Cable control method and cable control system

Abstract

The invention discloses a cable control method and a cable control system, and the method comprises the steps: obtaining the first tension of a first cable group, the first length of a laid cable of the first cable group, the second tension of a second cable group, the second length of a laid cable of the second cable group, the first state information of TMS equipment, and the second state information of underwater equipment; the first state information and the second state information at least comprise running speed information, underwater position information and running direction information; controlling the first cable group to lay cables according to the first tension and the first state information; controlling the first cable group to take up cables according to the first tension, the first state information and the first length; according to the second tension, the first state information and the second state information, controlling the second cable group to pay off the cable; and controlling the second cable group to take up cables according to the second tension, the first state information, the second state information and the second length. In this way, the operation range of the underwater equipment can be enlarged.

Description

Technical Field

[0001] This application relates to the field of intelligent robot technology, and in particular to a cable control method and a cable control system. Background Technology

[0002] Currently, underwater robots (also known as underwater equipment) are crucial for completing deep-sea operations. Underwater robots typically use a TMS (Tether Management System) to provide cables, enabling them to move across the seabed by retrieving and releasing these cables. The TMS then connects to surface equipment via a separate set of cables.

[0003] In existing technologies, the underwater position of the TMS device is fixed, and the range of motion of the underwater robot is determined by the cable assembly between the TMS device and the underwater robot, which greatly affects the range of motion of the underwater robot. Summary of the Invention

[0004] This application provides a cable control method and a cable management system, which can control the laying and retrieval of the first cable group and the second cable group respectively, thereby increasing the operating range of underwater equipment.

[0005] This application provides a cable control method. The cable control system includes surface equipment, a TMS device, a first cable group, a second cable group, and underwater equipment. The second cable group is disposed on the TMS device. The surface equipment is connected to the TMS device via the first cable group, and the underwater equipment is connected to the TMS device via the second cable group. The cable control method comprises:

[0006] The system acquires the first tension of the first cable group, the first length of the first cable group that has been laid out, the second tension of the second cable group, the second length of the second cable group that has been laid out, the first status information of the TMS device, and the second status information of the underwater device. The first status information and the second status information include at least the running speed information, the underwater position information, and the running direction information.

[0007] The first cable group is controlled to lay cables according to the first tension and the first status information;

[0008] The first cable group is controlled to take up the cable according to the first tension, the first status information and the first length.

[0009] The second cable group is controlled to release cables based on the second tension, the first status information, and the second status information.

[0010] The second cable group is controlled to take up the cable based on the second tension, the first status information, the second status information, and the second length.

[0011] In one embodiment, the step of controlling the first cable group to release cables based on the first tension and the first state information includes:

[0012] Determine whether the first tension is greater than or equal to the first tension threshold;

[0013] If the result of the judgment is yes, the travel position of the TMS device at the next moment is estimated based on the first state information currently obtained;

[0014] The amount of cable to be laid in the first cable group at the next moment is calculated based on the estimated travel position;

[0015] Based on the calculation results, a first cable release command is generated and issued to the first cable group, and the first cable group is simultaneously controlled to release the cable.

[0016] In one embodiment, the step of controlling the first cable group to take up the cable based on the first tension, the first state information, and the first length includes:

[0017] If the result of the judgment is negative, the travel position of the TMS device at the next moment is estimated based on the first state information currently obtained.

[0018] Calculate the required cable length between the next travel position and the watercraft;

[0019] Determine whether the difference between the first length and the cable length required at the next moment is greater than the difference threshold;

[0020] If the difference is greater than the difference threshold, a first cable take-up command is generated and issued to the first cable group, and the first cable group is controlled to take up the cable according to the first cable take-up command.

[0021] In one embodiment, the control method further includes: adjusting the operating mode of the TMS device based on the first tension and the first state information.

[0022] In one embodiment, the step of adjusting the operating mode of the TMS device based on the first tension and the first state information includes:

[0023] Determine whether the first tension is greater than or equal to the second tension threshold;

[0024] If the result of the judgment is yes, then the maximum underwater movement range of the TMS device is calculated in conjunction with the first length;

[0025] Control the TMS device to move within the maximum range of motion or to hover at a designated position within the maximum range of motion.

[0026] In one embodiment, the step of controlling the second cable group to release cables based on the second tension, the first state information, and the second state information includes:

[0027] Determine whether the second tension is greater than or equal to the third tension threshold;

[0028] If the second tension is greater than or equal to the third tension threshold, then it is further determined whether the movement direction of the TMS device is the same as the movement direction of the underwater device;

[0029] If the result of the judgment is yes, then the relative motion speed between the TMS device and the underwater device is calculated, and a second cable release command is generated for the second cable group based on the calculated relative motion speed, so as to control the second cable group to release the cable.

[0030] If the result of the judgment is negative, the movement direction of the TMS device is adjusted to be consistent with the movement direction of the underwater device, and the step of judging whether the second tension is greater than or equal to the third tension threshold is re-executed.

[0031] In one embodiment, the step of controlling the second cable group to take up the cable based on the second tension, the first state information, the second state information, and the second length includes:

[0032] Determine whether the second tension is less than the third tension threshold;

[0033] If the result of the judgment is yes, then the distance between the TMS device and the underwater device at the next moment is calculated based on the current first state information and the second state information.

