A-frame control system, the umbilical winch control system, and the acquisition system, the network system being used to transmit the working parameters of the A-frame, the working parameters of the umbilical winch, the A-frame control signal, and the umbilical winch control signal;

[0010] A real-time system is connected to the network system, and the real-time system is used to obtain the working parameters of the A-frame, the working parameters of the umbilical cable winch, the A-frame control signal, and the umbilical cable winch control signal, and perform data coordination based on the working parameters of the A-frame, the working parameters of the umbilical cable winch, the A-frame control signal, and the umbilical cable winch control signal, and output a coordination signal; and the coordination signal is used to enable the A-frame control system and the umbilical cable winch control system to coordinately adjust the movement trajectory of the A-frame and the retracting and releasing cable of the umbilical cable winch.

[0011] Optionally, the A-frame control system includes: an A-frame control PLC, the A-frame control PLC is connected to the network system, and the A-frame control PLC is used to control the winch in the A-frame to move up and down;

[0012] The umbilical cable winch control system includes: an umbilical cable winch control PLC, the umbilical cable winch control PLC is connected to the network system, and the umbilical cable winch control PLC is used to control the umbilical cable winch to retract and release the cable.

[0013] Optionally, data is transmitted between the A-frame control system, the umbilical cable winch control system, the acquisition system, and the network system via an isochronous bus.

[0014] Optionally, the acquisition system includes: an A-frame winch control handle for transmitting an A-frame control signal sent by a user;

[0015] An umbilical cable winch control handle, used for transmitting an umbilical cable winch control signal sent by a user;

[0016] The acquisition module is connected to the A-frame winch control handle, the umbilical cable winch control handle and the network system, and is used to acquire the A-frame control signal and the umbilical cable winch control signal and transmit them to the network system.

[0017] Optionally, the acquisition module includes: a PLC with an isochronous bus.

[0018] Optionally, the real-time system comprises: a processing module connected to the network system, configured to receive the working parameters of the A-frame, the working parameters of the umbilical winch, the A-frame control signal, the umbilical winch control signal, and generate the coordination signal;

[0019] A storage module, connected to the processing module, and configured to store the coordination signal, the working parameters of the A-frame, the working parameters of the umbilical winch, the A-frame control signal, and the umbilical winch control signal;

[0020] The display module is connected to the storage module and the processing module, and is used to display the working parameters of the A frame and the working parameters of the umbilical cable winch in real time.

[0021] Optionally, the synchronization communication time of the monitoring and control systems of the A-frame and the umbilical cable winch is less than 10us.

[0022] Optionally, the control accuracy of the monitoring and control system of the A-frame and the umbilical cable winch is less than or equal to 0.2 m / s.

[0023] Optionally, the monitoring and control system of the A-frame and the umbilical cable winch also includes: a housing for accommodating the A-frame control system, the umbilical cable winch control system, the acquisition system, the network system, and the real-time system.

[0024] Optionally, a monitoring and control system for the A-frame and umbilical winch is installed on board the vessel.

[0025] The monitoring and control system of the A-frame and the umbilical cable winch provided in the present application collects working parameters of the A-frame and the umbilical cable winch through the A-frame control system and the umbilical cable winch control system, and the collection system collects the A-frame control signal and the umbilical cable winch control signal, and then the network system transmits the collected working parameters and control signals to the real-time system for data coordination, and then the coordinated signal after data coordination is sent to the A-frame control system and the umbilical cable winch control system, and the A-frame control system and the umbilical cable winch control system coordinately adjust the motion trajectory of the A-frame and the retractable and retractable cable of the umbilical cable winch according to the coordinated signal, so that the A-frame and the umbilical cable winch can coordinate with each other to avoid damage to the umbilical cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0027] Figure 1 A schematic diagram of a structural block diagram of a monitoring and control system for an A-frame and an umbilical cable winch provided in an embodiment of the present application.

[0028] Figure 2 A schematic diagram of the structure of the real-time system in the monitoring and control system of the A-frame and the umbilical cable winch provided in an embodiment of the present application.

[0029] Figure 3 A schematic diagram of the housing of the monitoring and control system for the A-frame and umbilical cable winch provided in an embodiment of the present application.

[0030] Reference numerals

[0031] A-frame control system-1; umbilical cable winch control system-2; network system-3; real-time system-4; acquisition system-5; shell-6; display module-41; processing module-42; storage module-43. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0033] Since conventional A-frame and umbilical winches are independently controlled, two on-site operators are required to operate the remote controls to control the A-frame and umbilical winches respectively. As the operating depth increases, on-site operators need to work on the deck for a long time. The battery life and working hours of the remote controls seriously affect the safety of on-site operations.

