Cable winding prediction and anti-winding control method, system and equipment for fairlead winch

Abstract

The invention relates to a cable winding prediction and anti-winding control method, system and device for a fairlead winch, and belongs to the technical field of cable monitoring. The method comprises the steps that cable data and environment data are acquired; calculating the remaining dischargeable width of the current layer of the cable according to the cable data; determining a winding conclusion according to the distance from the remaining rankable width of the current layer to the tail end of the layer, and mapping the winding conclusion into a geometric risk level; calculating an environment factor according to the environment data and mapping the environment factor into an environment risk level; and generating an anti-winding instruction according to the environmental risk level and the geometric risk level. The fairlead winch has the beneficial effects that the maintenance cost and the operation interruption loss of the fairlead winch are reduced.

Description

Technical Field

[0001] This application relates to the technical field of cable monitoring, and in particular to a method, system and equipment for predicting and preventing cable entanglement in a cable guide winch. Background Technology

[0002] In the field of marine operations, the cable winch is a key piece of equipment, and the state of its cable winding directly affects the safety of the vessel and the efficiency of operations. The neatness and stability of the cable winding not only affect the normal operation of the winch, but also play a decisive role in the mooring, towing and other operations of the vessel.

[0003] Traditional cable winch cable entanglement control relies heavily on operator experience and judgment. Operators manually adjust winch operating parameters by observing the cable entanglement to ensure the cable is wound as neatly as possible on the drum. While some systems may include simple sensors to monitor cable tension and position, this data serves only as supplementary reference; the final control decision rests with the operator. Because of this reliance on manual judgment, operators struggle to accurately assess the risk of cable entanglement, often only taking action when the problem has become severe. This leads to frequent cable entanglement accidents, increasing equipment maintenance costs and operational downtime losses. Summary of the Invention

[0004] To reduce the maintenance costs and operational interruption losses of cable winches, this application provides a method, system, and equipment for predicting and preventing cable entanglement in cable winches.

[0005] In a first aspect, this application provides a method for predicting and preventing cable entanglement in a cable winch, employing the following technical solution: A method for predicting and preventing cable entanglement in a cable winch includes: Acquire cable data and environmental data; Calculate the remaining available cable width for the current layer based on the cable data; The entanglement conclusion is determined based on the distance from the end of the current layer to the remaining available width of the current layer, and the entanglement conclusion is mapped to a geometric risk level; Calculate environmental factors based on the environmental data and map the environmental factors to environmental risk levels; Based on the environmental risk level and the geometric risk level, an anti-entanglement instruction is generated.

[0006] By adopting the above technical solution, and through real-time calculation of the remaining available width of the current cable layer and quantification of its distance relationship with the end of the layer, the abstract geometric arrangement state can be transformed into a geometric risk level for risk assessment. This enables early warning of cable entanglement risk, avoiding entanglement accidents caused by reliance on experience-based judgment or delayed response in traditional control methods. Furthermore, by introducing environmental factors and mapping them to environmental risk levels, the impact of external disturbances on the dynamic cable arrangement is considered, making the risk assessment more aligned with actual operational scenarios and improving prediction accuracy. In summary, this method achieves a shift from passively responding to cable entanglement to proactively preventing it, improving the safety of cable winch operations, and reducing equipment maintenance costs and operational interruption losses due to entanglement failures.

[0007] Optionally, the specific steps for generating anti-entanglement instructions based on the environmental risk level and the geometric risk level include: Collect the tension waveform of each marked point on the cable as it passes the guide wheel within N seconds; Output the current health index based on the described tension waveform; The current health index is mapped to a health risk level, and the abnormal risk level is determined based on the tension waveform; An anti-entanglement command is generated based on the environmental risk level, the geometric risk level, the health risk level, and the abnormal risk level.

[0008] By adopting the above technical solution, the dynamic stress state of the cable is captured by collecting the tension waveform of the cable marker point passing the guide wheel within N seconds, avoiding the risk misjudgment caused by relying on static parameters in traditional methods. Based on the tension waveform, the current health index is output and mapped to a health risk level, which can reflect the potential entanglement hazards of the cable in real time. Simultaneously, by combining the characteristics of the tension waveform to identify abnormal risk levels, the dimensions of risk assessment are expanded, enabling the system to detect early signs of sudden failures. By generating anti-entanglement commands by comprehensively considering environmental risk levels, geometric risk levels, health risk levels, and abnormal risk levels, multi-factor collaborative decision-making is achieved. This ensures that the control commands can not only cope with current layout deviations and environmental interference, but also take into account the safety boundaries of the cable's own state, thereby driving the winch actuator to make more precise adjustments. In summary, this step forms a complete link of state perception - risk quantification - collaborative control, improving the timeliness, accuracy, and reliability of anti-entanglement control, reducing the incidence of cable entanglement accidents, extending equipment lifespan, and ensuring operational continuity.