[0034] Combining the second length and the distance between the TMS device and the underwater device at the next moment, a second cable retrieval command is generated and issued to the second cable group, the second cable retrieval command including the set cable retrieval speed;

[0035] The second cable group is wound up at the set winding speed.

[0036] In one embodiment, the step of controlling the second cable group to take up the cable based on the second tension, the first state information, the second state information, and the second length includes:

[0037] Determine whether the second tension is less than the third tension threshold;

[0038] If the result of the judgment is yes, then the distance between the TMS device and the underwater device at the next moment is calculated based on the current first state information and the second state information.

[0039] Combining the second length and the distance between the TMS device and the underwater device at the next moment, a second cable retrieval command is generated and issued to the second cable group, the second cable retrieval command including the set cable retrieval duration;

[0040] The second cable group retracts the cable within the retraction time.

[0041] In one embodiment, the control method further includes:

[0042] Issue a return command;

[0043] Control the TMS device to hover, adjust the running direction of the underwater device according to the hovering position of the TMS device, and control the second cable group to reel in the cable; or, control the TMS device and the underwater device to move towards the surface device, and simultaneously control the first cable group and the second cable group to reel in the cable.

[0044] After the second cable group has finished reeling in the cable, control the TMS device to move toward the watercraft, and at the same time control the first cable group to reel in the cable.

[0045] This application also provides a cable control system, which includes a surface device, a TMS device, a first cable group, and an underwater device. The TMS device is provided with a second cable group. The surface device is connected to the TMS device through the first cable group, and the underwater device is connected to the TMS device through the second cable group. The cable control system is used to execute the cable control method described above.

[0046] The cable control method provided in this application is used in a cable control system for underwater equipment. The cable control system includes surface equipment, a TMS device, a first cable group, a second cable group, and underwater equipment. The second cable group is installed on the TMS device. The surface equipment is connected to the TMS device through the first cable group, and the underwater equipment is connected to the TMS device through the second cable group. The control method includes: acquiring the first tension of the first cable group, the first length of the first cable group that has been laid out, the second tension of the second cable group, the second length of the second cable group that has been laid out, the first status information of the TMS device, and the second status information of the underwater equipment. The first and second status information include at least the running speed information, underwater position information, and running direction information. The method further includes controlling the first cable group to lay out the cable based on the first tension and the first status information; controlling the first cable group to retrieve the cable based on the first tension, the first status information, and the first length; controlling the second cable group to lay out the cable based on the second tension, the first status information, and the second status information; and controlling the second cable group to retrieve the cable based on the second tension, the first status information, the second status information, and the second length. Through this method, the laying and retrieval of the first and second cable groups can be controlled separately, thereby increasing the operating range of the underwater equipment. Furthermore, because the TMS device is movable, it can hover or move according to the actual situation. On the one hand, this improves the efficiency of the first and second cable groups in retrieval and release, and on the other hand, it enhances the TMS device's resistance to current, preventing underwater equipment from being affected by the TMS device's uncontrolled movement, thereby improving the stability of the underwater equipment during underwater operations. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the structure of a cable control system provided in an embodiment of this application;

[0049] Figure 2 This is a schematic flowchart of a cable control method provided in an embodiment of this application;

[0050] Figure 3 This is a flowchart illustrating another cable control method provided in an embodiment of this application;

[0051] Figure 4 This is a schematic diagram showing the relationship between the moving state of the TMS device and the cable length of the first cable group.

[0052] Figure 5This is a flowchart illustrating another cable control method provided in an embodiment of this application;

[0053] Figure 6 This is a flowchart illustrating another cable control method provided in an embodiment of this application;

[0054] Figure 7 This is a flowchart illustrating another cable control method provided in an embodiment of this application;

[0055] Figure 8 This is a flowchart illustrating another cable control method provided in an embodiment of this application;

[0056] Figure 9 This is a flowchart illustrating another cable control method provided in an embodiment of this application;

[0057] Figure 10 This is a flowchart illustrating another cable control method provided in an embodiment of this application;

[0058] Figure 11 This is a flowchart illustrating another cable control method provided in the embodiments of this application. Detailed Implementation

[0059] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0060] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0061] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0062] The use of "applies to" or "configured to" in this application implies open and inclusive language, which does not exclude the applicability to or configuration to devices performing additional tasks or steps. Additionally, the use of "based on" implies openness and inclusivity, because processes, steps, calculations, or other actions "based on" one or more of the stated conditions or values ​​may in practice be based on additional conditions or values ​​beyond those stated.

[0063] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0064] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a cable control system provided in an embodiment of this application, as shown below. Figure 1 As shown, the cable control system 10 of this embodiment includes an underwater device 101, a surface device 102, a TMS device 103, a first cable group 200, and a second cable group 300.

[0065] The surface equipment 102 may further include a control terminal 110. The control terminal 110 and the TMS device 103 are respectively connected to the first cable group 200. The first cable group 200 can respond to control commands issued by the control terminal 110 to perform cable laying and reeling actions. A second cable group 300 is disposed on the TMS device 103, and the TMS device 103 is connected to the underwater equipment 101 through the second cable group 300. The second cable group 300 can also perform cable laying and reeling actions under control commands issued by the control terminal 110. The TMS device 103 has a space for accommodating the underwater equipment 101. That is, the underwater equipment 101 can be housed in the TMS device 103 when not in operation, and can be released from the TMS device 103 for controlled movement when needed.

