A method, apparatus, equipment and medium for recovering a mobile detector.

Abstract

This invention discloses a method, apparatus, device, and medium for recovering a mobile detector. The method includes: responding to a user's recovery initiation operation, performing a recovery operation on the target detector through a recovery system; acquiring real-time recovery data of the target detector at the current time point, and determining the current recovery stage of the target detector based on the recovery data; determining the target recovery rotation speed of the target detector at the current time point based on the current recovery stage and the recovery data; recovering the target detector according to the target recovery rotation speed, and returning to execute the operation of acquiring real-time recovery data of the target detector, until the target detector is recovered to a preset endpoint position. Through the technical solution of this invention, automated recovery of mobile detectors can be achieved, improving the recovery speed and efficiency of mobile detectors.

Description

Technical Field

[0001] This invention relates to the field of equipment control, and in particular to a method, apparatus, equipment, and medium for recovering a mobile detector. Background Technology

[0002] The underway temperature, salinity, and depth (TDT) system is an important technical means for real-time monitoring of the marine environment, driven by the urgent need for high spatiotemporal resolution oceanographic profile data. Traditional shipborne TDT systems require the vessel to be completely stationary, are time-consuming, have sparse spatial coverage, and are inefficient. In contrast, ocean dynamic processes are characterized by small scale and rapid changes. Underway TDT systems can quickly and continuously acquire seawater temperature, salinity, and depth profiles from the sea surface to a certain depth while the vessel is in normal navigation, significantly improving the efficiency and data density of marine surveys.

[0003] During the deployment and retrieval of a mobile CTD (Conductivity, Temperature, and Depth) instrument, the release phase involves free fall with minimal horizontal position deviation and high data quality. However, the retrieval process is time-consuming, involves significant horizontal position deviation, and results in low data quality. Typically, the retrieval of a mobile CTD relies on a winch drum pulling the cable attached to the instrument at a fixed rotation speed. While simple and effective, this method fails to utilize the full potential of the winch, exhibiting the following technical drawbacks: First, it lacks precise stage division of the retrieval process, making it impossible to implement differentiated control strategies based on varying water depths and cable conditions. Second, the absence of a multi-parameter collaborative safety constraint mechanism limits the retrieval speed to a single safety threshold, hindering the full utilization of the system's power performance. Third, the rotation speed control method is relatively crude, failing to incorporate real-time feedback from cable tension and power system temperature for dynamic adjustment, which can easily lead to equipment overload or excessively long retrieval cycles.

[0004] In summary, existing methods for recovering mobile detectors suffer from low recovery speed and efficiency. Summary of the Invention

[0005] This invention provides a method, apparatus, equipment, and medium for recovering mobile detectors, which can solve the problem that existing mobile detector recovery methods have low recovery speed and efficiency.

[0006] In a first aspect, embodiments of the present invention provide a method for recovering a mobile detector, the method comprising:

[0007] In response to the user's recycling initiation operation, the target detector is recycled through the recycling system;

[0008] The system acquires the target detector's recovery data at the current time point in real time and determines the current recovery stage of the target detector based on the recovery data. The recovery data includes: the target detector's recovery cable speed, recovery cable length, cable tension, current recovery rotation speed, recovery temperature, and detector depth.

[0009] Determine the target recovery rotation speed of the target detector at the current time point based on the current recovery stage and the recovery data;

[0010] The target detector is recovered according to the target recovery rotation speed, and the operation of real-time acquisition of the recovery data of the target detector is performed until the target detector is recovered to the preset endpoint position.

[0011] Secondly, embodiments of the present invention provide a recovery device for a mobile detector, the device comprising:

[0012] The operation start module is used to respond to the user's recycling start operation and to recycle the target detector through the recycling system;

[0013] The data acquisition module is used to acquire the target detector's recovery data at the current time point in real time, and determine the current recovery stage of the target detector based on the recovery data. The recovery data includes: the target detector's recovery cable speed, recovery cable length, cable tension, current recovery rotation speed, recovery temperature, and detector depth.