[0009] Optionally, the specific steps for outputting the current health index based on the tension waveform include: Health features are extracted from each of the tension waveforms, including the average rise edge slope and waveform energy ratio; Calculate the moving median of the average slope along the rise of the cable and the moving median of the waveform energy ratio; The current health index is output by combining the moving median of the average slope of the rising edge and the moving median of the waveform energy ratio, and the current health index belongs to the range [0,1].

[0010] By employing the above technical solution, the average slope of the rising edge and the waveform energy ratio are extracted from the tension waveform as health characteristics. The average slope of the rising edge reflects the elastic response characteristics of the cable in the initial stage of stress and is directly related to the integrity of the cable's internal structure, while the waveform energy ratio quantifies the proportion of high-frequency components in the tension signal and indirectly characterizes the smoothness of the contact between the cable and the guide wheel. The combination of the two achieves a multi-dimensional characterization of the cable's health status. By calculating the moving median values ​​of the average slope of the rising edge and the waveform energy ratio, the influence of transient interference on the stability of the characteristics is effectively suppressed, ensuring the authenticity of the characteristic trend. The above two moving median values ​​are fused and mapped to a health index in the range of [0,1], realizing the standardized quantification of the health status, which facilitates intuitive judgment of the cable's health level. In summary, this step constructs a complete mapping relationship from the original tension signal to the quantitative indicators of health status, which can accurately reflect the cumulative damage and performance degradation trend of the cable.

[0011] Optionally, the step of determining the abnormal risk level based on the tension waveform includes: Calculate the standard deviation of the tension fluctuation of the cable based on the tension waveform; Based on the environmental factors and the geometric risk level, retrieve the matching historical tension baseline from the historical environment-tension response database; The historical tension baseline is corrected based on the current health index; The standard deviation of the tension fluctuation is compared with the corrected historical tension baseline, and the level of abnormal risk is determined based on the comparison results.

[0012] By employing the above technical solution, the stability of cable stress is quantified by calculating the standard deviation of tension fluctuations, transforming the original tension waveform into a statistical feature directly usable for risk assessment. This avoids the missed or false detections caused by relying on a single threshold in traditional methods, providing an objective indicator of fluctuation degree for anomaly identification. Combining environmental factors and geometric risk levels, a matching historical tension baseline is retrieved from the historical environment-tension response database, enabling the baseline value to dynamically adapt to the current working environment and cable arrangement, solving the problem of insufficient adaptability of fixed baselines under complex working conditions. The historical tension baseline is corrected using the current health index, incorporating cable performance degradation factors into the baseline adjustment to ensure that the baseline value matches the actual load-bearing capacity of the cable. The anomaly risk level is determined by comparing the standard deviation of tension fluctuations with the corrected baseline, achieving quantitative grading of the anomaly degree. In summary, this step constructs a three-layer anomaly identification logic of real-time fluctuation characteristics, dynamic environmental baseline, and health status correction, considering the comprehensive impact of external interference, geometric arrangement, and the cable's own state on the tension signal, improving the accuracy of anomaly risk level determination and reducing the probability of false alarms and missed alarms.

[0013] Optionally, the specific steps for generating anti-entanglement instructions based on the environmental risk level, geometric risk level, health risk level, and abnormal risk level include: First, investigate the abnormal risks: if the abnormal risk is indicated as high and the collected cable exit angle is abnormal, it is determined to be a suspected snagging, and the tension release procedure is initiated. Secondly, after the abnormal risk investigation is passed, anti-entanglement treatment is carried out: if the geometric risk is medium or high, the environmental risk is medium or high, and the health risk is medium or high, then standard fine-tuning is performed, which includes setting the cable laying speed to the base speed; if the geometric risk is medium or high, the environmental risk is medium or high, and the health risk is low, then conservative fine-tuning is performed, which means that the cable laying speed is set to the base speed × (1 - deceleration coefficient), the reversing action is triggered in advance, and the cable winding speed of the guide winch is reduced before and after the reversing action.

[0014] By adopting the above technical solution, abnormal risk screening is used as a preliminary step. For combinations of high abnormal risk and abnormal rope exit angle, a suspected snag is directly identified, and a tension release procedure is initiated. This establishes a rapid response channel for sudden major risks, preventing equipment damage and operational interruptions. After the abnormal risk screening is passed, differentiated anti-entanglement strategies are formulated based on a multi-dimensional combination of geometric, environmental, and health risks. When all three risks are at a medium-to-high level, standard fine-tuning is performed, optimizing basic parameters to suppress entanglement trends while ensuring operational efficiency. When geometric and environmental risks are at a medium-to-high level but health risks are low, conservative fine-tuning is performed, strengthening the anti-entanglement effect through speed control and timing adjustments. The entire decision-making process binds risk level with control intensity, forming a closed-loop mechanism of prioritizing major risks and responding to routine risks in a tiered manner. This ensures safety in high-risk scenarios while also considering operational efficiency in low-risk scenarios. In summary, this step unifies risk identification, decision-making logic, and execution actions, improving the reliability of the cable winch's anti-entanglement mechanism, reducing the incidence of entanglement accidents, and extending cable lifespan.