[0066] The control terminal 110 can be a portable electronic device carried by the user, such as a smartphone, smartwatch, tablet, personal digital assistant (PDA), smart wearable device, etc. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running various operating systems. It should also be understood that in some other embodiments of this application, the mobile terminal 100 can also be a non-portable electronic device, such as a laptop computer, a laptop computer with a touch-sensitive surface (e.g., a touch panel), a desktop computer, etc. Underwater equipment 101 refers to equipment capable of controlled underwater operations, such as underwater robots, underwater vehicles, and underwater drones.

[0067] The first cable group 200 and the control terminal 110 can be mounted on the surface equipment 102, which can be a mobile device on water (such as a ship) or a device fixed on shore. In this embodiment, the surface equipment 102 is used as the carrier for the first cable group 200 and the control terminal 110. In a preferred embodiment, a crane can also be mounted on the surface equipment 102, and the TMS device 103 carrying the underwater device 101 can be lowered into the underwater environment by the crane.

[0068] The TMS device 103 is equipped with multiple actuators, enabling it to perform various movements under control, such as forward and backward movement, left and right movement, up and down movement, flipping, and hovering. The TMS device 103 also features a Doppler Velocity Log (DVL) for measuring its speed and various parameters in the underwater environment, and an Ultra-Short Baseline Line (USBL) system for underwater positioning. The control terminal 110 sends commands to the TMS device 103 via the first cable group 200, and the TMS device 103 also transmits real-time motion information, underwater environmental information, and various information from the second cable group 300 to the control terminal 110 via the first cable group 200. The TMS device 103 can adjust its steady-state based on real-time measurements of various underwater environmental parameters using the DVL to achieve better current resistance. It can also detect distance to the surface device 102 via the USBL. Similarly, the underwater device 101 may also be equipped with a DVL and a USBL. In a preferred embodiment, the surface device 102 is also equipped with a USBL, thereby ensuring more accurate positioning and spacing measurement of the TMS device 103 and the underwater device 101.

[0069] The first cable group 200 and the second cable group 300 have tension detection functions, which can be implemented by setting sensors. Furthermore, the first cable group 200 and the second cable group 300 can also record the amount of cable laid in each of them in the form of data; the tension detected by the first cable group 200 and the amount of cable laid by the second cable group 300 can be transmitted to the control terminal 110 via wired or wireless means.

[0070] Therefore, the cable control system 10 of this embodiment not only controls the take-up and release of the second cable group 300, but also adds the first cable group 200. By controlling the take-up and release of the first cable group 200, the TMS device 103 can reach a farther position. The underwater device 101 is connected to the TMS device 103 through the second cable group 300, thus increasing the operating range of the underwater device 101. In addition, since the TMS device 103 can move according to specific circumstances during take-up and release, for example, when the first cable group 200 is being taken up, it can move towards the surface device 102, which helps to speed up the take-up speed of the first cable group 200 and reduce the tension of the first cable group 200 during the take-up process. Or, when the second cable group 300 is being released, it can move with the underwater device 101, thereby reducing the release length of the second cable group 300 without affecting the movement of the underwater device 101, and avoiding excessive slack in the water. On the other hand, the movement and hovering of the TMS device 103 improves the anti-current function of the TMS device 103, so that the underwater device 101 is not affected by the involuntary movement of the TMS device 103, thereby improving the stability of the underwater device 101 during underwater operation.

[0071] This application provides a cable control method based on the cable control system described above. Please refer to [link / reference needed] for details. Figure 2 , Figure 2 This is a schematic flowchart of a cable control method provided in an embodiment of this application. Figure 2 As shown, the control method in this embodiment includes the following steps:

[0072] Step S1: Obtain the first tension of the first cable group, the first length of the first cable group that has been laid, the second tension of the second cable group, the second length of the second cable group that has been laid, the first status information of the TMS device, and the second status information of the underwater device.

[0073] In this embodiment, the first and second state information include at least running speed information, underwater position information, and running direction information. Specifically, if the running speed information is greater than zero, it indicates that the corresponding device (underwater device or TMS device) is in a moving state; if the running speed information is equal to zero, it indicates that the corresponding device is in a hovering state.

[0074] Underwater location information can be the relative distance between devices, such as the relative distance between surface equipment and TMS equipment, or the relative distance between TMS equipment and underwater equipment.

[0075] Motion direction information refers to the direction of motion relative to a certain device, such as the direction of motion of a TMS device relative to an underwater device.

[0076] The first cable group and the second cable group can record their respective cable lengths in real time, that is, the first length and the second length are recorded in real time.

[0077] Step S2: Control the first cable group to release the cable according to the first tension and the first state information.

[0078] Step S3: Control the first cable group to take up the cable according to the first tension, the first state information and the first length.

[0079] Step S4: Control the second cable group to release the cable according to the second tension, the first state information and the second state information.

[0080] Step S5: Control the second cable group to take up the cable according to the second tension, the first state information, the second state information, and the second length.