[0014] The rotation speed determination module is used to determine the target recovery rotation speed of the target detector at the current time point based on the current recovery stage and the recovery data.

[0015] The return execution module is used to recover the target detector according to the target recovery rotation speed, and return to execute the operation of acquiring the recovery data of the target detector in real time until the target detector is recovered to the preset endpoint position.

[0016] Thirdly, embodiments of the present invention provide an electronic device, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform a method for recovering a mobile detector as described in any embodiment of the present invention.

[0020] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute and implement a method for recovering a mobile detector as described in any embodiment of the present invention.

[0021] The technical solution of this invention first responds to the user's recovery start operation, then performs a recovery operation on the target detector through the recovery system, then acquires the recovery data of the target detector at the current time point in real time, and determines the current recovery stage of the target detector based on the recovery data, then determines the target recovery rotation speed of the target detector at the current time point based on the current recovery stage and the recovery data, and finally recovers the target detector according to the target recovery rotation speed, and returns to the operation of acquiring the recovery data of the target detector in real time until the target detector is recovered to the preset endpoint position. This solves the problem of low recovery speed and efficiency of existing mobile detector recovery methods, realizes automated recovery of mobile detectors, and improves the recovery speed and efficiency of mobile detectors.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a method for recovering a mobile detector according to Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart of a method for recovering a mobile detector according to Embodiment 2 of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of a recovery device for a mobile detector according to Embodiment 3 of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of an electronic device for implementing a method for recovering a mobile detector according to an embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, any variations of the terms "comprising" and "having" are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1 This is a flowchart of a method for recovering a mobile detector according to Embodiment 1 of the present invention. This embodiment is applicable to the recovery of mobile detectors. The method can be executed by a mobile detector recovery device, which can be implemented in hardware and / or software. The mobile detector recovery device can be configured in a terminal or server with mobile detector recovery function.

[0032] like Figure 1 As shown, the method includes:

[0033] S110, In response to the user's recycling start operation, the target detector is recycled through the recycling system.

[0034] The recovery start operation refers to the command input action triggered by the user to start the recovery process of the mobile detector; the recovery operation refers to the general term for the mechanical actions and control processes executed by the recovery system after receiving the recovery start command to recover the target detector.

[0035] In this embodiment, the target detector is specifically a mobile detector, which is an underwater observation device capable of continuously measuring marine environmental parameters while the ship is in normal navigation.

[0036] S120. Acquire the target detector's recovery data at the current time point in real time, and determine the current recovery stage of the target detector based on the recovery data.

[0037] The recovery data includes: the recovery cable speed, recovery cable length, cable tension, current recovery speed, recovery temperature, and detector depth of the target detector.

[0038] Furthermore, the recovery cable speed refers to the real-time linear velocity of the recovery cable during the retrieval and deployment process, which can be obtained by a cable speed sensor; the recovery cable length refers to the total amount of cable released by the recovery drum, which can be calculated by a recovery drum speed sensor in conjunction with the drum circumference; the cable tension refers to the tensile force borne by the recovery cable, which can be monitored in real time by a cable tension sensor; the current recovery speed refers to the real-time rotational angular velocity of the recovery drum; the recovery temperature refers to the operating temperature of the recovery system, which can be collected by a power system temperature sensor to prevent overheating damage to the equipment; and the detector depth refers to the current water depth position of the target detector, which can be calculated by the deck unit of the measurement system based on pressure data.