[0015] Optionally, the steps prior to investigating the aforementioned abnormal risks include: Determine whether the instantaneous tension value exceeds the maximum upper limit for M seconds; If so, execute the emergency stop procedure and output an alarm message.

[0016] By adopting the above technical solution, this step, as a preliminary step in abnormal risk investigation, forms a hierarchical safety protection system with the subsequent bottoming judgment and multi-risk fusion control. This improves the system's early warning sensitivity and timely response to sudden dangers, effectively protects the safety of the core components of the cable winch and the cable, and reduces the probability of major safety accidents.

[0017] Optionally, the steps following the generation of the anti-tangling command include: The rate of change of cable arrangement status and environmental response characteristics within a preset time window after the anti-tangling command is executed are monitored. The rate of change of cable arrangement status indicates whether the reduction speed of the remaining available width slows down or reverses, and the environmental response characteristics indicate whether the interference of environmental factors on cable dynamics is effectively suppressed. Calculate the instruction execution effect index based on the change rate of the arrangement state and the environmental response characteristics; If the execution effect index of the instruction is lower than a preset threshold, the generation strategy parameters of subsequent anti-entanglement instructions are dynamically adjusted. The strategy parameters include at least one of the following: deceleration coefficient magnitude, reversal trigger advance threshold, and health risk level weight.

[0018] By adopting the above technical solution, and monitoring the rate of change in cable arrangement status and environmental response characteristics within a preset time window, a multi-dimensional quantitative evaluation of the actual effect of anti-entanglement commands is achieved, overcoming the limitation of traditional open-loop control where the command ends immediately upon issuance. Based on the rate of change in arrangement status and environmental response characteristics, a command execution effect index is calculated, transforming the abstract control effect into a comparable numerical indicator, facilitating comparison with preset thresholds to determine the applicability of the current strategy. When the effect index falls below the threshold, strategy parameters such as the deceleration coefficient amplitude, the reversal trigger advance threshold, and the health risk level weight are dynamically adjusted, enabling subsequent anti-entanglement commands to be optimized in a targeted manner. In summary, this step constructs a complete closed loop of command generation, effect monitoring, and parameter optimization, allowing the anti-entanglement system to adaptively adjust its decision logic according to changes in cable status, environmental conditions, and operational stages, improving anti-entanglement stability during long-term operations and further reducing the incidence of entanglement accidents.

[0019] Secondly, this application provides a cable entanglement prediction and anti-entanglement control system for a cable winch, employing the following technical solution: A cable entanglement prediction and anti-entanglement control system for a cable guide winch includes: The data acquisition module is used to acquire cable data and environmental data; The data processing module is used to calculate the remaining available width of the cable in the current layer based on the cable data, determine the entanglement conclusion based on the distance of the remaining available width of the current layer from the end of the layer, and map the entanglement conclusion to a geometric risk level; and to calculate environmental factors based on the environmental data and map the environmental factors to an environmental risk level. The instruction processing module is used to generate anti-entanglement instructions based on the environmental risk level and the geometric risk level.

[0020] Thirdly, this application provides a computer device that adopts the following technical solution: A computer device includes a memory, a processor, and a computer program stored in the memory, the processor executing the computer program to implement the cable entanglement prediction and anti-entanglement control method for a cable winch as described in the first aspect.

[0021] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium storing a computer program capable of being loaded by a processor and executing the cable entanglement prediction and anti-entanglement control method for a cable winch as described in the first aspect. Attached Figure Description

[0022] Figure 1 This is a first flowchart of an embodiment of the method of this application; Figure 2This is a second flowchart of an embodiment of the method of this application; Figure 3 This is a third flowchart of an embodiment of the method of this application; Figure 4 This is the fourth flowchart of an embodiment of the method of this application; Figure 5 This is the fifth flowchart of an embodiment of the method of this application; Figure 6 This is the sixth flowchart of an embodiment of the method of this application. Detailed Implementation

[0023] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1-6 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0024] The first embodiment of this application discloses a method for predicting and preventing cable entanglement in a cable winch. (Refer to...) Figure 1 The method includes S110-S150: S110, acquire cable data and environmental data; S120, calculate the remaining available width of the cable in the current layer based on the cable data; S130, determine the winding conclusion based on the distance from the end of the current layer to the remaining available width of the current layer, and map the winding conclusion to the geometric risk level; S140, calculate environmental factors based on environmental data and map environmental factors to environmental risk levels; S150 generates anti-entanglement instructions based on environmental risk level and geometric risk level.