[0034] As for the monitoring and control system of the A-frame and umbilical cable winch provided in this application, it not only solves the coordination problem, but also alleviates the intensity of on-site operations. In addition, the system / equipment can realize automatic control and can be flexibly moved. It can be installed in the control room or cab, thereby ensuring endurance and ensuring the safety of on-site operations.

[0035] The monitoring and control system of the A-frame and the umbilical cable winch provided in the present application is applied to the LARS system (submersible lifting system). The monitoring and control device is mainly provided to ensure the coordination between the lifting submersible frame (A-frame), the crane or the winch (umbilical cable winch), to ensure the stable operation of the LARS system, and to prevent the umbilical cable from being damaged or even torn due to the bidirectional tension of the umbilical cable caused by the inconsistent coordination.

[0036] like Figure 1 As shown, it is a schematic diagram of the structural block diagram of the monitoring and control system of the A-frame and the umbilical cable winch provided in the embodiment of the present application. The monitoring and control system of the A-frame and the umbilical cable winch provided in the present application is connected to the A-frame and the umbilical cable winch respectively, and the monitoring and control system of the A-frame and the umbilical cable winch includes: an A-frame control system 1, an umbilical cable winch control system 2, a collection system 5, a network system 3, and a real-time system 4, wherein the A-frame control system 1, the umbilical cable winch control system 2, the collection system 5, and the real-time system 4 are all connected to the network system 3.

[0037] The A-frame control system 1 is used to collect the working parameters of the A-frame and control the moving track of the A-frame.

[0038] The umbilical cable winch control system 2 is used to collect the working parameters of the umbilical cable winch and control the umbilical cable winch to retract and release the cable.

[0039] The acquisition system 5 is used to acquire the A-frame control signal and the umbilical winch control signal sent by the user.

[0040] The network system 3 is used to transmit the working parameters of the A-frame, the working parameters of the umbilical winch, the A-frame control signal, and the umbilical winch control signal.

[0041] The real-time system 4 is used to obtain the working parameters of the A-frame, the working parameters of the umbilical cable winch, the A-frame control signal, and the umbilical cable winch control signal, and to coordinate data based on the working parameters of the A-frame, the working parameters of the umbilical cable winch, the A-frame control signal, and the umbilical cable winch control signal, and output a coordination signal; the coordination signal is used to enable the A-frame control system 1 and the umbilical cable winch control system 2 to coordinately adjust the movement trajectory of the A-frame and the retracting and releasing cable of the umbilical cable winch.

[0042] In this embodiment, the A-frame control system 1 in the monitoring and control system of the A-frame and the umbilical cable winch is connected to the A-frame, and the working parameters collected by the sensors on the A-frame are obtained by real-time data acquisition, wherein the working parameters of the A-frame include: synchronous communication time, control accuracy, and displacement length of the A-frame.

[0043] The umbilical cable winch control system 2 is connected to the umbilical cable winch, and obtains the working parameters collected by the sensors on the umbilical cable winch through real-time data acquisition, wherein the working parameters of the umbilical cable winch include: synchronous communication time, control accuracy, and cable retraction and release length.

[0044] The A-frame control signal collected in the collection system 5 may be the adjustment of the A-frame displacement length; the umbilical cable winch control signal may be the cable reeling length / cable unreeling length data.

[0045] By acquiring the working parameters and control signals, it is convenient for the subsequent real-time system 4 to perform collaborative operations, so as to achieve collaborative control of the A-frame and the umbilical cable winch during operation.

[0046] The network system 3 realizes real-time transmission by synchronous communication, wherein the delay time of data transmission by the network system 3 is less than 10us. The network system 3 uses synchronous communication for real-time data transmission in order to accurately control the coordination time of the A-frame and the umbilical cable winch during operation, ensure that the A-frame and the umbilical cable winch can move in coordination during operation, reduce the tension of the cable retracting and releasing, and avoid damage to the umbilical cable.

[0047] The real-time system 4 obtains the working parameters and control signals collected by the acquisition system 5, the umbilical winch control system 2, and the A-frame control system 1 from the network system 3, and performs collaborative operations to obtain the range or distance that the A-frame and / or the umbilical winch need to be adjusted, so as to achieve synchronization between the A-frame and the umbilical winch during operation.