[0039] Specifically, determining the current retrieval stage of the target detector based on the retrieved data includes: determining whether the length of the retrieval cable in the retrieved data is greater than a preset first cable length threshold; if it is greater than the first cable length threshold, then determining that the current retrieval stage is the start-up stage; if it is not greater than the first cable length threshold, then determining whether the length of the retrieval cable is less than a preset second cable length threshold; wherein, the second cable length threshold is less than the first cable length threshold; if it is less than the second cable length threshold, then determining that the current retrieval stage is the end-retrieval stage; if it is not less than the second cable length threshold, then obtaining the detector depth h and the retrieval cable length L at the current time point t, and obtaining the adjacent time point t. ‘ adjacent detector depth h ‘ Length L of adjacent recovery cable ‘ The adjacent time point is the previous sampling time that is one control cycle away from the current time point, and the control cycle is the data acquisition interval between two consecutive data acquisition operations of the recovery system; based on the formula: M=[(hh ‘ ) / (LL ‘ )] / (tt ‘The current stage influence factor of the target detector is calculated, where M represents the current stage influence factor; a preset third cable length threshold is obtained; if the current stage influence factor is less than the negative value of the third cable length threshold, the current recovery stage is determined to be an acceleration ascent stage; wherein, the third cable length threshold is less than the second cable length threshold; if the current stage influence factor is greater than the third cable length threshold, the current recovery stage is determined to be a deceleration ascent stage; if the current stage influence factor is greater than or equal to the negative value of the third cable length threshold and less than or equal to the third cable length threshold, the current recovery stage is determined to be a towed recovery stage.

[0040] For example, in an actual implementation scenario of this embodiment, the first cable length threshold is set to 200m, the second cable length threshold is 50m, the third cable length threshold is 0.2, and the control cycle is 100ms. When the length of the retrieved cable is detected to be 250m, since 250m > 200m, it is determined to start the ascent phase; as retrieval proceeds, the cable length shortens to 180m, which is not greater than the first cable length threshold and not less than the second cable length threshold, and the phase impact factor calculation process is entered: the detector depth h = 60m and the retrieved cable length L = 180m at the current time point t are obtained, and the adjacent detector depth h' = 65m and the adjacent retrieved cable length L' = 190m at the adjacent time point t' (100ms ago) are obtained, based on the formula M = [(60-65) / (180-190m)]. )] / (100ms)=(-5 / -10) / 0.1s=0.5 / 0.1s=5s⁻¹, since 5>0.2, it is determined to be the deceleration and ascent phase; continue to retrieve to the cable length of 120m, obtain the current time point detector depth h=42m, retrieval cable length L=120m, adjacent time points h'=45m, L'=125m, calculate M=[(42-45) / (120-125)] / 0.1s=(-3 / -5) / 0.1s=0.6 / 0.1s=6s⁻¹, still satisfying M>0.2, maintain the deceleration and ascent phase control strategy;

[0041] When the cable length is 80m, the current time point is measured with the detector depth h=35m and the cable length L=80m. The adjacent time points are h'=38m and L'=82m. The calculated value is M=15s⁻¹, which still satisfies M>0.2. When the cable length is 50m, the current time point is measured with the detector depth h=20m and the cable length L=50m. The adjacent time points are h'=22m and L'=51m. The calculated value is M=20s⁻¹.

[0042] When the cable length reaches 48m, since 48m < 50m, the recovery phase is directly considered complete, and a fixed low speed is used for recovery to ensure equipment safety. During the above calculations, because the M value was consistently greater than 0.2, and no dragging recovery phase interval (-0.2 ≤ M ≤ 0.2) was observed, it indicates that in this implementation scenario, the cable inclination was significant, and the water flow resistance was continuously substantial. The system remained in a deceleration and ascent phase until entering the final recovery phase.

[0043] S130. Determine the target recovery rotation speed of the target detector based on the current recovery stage and the recovery data.

[0044] The target recovery rotation speed refers to the rotational angular velocity that the recovery system, which drives the recovery cable and lifts the target detector, is expected to achieve in the next control cycle.

[0045] The determination of the target recovery speed of the target detector based on the current recovery stage and the recovery data includes: if the current recovery stage is determined to be the start-up stage, then a pre-set start speed is used as the target recovery speed; if the current recovery stage is determined to be the end of the recovery stage, then a pre-set end speed is used as the target recovery speed.

[0046] In this embodiment, the preset start speed and end speed can be set and adjusted by the user according to the actual implementation scenario. The specific values ​​are not limited in this embodiment.

[0047] In this embodiment, to ensure the safety of the recovery system, after adjusting the current recovery speed in the recovery data based on the target recovery speed change to obtain the target recovery speed, the system further includes: fine-tuning the target recovery speed by adopting a dynamic response speed reduction design based on the overdamped system principle to obtain the final recovery speed.