[0025] Specifically, in step S110, the cable data includes the real-time position of the guide wheel, the net width between the flanges on both sides of the drum, the number of cables that can be laid in each layer, the number of cables currently laid, and the position of the cables in the current cycle; the environmental data includes the main frequency and amplitude of the ship's motion, the speed and direction of the ocean current, and the wind speed.

[0026] For cable data, the real-time position of the guide wheel can be continuously sampled using a rotary encoder or laser rangefinder mounted on the cable guiding mechanism, with a sampling frequency of no less than 10Hz. The net width between the flanges on both sides of the drum is a fixed parameter, which can be calibrated at the factory and stored in the system configuration library. The number of cables that can be laid in each layer is determined by the drum diameter, lead angle, and nominal cable diameter. This can be pre-calculated using geometric modeling, such as using a helical arrangement model. For example, if the effective drum length is L=2.5m and the nominal cable diameter is d=40mm, the theoretical number of cables that can be accommodated in a single layer is estimated to be L / d=62.5, rounded to 62. The current number of laid cables can be dynamically updated by dividing the cumulative guide wheel displacement by the nominal cable diameter. The relative position of the cable in the current cycle can be calculated by using the real-time position of the guide wheel modulo the nominal cable diameter. This value reflects the specific phase of the cable's lateral arrangement within the layer and is used to determine whether it is approaching the reversing point, i.e., the end of the layer.

[0027] For environmental data, the dominant oscillation frequency and its peak acceleration can be extracted using the ship's onboard inertial measurement unit (IMU) combined with Fast Fourier Transform (FFT). The dominant oscillation frequency, such as the roll frequency, is typically between 0.1 Hz and 0.3 Hz. Wind speed and direction can be collected using an ultrasonic anemometer on the meteorological mast, while ocean current speed and direction can be collected using an ADCP (Acoustic Doppler Current Profiler) or a port-based data access interface.

[0028] Cable data and environmental data are aggregated to the central processing unit via industrial Ethernet or CAN bus and timestamped to ensure data consistency for subsequent analysis.

[0029] In step S120, assuming the net width of the drum is W and the maximum number of cables per layer is Nmax, then the unit cable spacing... x≈W / Nmax. If the current number of cables deployed is Nc, then the occupied width is Nc× x, therefore the remaining permissible width R = W - Nc × x. However, in practice, a safety distance needs to be reserved at the edge, such as 1.5 times the cable diameter at each end, to prevent the cable from slipping out of the slot. Therefore, the remaining width after correction is R'=W-2×1.5d-(Nc-1)× The reason for subtracting 1 from x is that the first root does not occupy the spacing.

[0030] For example, when W=2500mm, d=40mm, N_max=62, N_current=50. x≈40.32mm, R'≈2500-120-(49×40.32)=2500-120-1975.68≈404.32mm.

[0031] In step S130, the distance from the end of the layer is the calculated R' value mentioned above. Set three-level thresholds: when R' > 300 mm, it is regarded as low risk, indicating that there is still sufficient space; 100 mm < R' ≤ 300 mm is medium risk, indicating that it is about to enter the commutation critical area; R' ≤ 100 mm is high risk, indicating that commutation operation must be prepared. The corresponding winding conclusions generated are: no winding risk, potential partial wear risk, and interlayer transition risk. The mapping process can use the look-up table method or fuzzy logic reasoning. For example, introduce a membership function to perform triangular or trapezoidal fuzzification on R', and then output the risk level through the rule base. For example, use a Mamdani-type fuzzy controller. Define the input variable as the remaining available width of the current layer, which is divided into three linguistic values: [large, medium, small], and the output geometric risk level is divided into [low, medium, high]. For example, if the remaining available width of the current layer is small, the geometric risk level is high, and finally, defuzzification is performed to obtain the specific level number.

[0032] In step S140, the environmental factor can be obtained according to the constructed weighted comprehensive index formula. The weighted comprehensive index formula is E = w1×A + w2×Vw + w3×Vc; where A is the amplitude of the ship's rolling acceleration (unit: m / s²), Vw is the wind speed (m / s), Vc is the sea current speed (m / s), and the weights w1 to w3 can be determined by statistical regression of historical accidents. For example, set w1 = 0.4, w2 = 0.3, w3 = 0.3. In addition, the direction influence can be corrected by projection: when the included angle between the sea current direction and the cable payout direction > 90°, an enhancement coefficient g is introduced, that is, Vceff = g×Vc. After normalizing the environmental factor E to the [0, 1] interval, the risk level is divided: E < 0.3 is low, 0.3 ≤ E < 0.6 is medium, and E ≥ 0.6 is high. In addition, a dynamic compensation mechanism can be further introduced. For example, through finite element simulation, it is predicted that the transverse vibration fundamental frequency of a certain type of cable is about 2.5 Hz, which is close to the ship's main frequency, then the weight w1 can be automatically increased to reflect the dynamic amplification effect.