[0048] The monitoring and control system of the A-frame and the umbilical cable winch provided in the embodiment of the present application collects working parameters of the A-frame and the umbilical cable winch through the A-frame control system 1 and the umbilical cable winch control system 2, and the collection system 5 collects the A-frame control signal and the umbilical cable winch control signal. Secondly, the network system 3 transmits the collected working parameters and control signals to the real-time system 4 for data coordination, and then the coordinated signal after data coordination is sent to the A-frame control system 1 and the umbilical cable winch control system 2. The A-frame control system 1 and the umbilical cable winch control system 2 coordinately adjust the movement trajectory of the A-frame and the retractable and retractable cable of the umbilical cable winch according to the coordinated signal, so that the A-frame and the umbilical cable winch can coordinate with each other to avoid damage to the umbilical cable.

[0049] Optionally, the A-frame control system 1 includes: an A-frame control PLC, the A-frame control PLC is connected to the network system 3, and the A-frame control PLC is used to control the winch to move up and down.

[0050] Optionally, the umbilical cable winch control system 2 includes: an umbilical cable winch control PLC, the umbilical cable winch control PLC is connected to the network system 3, and the umbilical cable winch control PLC is used to control the umbilical cable winch to retract and release the cable.

[0051] In this embodiment, the user controls the movement of the A-frame through the A-frame control PLC, that is, controls the movement of the winch in the A-frame; and cooperates with the umbilical cable winch control PLC to control the umbilical cable winch to retract and release the cable, so as to realize the automatic adjustment of the A-frame and the umbilical cable winch, and facilitate the coordinated action of the A-frame and the umbilical cable winch.

[0052] Optionally, data is transmitted between the A-frame control system 1, the umbilical cable winch control system 2, the acquisition system 5, and the network system 3 via an isochronous bus.

[0053] In this embodiment, since the A-frame and the umbilical winch need to be coordinated, real-time processing needs to be completed, and the use of an isochronous bus can meet the real-time data transmission requirements of this application. Specifically, the isochronous bus uses a bus protocol to synchronize data transmission and data display at the same time. In this application, the isochronous bus is used between modules and between systems to achieve real-time data transmission and data display.

[0054] Optionally, when using an isochronous bus, the data acquisition and display cycle refresh time of the A-frame winch control system and the umbilical cable winch control system 2 is less than 1 ms, and the jitter time of the cycle scan period is no more than 1 us.

[0055] The monitoring and control system of the A-frame and the umbilical cable winch provided in the embodiment of the present application, wherein the acquisition system 5 further comprises:

[0056] A-frame winch control handle, used to transmit the A-frame control signal sent by the user.

[0057] The umbilical winch control handle is used to transmit the umbilical winch control signal sent by the user.

[0058] The acquisition module is connected to the A-frame winch control handle, the umbilical cable winch control handle, and the network system 3, and is used to collect the A-frame control signal and the umbilical cable winch control signal and transmit them to the network system 3.

[0059] Optionally, the acquisition module includes: a PLC with an isochronous bus.

[0060] In this embodiment, the A-frame winch control handle can be a self-resetting handle with a zero-position signal and a single-axis analog signal; the umbilical cable winch control handle can be a friction positioning handle with a zero-position signal and a single-axis analog signal, and the acquisition module adopts a PLC with an isochronous bus, whose cycle refresh time is less than 1ms and the jitter time of the cycle scanning period is no more than 1us.

[0061] In this embodiment, the acquisition module is mainly used to collect control instructions or operations issued by the user. For example, the user can adjust the movement of the A frame and the retraction and release of the umbilical cable winch in real time by controlling the A frame winch control handle / umbilical cable winch control handle.

[0062] like Figure 2 As shown, it is a structural schematic diagram of the real-time system in the monitoring and control system of the A-frame and the umbilical cable winch provided in the embodiment of the present application. The monitoring and control system of the A-frame and the umbilical cable winch provided in the embodiment of the present application, the real-time system also includes:

[0063] The processing module 42 is connected to the network system and is used to receive the working parameters of the A-frame, the working parameters of the umbilical cable winch, the A-frame control signal, the umbilical cable winch control signal, and generate a coordination signal;

[0064] The storage module 43 is connected to the processing module 42 and is used to store the coordination signal, the working parameters of the A-frame, the working parameters of the umbilical winch, the A-frame control signal, and the umbilical winch control signal;

[0065] The display module 41 is connected to the storage module 43 and the processing module 42, and is used to display the working parameters of the A frame and the working parameters of the umbilical cable winch in real time.

[0066] In this embodiment, the real-time system can be an integrated display control computer, which uses an isochronous bus to transmit data through a processing module, with a cycle refresh time of less than 1ms and a cycle scan period jitter time of no more than 1us (microseconds). The storage module is used for data storage, and the display module is used to display the storage coordination signal, the working parameters of the A-frame, the working parameters of the umbilical winch, the A-frame control signal, and the umbilical winch control signal.