[0081] In other words, the deployment and retrieval of the second cable group not only takes into account the second state information of the underwater equipment, but also the first state information of the TMS equipment. Since the TMS equipment can move or hover according to the working status of the underwater equipment, it can affect the deployment and retrieval of the second cable group. Therefore, by comprehensively considering multiple influencing factors, more precise control can be made over the second cable group.

[0082] Please see Figure 3 , Figure 3 This is a flowchart illustrating another cable control method provided in an embodiment of this application. Figure 3 As shown, more specifically, it describes the specific scheme for laying and retrieving the first cable group as described in steps S2 and S3 above, including the following steps:

[0083] Step S11: Determine whether the first tension is greater than or equal to the first tension threshold.

[0084] In this step, if the result of the judgment is yes, then jump to step S12; if the result of the judgment is no, then return to step S15.

[0085] Step S12: Estimate the next travel position of the TMS device based on the currently acquired first state information.

[0086] By estimating the distance the TMS device will travel in the next moment based on its operating speed information, the next position of the TMS device can be obtained. Please refer to [link / reference]. Figure 4 , Figure 4 This is a schematic diagram showing the relationship between the moving state of TMS device 103 and the cable length of the first cable group 200. For example... Figure 4 As shown, the current position of TMS device 103 is position A. The running direction information indicates that TMS device 103 is moving away from the shore device 102. Based on the running speed information, the estimated running position after time T is position B.

[0087] Step S13: Calculate the amount of cable to be laid for the first cable group at the next moment based on the estimated travel position.

[0088] When the first tension is greater than or equal to the first tension threshold, it indicates that the TMS device is moving away from the surface equipment. For example... Figure 4 As shown, the current position of TMS device 103 is position A, and its next moving position is position B. When TMS device 103 is at position A, the distance between the surface equipment 102 and TMS device 103 is L. When TMS device 103 moves to position B, the distance between the surface equipment 102 and TMS device 103 is L1. Therefore, the first cable group required when moving from position A to position B is L1-L.

[0089] Step S14: Generate and issue the first cable laying command to the first cable group based on the calculation results, and synchronously control the first cable group to lay the cable.

[0090] The first cable-laying command may include two types:

[0091] The first method is to lay the cable at the default first cable laying speed. Specifically, when it is necessary to lay the first cable group, the cable is laid at the preset first cable laying speed.

[0092] The second method is to calculate the cable laying speed of the first cable group based on the actual situation, and then lay the cable at the calculated required speed. Specifically, for example... Figure 4 As shown above, the estimated length of the first cable group is L1-L. This can be further combined with the time T it takes for the TMS device 103 to move from position A to position B. The required cable laying speed for the first cable group 200 during this movement is calculated to be (L1-L) / T. Then, the actual cable laying speed of the first cable group is controlled to match the required cable laying speed.

[0093] In obtaining the required cable laying speed, if the time interval between adjacent positions is small enough, the length difference of the first cable group at adjacent positions is equal to the required cable laying speed. That is, when the time granularity is small enough, it is approximately equivalent to obtaining the required cable laying speed of the first cable group in real time. In this case, the actual cable laying speed of the first cable group can be controlled to be equal to the required cable laying speed. If the time interval between adjacent positions is large, the obtained required cable laying speed may actually have a delay. In this case, the actual cable laying speed can be slightly larger than the required cable laying speed to avoid the risk of damage or even breakage caused by excessive initial tension in the first cable group due to untimely cable laying.

[0094] Because the actual cable release speed of the first cable group is matched with the required cable release speed, the first cable group will not bend in the water due to excessively fast cable release, which could easily cause tangling, nor will it increase the risk of damage or even breakage due to excessively slow cable release, which could lead to increased tension.

[0095] Step S15: Estimate the next travel position of the TMS device based on the currently acquired first state information.

[0096] like Figure 4 As shown, if the current position of TMS device 103 is B, and the running direction information indicates that TMS device 103 is moving towards the direction of the shore device 102, then the running speed information can be used to predict the travel position after time T as position A.

[0097] Step S16: Calculate the required cable length between the next travel position and the water equipment.

[0098] In the plan for collecting the first cable group, it is first necessary to estimate the distance between the next travel position and the water equipment, such as... Figure 4 As shown, if the current position of TMS device 103 is position B, and the estimated travel position at the next moment is position A, then at position A, the distance between TMS device 103 and water device 102 is calculated as L, that is, the required length of the first cable is L.

[0099] Step S17: Determine whether the difference between the first length and the cable length required at the next moment is greater than the difference threshold.

[0100] During the laying of the first cable group, the first length of the laid cable can also be recorded in real time.

[0101] During the collection process, the degree of bending and detachment of the first cable group is determined by comparing the difference between the first length and the cable length required at the next moment with a difference threshold. If the difference is greater than the difference threshold, it indicates that a long portion of the first cable group is in the water and is bent and detached. This portion of the cable is prone to entanglement or being impacted by the water flow. Therefore, the first cable group needs to be collected, i.e., the process jumps to step S18. If the difference is not greater than the difference threshold, the process returns to step S11.

[0102] Step S18: Generate and issue a first cable take-up command for the first cable group, and control the first cable group to take up the cable according to the first cable take-up command.