[0033] Refer to Figure 2 , S150. According to the environmental risk level and geometric risk level, the specific steps for generating the anti-winding instruction include S210 - S240: S210, collect the tension waveforms of each marked point of the cable passing through the fairlead within N seconds; S220, output the current health index according to the tension waveform; S230, map the current health index to the health risk level, and determine the abnormal risk level according to the tension waveform; S240, generate an anti-winding instruction according to the environmental risk level, geometric risk level, health risk level, and abnormal risk level.

[0034] Specifically, marker points refer to characteristic locations equidistantly arranged along the cable axis, such as a virtual detection point every 5 meters. No physical markings are needed; instead, an encoder tracks the cable's running length. Each time the cable moves one unit pitch (nominal diameter), a tension data acquisition window is triggered. The tension sensor is mounted on the guide wheel bracket or tensioning device, with a sampling rate ≥100Hz and an acquisition duration N set to 10-30 seconds to cover multiple ship oscillation cycles. After each trigger, the tension sequence {T(t)} within the following N seconds is recorded, forming a set of waveform data. To reduce noise interference, the raw signal is first processed by a second-order Butterworth low-pass filter with a cutoff frequency of 10Hz. For example, when the cable speed is 0.5m / s and d=40mm, acquisition is triggered every 80ms. The system continuously monitors and caches the most recent M sets (e.g., 20 sets) of valid waveforms for subsequent analysis.

[0035] Reference Figure 3 S220, the specific steps for outputting the current health index based on the tension waveform include S310-S330: S310, extract health features from each tension waveform, including the average slope of the rising edge and the waveform energy ratio; S320, calculate the moving median of the average slope along the rise of the cable and the moving median of the waveform energy ratio; S330, integrates the moving median of the average slope of the rising edge and the moving median of the waveform energy ratio to output the current health index, which is in the range of [0,1].

[0036] Specifically, health characteristics are extracted from each tension waveform. These characteristics include the average slope of the rising edge and the waveform energy ratio matching the ship's main frequency. The average slope of the rising edge reflects the agility of the cable's force response. Under normal conditions, the tension rises rapidly with the release and retraction actions; aging or wear can lead to a sluggish response. This is achieved by setting a rate-of-change threshold dt / dt> ,like =0.8N / ms, identify each significant rise in the tension waveform, calculate its linear fitting slope, and take the average of the slopes of all rising segments as the average rise slope (Savg) of the waveform. The waveform energy ratio is used to measure the degree of influence of external excitation on the cable. First, perform a short-time Fourier transform (STFT) on the tension waveform to obtain the spectral distribution; extract the energy (Esignal) within the frequency band corresponding to the dominant frequency (fship), such as ±0.05Hz, and then calculate the total energy (Etotal) across the entire frequency band. The energy ratio is then calculated. =Esignal / Etotal. If... If the value is higher than 0.6, it indicates that the cable tension is mainly driven by the ship's swaying, posing a potential resonance risk; if... If the value is low but the overall fluctuation is severe, it may be due to a nonlinear response caused by local damage.

[0037] Then, the moving median values ​​of the two health characteristics are calculated to effectively suppress misjudgments caused by transient disturbances. For example, if a sudden shock causes Savg to drop by 50% in a certain period, it will only cause a small fluctuation in the moving median value, thus ensuring the stability of the health trend judgment.

[0038] Set the sliding window size K=10 to cover the last 10 acquisition cycles, calculate the median of the Savg sequence over the past K cycles, and obtain the median value of the rising edge average slope shift, MS; similarly, for... The median of the sequence is calculated to obtain the shifted median value ME of the waveform energy ratio.

[0039] The MS and ME outputs the current health index HDI∈[0,1]. The health index reflects the deterioration trend of the overall mechanical performance of the cable. The fusion strategy can adopt a normalized weighted method or a machine learning model. For example, using logistic regression: HDI= ,in , These are the feature values ​​after Z-score or Min-Max normalization. , , To train the coefficients, for example, by labeling healthy / degraded samples using historical maintenance records, the parameters are fitted using maximum likelihood estimation. HDI > 0.8 is defined as healthy, 0.5–0.8 as mild degradation, and < 0.5 as severe degradation. HDI is mapped to health risk levels; the mapping relationship can be designed as a step function or continuous membership output. For example, it can be defined as: HDI ≥ 0.8 indicating low health risk; 0.6 ≤ HDI < 0.8 indicating medium health risk; and HDI < 0.6 indicating high health risk.

[0040] Reference Figure 4 The steps for determining the abnormal risk level based on the tension waveform include S410-S440: S410, Calculate the standard deviation of cable tension fluctuation based on the tension waveform; S420 retrieves a matching historical tension baseline from the historical environment-tension response database based on environmental factors and geometric risk levels; S430, adjusts the historical tension baseline based on the current health index; S440 compares the standard deviation of tension fluctuations with the corrected historical tension baseline, and determines the level of abnormal risk based on the comparison results.