[0048] Specifically, the target recovery speed, the pre-set deceleration factor, and the cycle completion rate for the current recovery phase are obtained. Based on the preset fine-tuning formula: final recovery speed = target recovery speed / (1 + deceleration factor * cycle completion rate), the final recovery speed matching the current recovery phase is calculated. The deceleration factor is an inherent weighting coefficient characterizing the system's inertial damping properties, ranging from 0.1 to 0.3. The cycle completion rate is the ratio of the executed time within the current control cycle to the total duration of the control cycle, ranging from [0,1], used to quantify the execution progress of control commands within the cycle. A cycle completion rate of 0 indicates the start of the cycle, and 1 indicates the end of the cycle. Both the deceleration factor and the cycle completion rate can be set and adjusted by the user according to the actual implementation scenario.

[0049] Furthermore, the essence of the fine-tuning formula is to introduce a denominator term that is negatively correlated with the completion rate of the cycle, so that the final recovery speed is close to the target recovery speed at the beginning of the cycle and gradually falls below the target recovery speed as the cycle progresses, forming a smooth speed transition curve.

[0050] For example, suppose the target recovery speed is 80 rpm, the deceleration factor is 0.2, and the control cycle is 100 ms. At the beginning of the cycle (cycle completion = 0), the final recovery speed is 80 / (1+0.2×0)=80 rpm; at the midpoint of the cycle (cycle completion = 0.5), the final recovery speed is 80 / (1+0.2×0.5)=72.7 rpm; and at the end of the cycle (cycle completion = 1), the final recovery speed is 80 / (1+0.2×1)=66.7 rpm.

[0051] The reason this fine-tuning mechanism ensures improved accuracy in calculating the recovery speed is that the response characteristics of the overdamped system eliminate the risks of overshoot and oscillation in large-inertia mechanical systems. The introduction of the speed reduction factor disperses instantaneous speed impacts throughout the entire control cycle, and the dynamic feedback of cycle completion enables closed-loop correction of command execution. When the system inertia is large or the load changes abruptly, appropriately increasing the speed reduction factor can prolong the transition time and suppress mechanical vibration; when the system response is slow or efficiency is prioritized, appropriately decreasing the speed reduction factor can shorten the transition time and improve tracking speed. Through the coordinated adjustment of the speed reduction factor and cycle completion, the final recovery speed closely approximates the target recovery speed while also meeting equipment safety constraints, achieving a balance between accuracy and stability.

[0052] S140. Recover the target detector according to the target recovery rotation speed, and return to the operation of real-time acquisition of the recovery data of the target detector until the target detector is recovered to the preset endpoint position.

[0053] The preset endpoint position refers to the designated position where the underway temperature, salinity and depth measuring instrument is located after it has been recovered. It is usually a fixed bracket or storage device near the deck unit. This position can be preset by the user according to the ship layout and operational requirements.

[0054] Furthermore, recovering the target detector according to the target recovery speed includes: applying the target recovery speed to the recovery system so that the target detector is recovered at the target recovery speed.

[0055] The technical solution of this invention first responds to the user's recovery start operation, then performs a recovery operation on the target detector through the recovery system, then acquires the recovery data of the target detector at the current time point in real time, and determines the current recovery stage of the target detector based on the recovery data, then determines the target recovery rotation speed of the target detector at the current time point based on the current recovery stage and the recovery data, and finally recovers the target detector according to the target recovery rotation speed, and returns to the operation of acquiring the recovery data of the target detector in real time until the target detector is recovered to the preset endpoint position, thus realizing the automated recovery of the mobile detector and improving the recovery speed and efficiency of the mobile detector.

[0056] Example 2

[0057] Figure 2 This is a flowchart of a method for recovering a mobile detector according to Embodiment 2 of the present invention. This embodiment is a refinement based on the above embodiment. Specifically, this embodiment refines the method for determining the current recovery stage of the target detector based on the recovery data.

[0058] like Figure 2 As shown, the method includes:

[0059] S210, In response to the user's recycling start operation, the target detector is recycled through the recycling system.