[0103] Similar to the first cable-laying command described earlier, the first cable-retrieval command can also include two types:

[0104] The first method is to perform the collection at the default first collection speed. Specifically, when the first cable group needs to be collected, the collection will be performed at the preset first collection speed.

[0105] The second method is to calculate the required retrieval speed of the first cable based on the actual situation, and then lay the cable according to the calculated required retrieval speed.

[0106] Because the movement of the TMS device affects the difference between the distance between the surface equipment and the TMS device and the initial length of the deployed cable, thus affecting the actual length of the first cable group to be retrieved, the actual retrieval speed of the first cable group can be adjusted based on the initial status information of the TMS device. This prevents the cable group from bending and tangling in the water due to excessively slow retrieval, and also avoids increasing the initial tension and risk of damage or breakage due to excessively fast retrieval. This ensures both high-efficiency retrieval and the safety of the first cable group.

[0107] For details on adjusting the actual take-up speed of the first cable group based on the first status information of the TMS device, please refer to [link / reference needed]. Figure 5 Specifically, it includes the following steps:

[0108] Step S21: Determine whether the speed at which the TMS device approaches the water equipment is greater than the preset first retrieval speed of the first cable group.

[0109] When collecting the first cable group, the system first retrieves the cable at a preset first collection speed and then determines whether the speed at which the TMS device approaches the surface equipment is greater than the first collection speed. If the result is yes, the system proceeds to step S22; if the result is no, the system proceeds to step S23.

[0110] Step S22: Increase the actual retrieval speed of the first cable group until the actual retrieval speed is greater than the speed at which the TMS equipment approaches the surface equipment.

[0111] When the TMS device approaches the water equipment at a speed greater than the first retrieval speed, the retrieval of the first cable group is accelerated to avoid bending and tangling in the water.

[0112] Step S23: Control the first cable group to collect according to the preset first collection speed.

[0113] If the speed at which the TMS device approaches the water equipment is no greater than the first retrieval speed, the first cable group can be retrieved directly according to the preset first retrieval speed. This ensures the smooth retrieval of the first cable group without the need for additional calculation and adjustment of the first retrieval speed, thus reducing computing power and control.

[0114] In a preferred embodiment, the operating mode of the TMS device can also be adjusted based on the first tension of the first cable group and the first state information of the TMS device. The operating modes of the TMS device include a moving mode and a hovering mode. Please refer to [link to details]. Figure 6 , Figure 6 This is a flowchart illustrating another cable control method provided in an embodiment of this application. Figure 6 As shown, the control method also includes:

[0115] Step S31: Determine whether the first tension is greater than or equal to the second tension threshold.

[0116] The second tension threshold in this step may be the same as or different from the first tension threshold described above. For example, if the cables of the first cable group are not fully released, the first tension threshold and the second tension threshold may be the same; if the cables of the first cable group are fully released, the first tension threshold and the second tension threshold may be different.

[0117] In this step, if the result of the judgment is negative, then proceed to step S32; if the result of the judgment is positive, then proceed to step S33.

[0118] Step S32: Control the TMS device to follow the movement of the underwater equipment.

[0119] If the first tension is less than the second tension threshold, it indicates that there is partial movable tension in the first cable group, and the TMS device can move arbitrarily. To expand the working range of the underwater equipment, the TMS device can be controlled to move with the underwater equipment.

[0120] Step S33: Calculate the maximum underwater movement range of the TMS device based on the first length.

[0121] If the first tension is greater than or equal to the second tension threshold, it indicates that the first cable assembly can no longer be stretched or is unsuitable for continued cable laying due to underwater currents; otherwise, there is a risk of the first cable assembly breaking or detaching. In this case, the maximum underwater range of the TMS device can be calculated based on the first length. This maximum range can be a hemispherical area below the horizontal plane. The TMS device must be hovering at the outer edge of the hemisphere, meaning it can only reach the outer edge of the hemisphere at its furthest point.

[0122] Step S34: Control the TMS device to move within the maximum range of motion or hover at a specified position within the maximum range of motion.

[0123] Specifically, the underwater equipment's direction of movement can be obtained first. If the direction indicates that the underwater equipment is moving away from the TMS device, the TMS device cannot follow the underwater equipment to prevent the first cable group from breaking or detaching, so the TMS device is controlled to hover. Furthermore, the second cable group can be controlled to follow the movement of the underwater equipment and be deployed to support its movement. If the underwater equipment moves towards the TMS device, the distance between the underwater equipment and the TMS device will decrease. To alleviate the initial tension on the first cable group, the TMS device can move towards the surface equipment. Specifically, if both the TMS device and the underwater equipment are located on the same side of the surface equipment, such as... Figure 1 As shown, when the underwater equipment moves toward the TMS equipment, the TMS equipment can be controlled to follow the underwater equipment, thereby relieving the first tension of the first cable group; if the TMS equipment and the underwater equipment are located on opposite sides of the surface equipment, when the underwater equipment moves toward the TMS equipment, the TMS equipment moves in the opposite direction to the underwater equipment, thereby relieving the first tension of the first cable group.