[0067] The coordination signal provided in the embodiment of the present application can be calculated by a synchronization algorithm combined with real-time stored coordination signals, working parameters of the A-frame, working parameters of the umbilical cable winch, A-frame control signals, and umbilical cable winch control signals. The coordination signal issued by the real-time system is used to enable the A-frame control system and the umbilical cable winch control system to control the A-frame and the umbilical cable winch to perform coordinated movement to reduce the tension of the umbilical cable and complete safe deployment.

[0068] Optionally, the real-time system may also include an alarm system. When the working parameters of the A-frame and the working parameters of the umbilical cable winch fail to meet the preset conditions or exceed the preset alarm values, an early warning reminder may be issued through the display module.

[0069] Optionally, the synchronization communication time of the monitoring and control systems of the A-frame and the umbilical cable winch is less than 10us.

[0070] Optionally, the control accuracy of the monitoring and control system of the A-frame and the umbilical cable winch is less than or equal to 0.2 m / s.

[0071] In this embodiment, in order to obtain low-latency response and instant control, the A-frame control / umbilical winch control needs to meet the requirement that the synchronous communication time is less than 10us and the control accuracy is less than or equal to 0.2m / s.

[0072] The monitoring and control system of the A-frame and the umbilical cable winch provided in the embodiment of the present application also includes: a housing 6 for accommodating the A-frame control system, the umbilical cable winch control system, the acquisition system, the network system, and the real-time system.

[0073] like Figure 3 As shown, it is a schematic diagram of the housing 6 of the monitoring and control system of the A-frame and the umbilical winch provided in the embodiment of the present application. The top of the housing 6 is provided with an opening for embedding the display module in the real-time system and openings for the A-frame winch control handle and the umbilical winch control handle in the acquisition system, while the A-frame control PLC in the A-frame control system, the umbilical winch control PLC in the umbilical winch control system, and the network system are all arranged inside the object. In this embodiment, the monitoring and control system of the A-frame and the umbilical winch is arranged in a single housing 6, and real-time control is performed by wireless communication, so that the user can operate it conveniently.

[0074] The ship provided in the embodiment of the present application is used in marine navigation, and the ship includes Figure 1-Figure 3 The monitoring and control system of the A-frame and the umbilical cable winch is provided on the ship with the monitoring and control system of the A-frame and the umbilical cable winch which can be operated by the user by hand, and the A-frame and the umbilical cable winch provided on the ship, wherein the monitoring and control system of the A-frame and the umbilical cable winch, the A-frame and the umbilical cable winch communicate with each other by wireless connection. Taking the operation process of the cable robot as an example, the explanation is given in combination with the ship provided in this application, as follows:

[0075] When the cable robot is lifted from the ship deck by the A-frame, the monitoring and control systems of the A-frame and the umbilical cable winch inside the ship control the movement of the A-frame in real time. At the same time, the umbilical cable winch and the A-frame work together to reel in the cable. The A-frame swings from the inside to the outside, and the umbilical cable winch switches from reeling in to releasing the cable. At the same time, the A-frame releases the winch until the cable robot enters the water.

[0076] When the cable robot enters the water, the umbilical cable winch is retracted to lift the cable robot from the A-frame guiding device, and the display module of the monitoring and control system of the A-frame and the umbilical cable winch in the ship is used to observe and control the A-frame to release the cable robot.

[0077] When the cable robot is released, the monitoring and control system of the A-frame and the umbilical cable winch in the ship controls the umbilical cable winch to release the cable. The length of the umbilical cable is observed through the monitoring and control system of the A-frame and the umbilical cable winch. When the umbilical cable reaches the specified length, the cable release is stopped and the A-frame is controlled to swing inboard and stop at a suitable position, and the deck workers carry out the operation.

[0078] When the deck workers complete the work, they control the A-frame to swing outboard through the monitoring and control system of the A-frame and the umbilical cable winch, stop at the appropriate position, control the umbilical cable winch to continue cable pulling until landing, and after landing, cooperate with the cable robot operator to perform cable retracting and releasing operations.