[0041] Specifically, the standard deviation of the latest acquired tension waveform {T(t)} is calculated in the time domain: = This indicator reflects tension stability. Abnormal friction, obstructions, or structural loosening can all cause this. rise.

[0042] Historical tension baselines matching environmental factors and geometric risk levels are retrieved from a historical environment-tension response database. This database pre-accumulates a large amount of tension response data under various operating conditions; each record includes environmental factor E, geometric risk level G, health risk level H, and the corresponding typical tension fluctuation level, such as... During the query, using the current E, G, and H as keys, the KNN (K-Nearest Neighbors) algorithm is used to retrieve the 5 most similar historical records, and these are then selected. The median was used as the initial tension baseline. If there are not enough matches, a default baseline, such as the baseline value under unloaded calm sea conditions, will be used. Furthermore, the database supports incremental learning; each new data point is automatically added to the database after verification, enabling knowledge self-evolution.

[0043] Considering that cable degradation alters its dynamic characteristics, the baseline expectation needs to be adjusted, i.e., the historical tension baseline needs to be corrected based on the current health index. Let the correction formula be: = ×f(HDI); Where f(HDI) is the decay function, such as f(HDI) = 1.2 - 0.4 × HDI. When HDI = 1, f = 0.8; when HDI = 0.5, f = 1.0; and when HDI = 0, f = 1.2. This reflects that the worse the health, the greater the tension fluctuation under the same environment. This correction makes the baseline adaptable to the individual.

[0044] Then the actual measurement Compared with the corrected baseline Compare and determine the level of abnormal risk. Set a deviation rate. =| | / For example, if If the percentage is less than 15%, it is considered normal; if it is less than or equal to 15%, it is considered normal If <40%, it is judged as a medium abnormal risk; if If the risk level is ≥40%, it is determined to be a high level of abnormal risk. After the abnormal risk level is output, the emergency judgment process will begin.

[0045] Reference Figure 5 S240, based on the environmental risk level, geometric risk level, health risk level, and abnormal risk level, the specific steps for generating anti-entanglement instructions include S510-S540: S510, determine whether the instantaneous tension value exceeds the maximum upper limit value for M seconds; If S520 is the case, then execute the emergency stop procedure and output an alarm message; S530, if not, then investigate the abnormal risk: if the abnormal risk is indicated as high and the collected cable exit angle is abnormal, then it is determined to be suspected of being snagged, and the tension release procedure is initiated. S540, after the abnormal risk investigation is passed, anti-entanglement treatment is performed: if the geometric risk is medium or high, the environmental risk is medium or high, and the health risk is medium or high, then standard fine-tuning is performed, which includes setting the cable laying speed to the base speed; if the geometric risk is medium or high, the environmental risk is medium or high, and the health risk is low, then conservative fine-tuning is performed, which means that the cable laying speed is set to the base speed × (1 - deceleration coefficient), the reversing action is triggered in advance, and the cable winding speed of the guide winch is reduced before and after the reversing action.

[0046] Specifically, after entering the emergency judgment process, the first step is to determine whether the instantaneous tension value exceeds the maximum upper limit for M seconds. The maximum upper limit can be set to 70% of the rated breaking force or the design allowable tensile force. The specific detection logic is as follows: iterate through the current tension waveform and count the duration (tover) that is continuously higher than the threshold. If torrent ≥ M (e.g., 3 to 5 seconds), then instantaneous impact interference is excluded, and it is confirmed as a continuous overload. In this case, the emergency stop procedure is executed: the winch motor power is cut off, the hydraulic brake is activated, and simultaneously, an over-tension shutdown alarm is sent to the remote monitoring platform via an audible and visual alarm. The event time, location, environmental parameters, and preceding waveform segments are recorded for later traceability.

[0047] If no emergency stop is triggered, proceed to an anomaly risk assessment. Two key scenarios are identified: a high anomaly risk and an abnormal cable exit angle. The cable exit angle is measured by an angle sensor installed at the guide wheel outlet or obtained by extracting the cable's direction vector using a visual recognition system; the normal range for the cable exit angle is typically within ±5° of the vertical deviation. If both scenarios are met, it is determined to be a suspected snag, meaning the cable end has touched a seabed obstacle, causing a significant increase in resistance but without breaking. In this case, initiate the tension release procedure: first, briefly release the cable (e.g., slack off 5-10 meters), reducing the tension to below 30% of the rated value, maintain this for 10 seconds, and simulate a shaking motion to release the slack; then slowly retrieve the cable and observe whether the tension returns to its normal fluctuation pattern.