[0124] The above describes the specific plan for laying and retrieval of the first cable group. The following will describe the specific plan for laying and retrieval of the second cable group. Please refer to [link / reference needed] for details. Figure 7 , Figure 7 This is a flowchart illustrating another cable control method provided in an embodiment of this application, as shown below. Figure 7 As shown, it also includes the following steps:

[0125] Step S41: Determine whether the second tension is greater than or equal to the third tension threshold.

[0126] If the result of the judgment is yes, then proceed to step S42; if the result of the judgment is no, then proceed to step S45.

[0127] Step S42: Determine whether the movement direction of the TMS device is the same as the movement direction of the underwater device.

[0128] If the second tension is greater than or equal to the third tension threshold, it indicates that the second cable group is in a "tight" state. At this time, it is determined whether the movement direction of the TMS equipment and the movement direction of the underwater equipment are the same, so as to control the cable laying of the second cable group according to the movement direction of the two.

[0129] In this step, if the result of the judgment is yes, then jump to step S43; if the result of the judgment is no, then jump to step S44.

[0130] Step S43: Calculate the relative motion speed between the TMS device and the underwater device, and generate a second cable release command for the second cable group based on the calculated relative motion speed, so as to control the second cable group to release the cable.

[0131] If the underwater equipment moves in the same direction as the TMS equipment, and the second tension of the second cable group is greater than or equal to the third tension threshold, it indicates that the TMS equipment's moving speed is less than the underwater equipment's moving speed. By calculating the speed difference between the TMS equipment and the underwater equipment, their relative speed can be obtained, which is the cable-laying speed of the second cable group. Therefore, the generated second cable-laying command can include the cable-laying speed of the second cable group, instructing the second cable group to lay the cable according to the cable-laying speed.

[0132] Step S44: Adjust the movement direction of the TMS device to be consistent with the movement direction of the underwater device.

[0133] Furthermore, after adjusting the direction of motion, step S41 above can be repeated: determining whether the second tension is greater than or equal to the third tension threshold and subsequent steps.

[0134] Since the TMS device has no other function in the water besides providing cables to underwater equipment, its movement can be matched to the operational needs of the underwater equipment. When the movement direction of the underwater equipment and the movement direction of the TMS device are different, the movement direction of the TMS device can be adjusted to be the same as that of the underwater equipment, minimizing the distance between the two devices and reducing the required length of the second cable assembly, thus alleviating the second tension on the cable assembly. Furthermore, the cable deployment speed of the second cable assembly can be controlled to match the relative speed of the TMS device and the underwater equipment. This ensures that the second cable assembly can meet the operational needs of the underwater equipment while minimizing its deployment length, thereby reducing the risk of damage to the second cable assembly from aquatic organisms or other obstacles in the water.

[0135] Step S45: Control the second cable group to collect.

[0136] If the second tension of the second cable group is less than the third tension threshold, it indicates that the second cable group is in a bent and free state, and the second cable group can be controlled to be retracted. There are two retraction schemes for the second cable group, as follows:

[0137] First option: Please refer to Figure 8 This includes the following steps:

[0138] Step S81: Calculate the distance between the TMS device and the underwater device at the next moment based on the current first state information and second state information.

[0139] Step S82: Combining the second length and the distance between the TMS device and the underwater device at the next moment, generate and issue a second cable retrieval command for the second cable group. The second cable retrieval command includes the set cable retrieval speed.

[0140] Step S83: The second cable group retracts the cable at the set cable retraction speed.

[0141] For example, if the first and second state information indicate that the TMS device and the underwater device are moving towards each other, and both the TMS device and the underwater device have a speed of 1 m / s, then it can be calculated that the distance between the TMS device and the underwater device is decreasing at a speed of 2 m / s, and the cable of the second cable group is released into the water at a speed of 2 m / s, remaining in a free-floating state. Furthermore, if the second cable group has a second length of 15 meters already released, and the distance between the TMS device and the underwater device (initial distance) is 10 meters, then 5 meters of the second cable group are in a free-floating state in the water. Initially, the second cable group can be controlled to be retrieved at a speed of 3 m / s, and after 4 or 5 seconds, the retrieval speed can be reduced to 2 m / s. This ensures rapid retrieval of the second cable group, preventing excessive free-floating cable groups from increasing the risk of entanglement, and also allows for matching the retrieval speed of the second cable group with its release speed after the excess cable group has been retrieved.

[0142] The first pickup scheme for the second cable group is to optimize the pickup of the second cable group by dynamically changing the pickup speed.

[0143] The second option: Please refer to [link / reference] Figure 9 This includes the following steps:

[0144] Step S91: Calculate the distance between the TMS device and the underwater device at the next moment based on the current first state information and second state information.

[0145] Step S92: Combining the second length and the distance between the TMS device and the underwater device at the next moment, generate and issue a second cable retrieval command for the second cable group. The second cable retrieval command includes the set cable retrieval duration.

[0146] Step S93: The second cable group retrieves the cable within the retrieval time.

[0147] Throughout the acquisition period, the second tension remains below the third tension threshold. In this scheme, the acquisition speed can be fixed.

[0148] For example, if the initial distance between the TMS device and the underwater device is 5m, and the second cable group has a second length of 15m, the initial distance difference between the two is 10m. If the TMS device is in a hovering state and the underwater device moves at a speed of 1.5m / s, then the distance between the TMS device and the underwater device is decreasing at a speed of 1.5m / s. The preset retrieval speed of the second cable group is 2m / s, so the second cable group can be controlled to perform retrieval for 2-2.8s (preferably an integer) according to the preset retrieval speed. During this process, it will not affect the actual movement of the underwater device.