[0079] In the embodiment of the present application, the monitoring and control system of the A-frame and the umbilical winch set in the ship is used to make the A-frame control system and the umbilical winch control system collect the working parameters of the A-frame and the umbilical winch, and the collection system collects the A-frame control signal and the umbilical winch control signal. Secondly, the network system transmits the collected working parameters and control signals to the real-time system for data coordination, and then sends the coordinated signal after data coordination to the A-frame control system and the umbilical winch control system. The A-frame control system and the umbilical winch control system coordinately adjust the movement trajectory of the A-frame and the umbilical winch retracting and releasing cable according to the coordinated signal, so that the A-frame and the umbilical winch can coordinate and be consistent to avoid damage to the umbilical cable. In addition, the ship provided by the present application is portable and can be quickly installed and disassembled, realizing remote control, real-time sampling, and real-time display.

[0080] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A monitoring and control system for an A-frame and an umbilical cable winch, characterized in that: include: A frame control system, used to collect the working parameters of the A frame and control the moving track of the A frame, wherein the working parameters of the A frame include: synchronous communication time, control accuracy, and displacement length of the A frame; An umbilical cable winch control system is used to collect the working parameters of the umbilical cable winch and control the umbilical cable winch to retract and release the cable. The working parameters of the umbilical cable winch include: synchronous communication time, control accuracy, and cable retraction and release length; The acquisition system is used to acquire the A-frame control signal and the umbilical winch control signal sent by the user; A network system connected to the A-frame control system, the umbilical winch control system, and the acquisition system, the network system being used to transmit the working parameters of the A-frame, the working parameters of the umbilical winch, the A-frame control signal, and the umbilical winch control signal; A real-time system is connected to the network system, and the real-time system is used to obtain the working parameters of the A-frame, the working parameters of the umbilical cable winch, the A-frame control signal, and the umbilical cable winch control signal, and perform data coordination based on the working parameters of the A-frame, the working parameters of the umbilical cable winch, the A-frame control signal, and the umbilical cable winch control signal, and output a coordination signal; and the coordination signal is used to enable the A-frame control system and the umbilical cable winch control system to coordinately adjust the movement trajectory of the A-frame and the retracting and releasing cable of the umbilical cable winch.

2. The monitoring and control system for the A-frame and umbilical winch according to claim 1, characterized in that: The A-frame control system includes: an A-frame control PLC, the A-frame control PLC is connected to the network system, and the A-frame control PLC is used to control the winch in the A-frame to move up and down; and The umbilical cable winch control system comprises: an umbilical cable winch control PLC, the umbilical cable winch control PLC is connected to the network system, and the umbilical cable winch control PLC is used to control the umbilical cable winch to retract and release the cable.

3. The monitoring and control system for the A-frame and umbilical winch according to claim 1, characterized in that: The A-frame control system, the umbilical cable winch control system, the acquisition system, and the network system transmit data via an isochronous bus.

4. The monitoring and control system for the A-frame and umbilical winch according to claim 1, characterized in that: The acquisition system comprises: A-frame winch control handle, used to transmit the A-frame control signal sent by the user; An umbilical cable winch control handle, used for transmitting an umbilical cable winch control signal sent by a user; The acquisition module is connected to the A-frame winch control handle, the umbilical cable winch control handle and the network system, and is used to acquire the A-frame control signal and the umbilical cable winch control signal and transmit them to the network system.

5. The monitoring and control system for the A-frame and the umbilical winch according to claim 4, characterized in that: The acquisition module includes: a PLC with an isochronous bus.

6. The monitoring and control system for the A-frame and umbilical winch according to claim 1, characterized in that: Real-time systems include: A processing module, connected to the network system, configured to receive the working parameters of the A-frame, the working parameters of the umbilical winch, the A-frame control signal, the umbilical winch control signal, and generate the coordination signal; a storage module connected to the processing module, and configured to store the coordination signal, the working parameters of the A-frame, the working parameters of the umbilical winch, the A-frame control signal, and the umbilical winch control signal; The display module is connected to the storage module and the processing module, and is used to display the working parameters of the A frame and the working parameters of the umbilical cable winch in real time.

7. The monitoring and control system for the A-frame and umbilical winch according to claim 1, characterized in that: The synchronous communication time of the monitoring and control system of the A-frame and the umbilical cable winch is less than 10us.

8. The monitoring and control system for the A-frame and umbilical winch according to claim 1, characterized in that: The control accuracy of the monitoring and control system of the A-frame and the umbilical cable winch is less than or equal to 0.2 m / s.

9. The monitoring and control system for the A-frame and umbilical winch according to claim 1, characterized in that: The monitoring and control system of the A-frame and the umbilical cable winch also includes: a housing for accommodating the A-frame control system, the umbilical cable winch control system, the acquisition system, the network system, and the real-time system.

10. The monitoring and control system for the A-frame and umbilical winch according to claim 1, characterized in that: The monitoring and control system of the A-frame and the umbilical cable winch are installed on the ship.

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