[0048] After the abnormal risk assessment is passed, anti-entanglement measures are implemented, and the fine-tuning strategy is determined based on the combination of geometric, environmental, and health risk levels. If all three are medium or high, standard fine-tuning is performed: the cable laying speed is maintained at the baseline value v0, such as 0.6 m / s, but the reversing action is triggered in advance: for example, when the remaining layable width R' drops to 120 mm, reverse cable laying is initiated, leaving buffer space. If the geometric and environmental risks are medium / high but the health risk is low, conservative fine-tuning is performed: the cable laying speed is actively reduced to v0×(1-k), where k is the deceleration coefficient, such as k=0.2~0.3, i.e., a speed reduction of 20%~30%; the reversing trigger advance is further increased to R'=150 mm; the cable take-up speed before and after the reversing is reduced to v0×z, such as z set to 0.5, and the duration of the uniform speed transition section is extended.

[0049] Reference Figure 6 The steps following the generation of the anti-tangle instruction include S610-S630: S610 monitors the rate of change of cable arrangement status and environmental response characteristics within a preset time window after the anti-tangling command is executed. The rate of change of cable arrangement status indicates whether the reduction speed of the remaining available width slows down or reverses, and the environmental response characteristics indicate whether the interference of environmental factors on the cable dynamics is effectively suppressed. S620 calculates the instruction execution effect index based on the arrangement state change rate and environmental response characteristics; S630 If the instruction execution effect index is lower than the preset threshold, the generation strategy parameters of subsequent anti-entanglement instructions are dynamically adjusted. The strategy parameters include at least one of the following: deceleration coefficient magnitude, reversal trigger advance threshold, and health risk level weight.

[0050] Specifically, after generating the anti-tangling command, the rate of change in the cable arrangement status and the environmental response characteristics are monitored within a preset time window, such as 60 seconds, after the command is executed. The rate of change in the cable arrangement status is defined as the rate of change of the remaining layable width over time, dr / dt. Under normal circumstances, the cable arrangement is uniformly advanced, and dr / dt is a negative constant. If the anti-tangling is effective and the reversal preparation is sufficient, the absolute value of dr / dt should slow down or even show a sign reversal due to reverse arrangement. The environmental response characteristics are quantified by comparing the ratio of the standard deviation of tension fluctuation before and after the command. / If the threshold is 0.8, it indicates that the disturbance has been effectively suppressed.

[0051] Then calculate the instruction execution effectiveness index IEE, using the empirical formula: IEE = (1 )+ (1 ),in This represents the actual change in width. For ideal change, and These represent the tension fluctuation levels before and after the instruction. + =1. IEE∈[0,1], the higher the IEE, the more successful the regulation.

[0052] Then, it is determined whether the IEE is lower than the preset threshold, such as 0.6. If so, the dynamic adjustment mechanism of strategy parameters is activated: if the layout deteriorates due to commutation lag, the commutation trigger advance threshold is increased, such as from 120mm to 140mm; if the deceleration is insufficient, the magnitude of the deceleration coefficient k is increased, such as from 0.2 to 0.25; if the health fluctuation has a significant impact, the weight ratio of the health risk level in the comprehensive decision-making is increased.

[0053] Based on the above method embodiments, the second embodiment of this application discloses a cable entanglement prediction and anti-entanglement control system for a cable guide winch. The cable entanglement prediction and anti-entanglement control system of this application embodiment can implement any of the above-mentioned methods for cable entanglement prediction and anti-entanglement control of cable guide winches, and the specific working process of each module in the cable entanglement prediction and anti-entanglement control system can be referred to the corresponding process in the above method embodiments.

[0054] For ease of understanding, an example is as follows: A cable entanglement prediction and anti-entanglement control system for a cable winch includes: The data acquisition module is used to acquire cable data and environmental data; The data processing module is used to calculate the remaining available width of the cable in the current layer based on the cable data, determine the entanglement conclusion based on the distance of the remaining available width of the current layer from the end of the layer, and map the entanglement conclusion to the geometric risk level; and to calculate the environmental factors based on the environmental data and map the environmental factors to the environmental risk level. The instruction processing module is used to generate anti-entanglement instructions based on the environmental risk level and geometric risk level.

[0055] The third embodiment of this application provides a computer device, which may include a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement a method for predicting and preventing cable entanglement in a cable winch.

[0056] The memory can communicate with the processor via a communication bus, which can be an address bus, a data bus, a control bus, etc.

[0057] Additionally, the memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device.

[0058] Furthermore, the processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0059] The fourth embodiment of this application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a method for predicting and preventing cable entanglement of a cable winch.

[0060] The computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device; the program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0061] It should be noted that the computer device and storage medium in the embodiments of this application are respectively electronic devices and storage media that apply the above-described cable entanglement prediction and anti-entanglement control method of the cable guide winch. That is, all embodiments of the above-described cable entanglement prediction and anti-entanglement control method of the cable guide winch are applicable to the computer device and storage medium, and can achieve the same or similar beneficial effects. As for the computer device / storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and relevant parts can be referred to in the description of the method embodiments.

[0062] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce a good effect.