[0149] Please refer to the details. Figure 10 , Figure 10 This is a flowchart illustrating another cable control method provided in an embodiment of this application, as shown below. Figure 10 As shown, it also includes the following steps:

[0150] Step S51: Issue a work command to control the first cable group to release the cable, so that the TMS device moves to the preset position.

[0151] Upon receiving the work instruction, the first step is to lay the first cable group, allowing the TMS equipment to be submerged and moved to the preset position.

[0152] Step S52: Control the TMS device to hover, release the underwater device from the containment space, and control the second cable group to release the cable according to the second state information and second tension of the underwater device; or adjust the movement direction of the TMS device to be the same as the movement direction of the underwater device, and then control the second cable group and the first cable group to release the cable.

[0153] After the TMS device moves to the preset position, one of two control schemes can be executed:

[0154] The first method involves controlling the TMS device to hover, releasing the underwater equipment from the storage space, and controlling the second cable group to release cables based on the second state information and second tension of the underwater equipment, so that the underwater equipment moves to the target working position.

[0155] The second method involves adjusting the movement direction of the TMS device to be the same as that of the underwater equipment, and then simultaneously releasing the cables of the second and first cable groups. Specifically, after the TMS device reaches the preset position, it adjusts its movement direction to be the same as that of the underwater equipment, and then follows the underwater equipment. This is achieved by simultaneously releasing the cables of the first and second cable groups, so that the underwater equipment and the TMS device move in the same direction, thereby expanding the working range of the underwater equipment.

[0156] It is understandable that in the two schemes described above, the preset position of the TMS device in step S51 can be the same or different. For example, if the first scheme is used, a longer cable can be released in step S51, allowing the TMS device to move to a more distant preset position. Conversely, if the second scheme is used, a shorter cable can be released in step S51, allowing the TMS device to move to a closer preset position, and then the first cable group can continue to be released while the TMS device is moving with the underwater equipment.

[0157] Please refer to the details. Figure 11 , Figure 11 This is a flowchart illustrating another cable control method provided in an embodiment of this application, as shown below. Figure 11 As shown, it also includes the following steps:

[0158] Step S61: Issue a return command.

[0159] Step S62: Control the TMS device to hover, adjust the running direction of the underwater equipment according to the hovering position of the TMS device, and control the second cable group to retrieve the cable; or, control the TMS device and the underwater equipment to move towards the surface equipment, and simultaneously control the first cable group and the second cable group to retrieve the cable.

[0160] The acquisition plan can include one of the following:

[0161] The first method involves controlling the TMS device to hover, and then controlling the retrieval of the second cable group based on the second state information and second tension of the underwater device. That is, the second cable group is retrieved first, causing the underwater device to return to the TMS device's storage space.

[0162] The second method involves controlling the TMS equipment and underwater equipment to move simultaneously toward the surface equipment, and controlling the second cable group and the first cable group to simultaneously retrieve the cables.

[0163] The second approach involves simultaneously collecting both the first and second cable groups, which improves retrieval efficiency. Furthermore, because the TMS equipment has already moved a distance towards the surface equipment before the underwater equipment returns to its storage space, the travel distance of the TMS equipment after loading the underwater equipment is reduced, thereby lowering the initial tension on the first cable group and protecting it.

[0164] The retrieval speed of each cable group can be controlled according to the movement speed of the TMS equipment and underwater equipment.

[0165] Step S63: After the second cable group has finished reeling in the cable, control the TMS device to move towards the water equipment, and at the same time control the first cable group to reel in the cable.

[0166] In summary, the cable control method provided in this application is used in a cable management system for underwater equipment. The cable management system includes surface equipment, a TMS device, a first cable group, a second cable group, and underwater equipment. The TMS device is equipped with the second cable group. The surface equipment is connected to the TMS device through the first cable group, and the underwater equipment is connected to the TMS device through the second cable group. The control method includes: acquiring the first tension of the first cable group, the first length of the first cable group that has been laid out, the second tension of the second cable group, the second length of the second cable group that has been laid out, the first status information of the TMS device, and the second status information of the underwater equipment. The first and second status information include at least the running speed information, underwater position information, and running direction information. The method also includes: controlling the first cable group to lay out the cable based on the first tension and the first status information; controlling the first cable group to retrieve the cable based on the first tension, the first status information, and the first length; controlling the second cable group to lay out the cable based on the second tension, the first status information, and the second status information; and controlling the second cable group to retrieve the cable based on the second tension, the first status information, the second status information, and the second length. The above methods allow for separate control of the retrieval and deployment of the first and second cable groups, thereby increasing the operating range of the underwater equipment. Furthermore, the mobility of the TMS device allows it to hover or move as needed, improving the efficiency of retrieval and deployment for both the first and second cable groups, and enhancing its resistance to currents. This prevents the underwater equipment from being affected by its uncontrolled movement, thus improving its stability during underwater operations.