[0060] S220. Acquire the target detector's recovery data at the current time point in real time, and determine the current recovery stage of the target detector based on the recovery data.

[0061] The recovery data includes: the recovery cable speed, recovery cable length, cable tension, current recovery speed, recovery temperature, and detector depth of the target detector.

[0062] S230. If the current recovery stage is determined to be an acceleration ascent stage, a deceleration ascent stage, or a towing recovery stage, then calculate the target difference vector that matches the current time point based on the current recovery stage and the recovery data.

[0063] The calculation of a target difference vector matching the current recovery stage based on the current recovery stage and the recovery data includes: if the current recovery stage is determined to be an accelerated ascent stage, then obtaining the cable tension, recovery temperature, and pre-configured first tension upper limit and first temperature upper limit matching the accelerated ascent stage from the recovery data; calculating the difference between the cable tension and the first tension upper limit as a first difference, and calculating the difference between the recovery temperature and the first temperature upper limit as a second difference; and constructing a target difference vector based on the first difference and the second difference.

[0064] Specifically, the target difference vector is a four-dimensional row vector used to characterize the degree of deviation between the current state and the preset safety limit; further, when constructing the target difference vector, the first difference and the second difference are assigned to the corresponding dimensions of the vector respectively, and the remaining dimensions are filled with preset compensation values ​​or zero values ​​to form a complete four-dimensional input vector.

[0065] For example, let the first difference be e1 and the second difference be e2, then the target difference vector e is constructed as follows:

[0066] e=[e1,e2,0,0]

[0067] The first dimension is the first difference e1, the second dimension is the second difference e2, and the third and fourth dimensions are filled with zero values ​​as compensation bits reserved for extended dimensions or balanced vector structures.

[0068] Furthermore, calculating the target difference vector matching the current recovery stage based on the current recovery stage and the recovery data may further include: if the current recovery stage is determined to be a deceleration and ascent stage, then acquiring the recovery cable speed, cable tension, recovery temperature, and pre-configured first speed upper limit, second tension upper limit, and second temperature upper limit matching the deceleration and ascent stage from the recovery data; calculating the difference between the recovery cable speed and the first speed upper limit as a third difference, calculating the difference between the cable tension and the second tension upper limit as a fourth difference, and calculating the difference between the recovery temperature and the second temperature upper limit as a fifth difference; and constructing a target difference vector matching the current recovery stage based on the third, fourth, and fifth differences.

[0069] That is, if the third difference is e3, the fourth difference is e4, and the fifth difference is e5, the target difference vector e can also be constructed as: e=[e3,e4,e5,0];

[0070] The first dimension is the third difference e3, the second dimension is the fourth difference e4, the third dimension is the fifth difference e5, and the fourth dimension is filled with zero values ​​as compensation bits reserved for extended dimensions or balanced vector structures.

[0071] Furthermore, calculating the target difference vector matching the current recovery stage based on the current recovery stage and the recovery data also includes: if the current recovery stage is determined to be a towed recovery stage, then obtaining the recovery cable speed, recovery temperature, and pre-configured second speed limit and third temperature limit matching the towed recovery stage from the recovery data; calculating the difference between the recovery cable speed and the second speed limit as a sixth difference, and calculating the difference between the recovery temperature and the third temperature limit as a seventh difference; and constructing a target difference vector matching the current recovery stage based on the sixth difference and the seventh difference.

[0072] That is, if the sixth difference is e6 and the seventh difference is e7, the target difference vector e can also be constructed as: e=[e6,e7,0,0]; in the above target difference vector, the first dimension is the sixth difference e6, the second dimension is the seventh difference e7, and the third and fourth dimensions are filled with zero values ​​as compensation bits reserved for extended dimensions or balanced vector structures.