[0063] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for predicting and preventing cable entanglement in a cable winch, characterized in that, include: Acquire cable data and environmental data; Calculate the remaining available cable width for the current layer based on the cable data; The entanglement conclusion is determined based on the distance from the end of the current layer to the remaining available width of the current layer, and the entanglement conclusion is mapped to a geometric risk level; Calculate environmental factors based on the environmental data and map the environmental factors to environmental risk levels; Based on the environmental risk level and the geometric risk level, an anti-entanglement instruction is generated.

2. The method for predicting and preventing cable entanglement in a cable winch according to claim 1, characterized in that, The specific steps for generating anti-entanglement instructions based on the environmental risk level and the geometric risk level include: Collect the tension waveform of each marked point on the cable as it passes the guide wheel within N seconds; Output the current health index based on the described tension waveform; The current health index is mapped to a health risk level, and the abnormal risk level is determined based on the tension waveform; An anti-entanglement command is generated based on the environmental risk level, the geometric risk level, the health risk level, and the abnormal risk level.

3. A cable twisting prediction and anti-twist control method of a cable roller according to claim 2, characterized in that, The specific steps for outputting the current health index based on the tension waveform include: Health features are extracted from each of the tension waveforms, including the average rise edge slope and waveform energy ratio; Calculate the moving median of the average slope along the rise of the cable and the moving median of the waveform energy ratio; The current health index is output by combining the moving median of the average slope of the rising edge and the moving median of the waveform energy ratio, and the current health index belongs to the range [0,1].

4. The cable twisting prediction and anti-twist control method of a cable roller according to claim 2, wherein The steps for determining the abnormal risk level based on the tension waveform include: Calculate the standard deviation of the tension fluctuation of the cable based on the tension waveform; Based on the environmental factors and the geometric risk level, retrieve the matching historical tension baseline from the historical environment-tension response database; The historical tension baseline is corrected based on the current health index; The standard deviation of the tension fluctuation is compared with the corrected historical tension baseline, and the level of abnormal risk is determined based on the comparison results.

5. The cable twisting prediction and anti-twist control method of a cable roller according to claim 2, wherein, Based on the environmental risk level, geometric risk level, health risk level, and abnormal risk level, the specific steps for generating anti-entanglement instructions include: First, investigate the abnormal risks: if the abnormal risk is indicated as high and the collected cable exit angle is abnormal, it is determined to be a suspected snagging, and the tension release procedure is initiated. Secondly, after the abnormal risk investigation is passed, anti-entanglement treatment is carried out: if the geometric risk is medium or high, the environmental risk is medium or high, and the health risk is medium or high, then standard fine-tuning is performed, which includes setting the cable laying speed to the base speed; if the geometric risk is medium or high, the environmental risk is medium or high, and the health risk is low, then conservative fine-tuning is performed, which means that the cable laying speed is set to the base speed × (1 - deceleration coefficient), the reversing action is triggered in advance, and the cable winding speed of the guide winch is reduced before and after the reversing action.

6. A cable twisting prediction and anti-twist control method of a cable roller according to claim 5, wherein The steps prior to investigating the aforementioned abnormal risks include: Determine whether the instantaneous tension value exceeds the maximum upper limit for M seconds; If so, execute the emergency stop procedure and output an alarm message.

7. The cable twisting prediction and anti-twist control method of a cable roller according to claim 5, wherein The steps following the generation of the anti-tangling command include: The rate of change of cable arrangement status and environmental response characteristics within a preset time window after the anti-tangling command is executed are monitored. The rate of change of cable arrangement status indicates whether the reduction speed of the remaining available width slows down or reverses, and the environmental response characteristics indicate whether the interference of environmental factors on cable dynamics is effectively suppressed. Calculate the instruction execution effect index based on the change rate of the arrangement state and the environmental response characteristics; If the execution effect index of the instruction is lower than a preset threshold, the generation strategy parameters of subsequent anti-entanglement instructions are dynamically adjusted. The strategy parameters include at least one of the following: deceleration coefficient magnitude, reversal trigger advance threshold, and health risk level weight.

8. A cable wrapping prediction and anti-wrap control system for a cable winch, characterized by, The cable entanglement prediction and anti-entanglement control method for the cable winch as described in any one of claims 1 to 7 includes: The data acquisition module is used to acquire cable data and environmental data; The data processing module is used to calculate the remaining available width of the cable in the current layer based on the cable data, determine the entanglement conclusion based on the distance of the remaining available width of the current layer from the end of the layer, and map the entanglement conclusion to a geometric risk level; and to calculate environmental factors based on the environmental data and map the environmental factors to an environmental risk level. The instruction processing module is used to generate anti-entanglement instructions based on the environmental risk level and the geometric risk level.

9. A computer device, comprising: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the cable entanglement prediction and anti-entanglement control method for the cable winch as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The system contains a computer program that can be loaded by a processor and executed by the cable entanglement prediction and anti-entanglement control method of the cable winch as described in any one of claims 1 to 7.

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