[0167] The power supply control device, power supply control method, and power supply system provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A cable control method for use in a cable control system for underwater equipment, the cable control system comprising surface equipment, a TMS device, a first cable group, a second cable group, and underwater equipment, wherein, The TMS device is equipped with a second cable group, the surface equipment is connected to the TMS device via the first cable group, and the underwater equipment is connected to the TMS device via the second cable group; characterized in that the cable control method includes: The system acquires the first tension of the first cable group, the first length of the first cable group that has been laid out, the second tension of the second cable group, the second length of the second cable group that has been laid out, the first status information of the TMS device, and the second status information of the underwater device. The first status information and the second status information include at least the running speed information, the underwater position information, and the running direction information. The first cable group is controlled to lay cables according to the first tension and the first status information; The first cable group is controlled to take up the cable according to the first tension, the first status information and the first length. The second cable group is controlled to release cables based on the second tension, the first status information, and the second status information. The second cable group is controlled to take up the cable based on the second tension, the first status information, the second status information, and the second length.

2. The cable control method according to claim 1, characterized in that, The step of controlling the first cable group to release the cable according to the first tension and the first state information includes: Determine whether the first tension is greater than or equal to the first tension threshold; If the result of the judgment is yes, the travel position of the TMS device at the next moment is estimated based on the first state information currently obtained; The amount of cable to be laid in the first cable group at the next moment is calculated based on the estimated travel position; Based on the calculation results, a first cable release command is generated and issued to the first cable group, and the first cable group is simultaneously controlled to release the cable.

3. The cable control method according to claim 2, characterized in that, The step of controlling the first cable group to take up the cable according to the first tension, the first state information, and the first length includes: If the result of the judgment is negative, the travel position of the TMS device at the next moment is estimated based on the first state information currently obtained. Calculate the required cable length between the next travel position and the watercraft; Determine whether the difference between the first length and the cable length required at the next moment is greater than the difference threshold; If the difference is greater than the difference threshold, a first cable take-up command is generated and issued to the first cable group, and the first cable group is controlled to take up the cable according to the first cable take-up command.

4. The cable control method according to claim 1, characterized in that, The cable control method further includes: The operating mode of the TMS device is adjusted based on the first tension and the first state information.

5. The cable control method according to claim 4, characterized in that, The step of adjusting the operating mode of the TMS device based on the first tension and the first state information includes: Determine whether the first tension is greater than or equal to the second tension threshold; If the result of the judgment is yes, then the maximum underwater movement range of the TMS device is calculated in conjunction with the first length; Control the TMS device to move within the maximum range of motion or to hover at a designated position within the maximum range of motion.

6. The cable control method according to claim 1, characterized in that, The step of controlling the second cable group to release cables based on the second tension, the first state information, and the second state information includes: Determine whether the second tension is greater than or equal to the third tension threshold; If the second tension is greater than or equal to the third tension threshold, then it is further determined whether the movement direction of the TMS device is the same as the movement direction of the underwater device; If the result of the judgment is yes, then the relative motion speed between the TMS device and the underwater device is calculated, and a second cable release command is generated for the second cable group based on the calculated relative motion speed, so as to control the second cable group to release the cable. If the result of the judgment is negative, the movement direction of the TMS device is adjusted to be consistent with the movement direction of the underwater device, and the step of judging whether the second tension is greater than or equal to the third tension threshold is re-executed.

7. The cable control method according to claim 1, characterized in that, The step of controlling the second cable group to take up the cable based on the second tension, the first state information, the second state information, and the second length includes: Determine whether the second tension is less than the third tension threshold; If the result of the judgment is yes, then the distance between the TMS device and the underwater device at the next moment is calculated based on the current first state information and the second state information. Combining the second length and the distance between the TMS device and the underwater device at the next moment, a second cable retrieval command is generated and issued to the second cable group, the second cable retrieval command including the set cable retrieval speed; The second cable group is wound up at the set winding speed.

8. The cable control method according to claim 1, characterized in that, The step of controlling the second cable group to take up the cable based on the second tension, the first state information, the second state information, and the second length includes: Determine whether the second tension is less than the third tension threshold; If the result of the judgment is yes, then the distance between the TMS device and the underwater device at the next moment is calculated based on the current first state information and the second state information. Combining the second length and the distance between the TMS device and the underwater device at the next moment, a second cable retrieval command is generated and issued to the second cable group, the second cable retrieval command including the set cable retrieval duration; The second cable group retracts the cable within the retraction time.

9. The cable control method according to claim 1, characterized in that, The cable control method further includes: Issue a return command; Control the TMS device to hover, adjust the running direction of the underwater device according to the hovering position of the TMS device, and control the second cable group to reel in the cable; or, control the TMS device and the underwater device to move towards the surface device, and simultaneously control the first cable group and the second cable group to reel in the cable. After the second cable group has finished reeling in the cable, control the TMS device to move toward the watercraft, and at the same time control the first cable group to reel in the cable.

10. A cable control system, characterized in that, The cable control system includes surface equipment, TMS equipment, a first cable group, and underwater equipment. The TMS equipment is provided with a second cable group. The surface equipment is connected to the TMS equipment through the first cable group, and the underwater equipment is connected to the TMS equipment through the second cable group. The cable control system is used to execute the cable control method according to any one of claims 1-9.

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