[0073] In this embodiment, when the target depth measuring instrument is in the acceleration ascent phase, the cable tension at the retrieval system end increases rapidly, so it is necessary to prioritize ensuring that the cable tension and retrieval temperature at the retrieval system end are within a controllable range. Furthermore, when the target measuring instrument is in the deceleration ascent phase, the cable tension at the retrieval system end begins to decrease, so it is necessary to prioritize ensuring that the cable tension, cable retrieval speed, and retrieval temperature at the retrieval system end are within a controllable range. Furthermore, when the target measuring instrument is in the dragging ascent phase, it is necessary to ensure that the retrieval cable speed and retrieval temperature are within a controllable range to ensure the retrieval efficiency of the target measuring instrument.

[0074] S240. Obtain the pre-set proportional gain, integral gain, and differential gain that match the current recovery stage, the historical difference vectors of this recovery operation, and the data acquisition interval of the target detector.

[0075] The historical difference vector is the target difference vector calculated in each control cycle before the current time point; the proportional gain, integral gain and derivative gain are used to adjust the system's response strength to the current error, the cumulative effect of historical errors and the predictive ability of error change trends, respectively.

[0076] S250. The difference change rate of the target detector is calculated based on the data acquisition interval, the target difference vector, and the historical difference vector of adjacent time points adjacent to the current time point.

[0077] The difference change rate refers to the magnitude of change in the target difference vector per unit time, used to characterize the dynamic development trend of system error; the adjacent time point refers to the previous sampling moment with an interval of one control cycle from the current time point; the calculation of the difference change rate specifically involves subtracting the current target difference vector from the historical difference vector at adjacent time points, and then dividing by the data acquisition interval.

[0078] S260. Summing up each historical difference vector yields the total difference vector.

[0079] The summation difference vector refers to the discrete integral accumulation of all historical difference vectors from the start of the recovery to the current time point, which is used to characterize the long-term cumulative effect of system deviation; the summation operation is specifically an operation of accumulating the product of each historical difference vector with the data acquisition interval.

[0080] S270, Based on Formula The change in the target recovery rotation speed was calculated.

[0081] in, To recover the change in rotational speed, The preset proportional gain, The preset integral gain, The preset differential gain, For the target difference vector, This is a vector of sums and differences. This represents the rate of change of the difference.

[0082] in, , as well as All are four-dimensional row vectors. , as well as Both represent the dot product relationship between two row vectors.

[0083] S280. Adjust the current recovery speed in the recovery data according to the change in the target recovery speed to obtain the target recovery speed.

[0084] The current recovery speed refers to the actual operating speed of the recovery drum in the current control cycle, which is obtained in real time by the recovery drum speed sensor; the adjustment refers to algebraically superimposing the change in the current recovery speed with the change in the target recovery speed to ensure that the result is within the safe operating range allowed by the system.

[0085] Specifically, the target recovery speed = change in target recovery speed + current recovery speed.

[0086] Based on the above steps, for example, suppose the current recovery phase is the acceleration phase, the data acquisition interval is 100ms, the target difference vector at the current time point t is e=[-5kN, -3℃, 0, 0] (first difference -5kN, second difference -3℃), the historical target difference vector at the adjacent time point t' is e=[-8kN, -5℃, 0, 0], the sum of the historical difference vector sequences is the difference vector = [-1200kN·ms, -800℃·ms, 0, 0], and the preset proportional gain K p =[2rpm / kN, 3rpm / ℃, 0, 0], preset integral gain K i =[0.01rpm / (kN·ms), 0.015rpm / (℃·ms), 0, 0], preset differential gain K d =[5rpm·ms / kN, 8rpm·ms / ℃, 0, 0], then the rate of change of the difference =([-5-(-8)] / 100, [-3-(-5)] / 100, 0, 0)=(0.03kN / ms, 0.02℃ / ms, 0, 0), Target recovery rotation speed change. =[2,3,0,0]·[-5,-3,0,0]+[0.01,0.015,0,0]·[-1200,-800,0,0] +[5,8,0,0]·[0.03,0.02,0,0]=-42.69rpm. If the current recovery speed n=60rpm at the current time point, then the target recovery speed =-42.69+60=17.31rpm.

[0087] S290. Recover the target detector according to the target recovery rotation speed, and return to the operation of real-time acquisition of the recovery data of the target detector until the target detector is recovered to the preset endpoint position.

[0088] The technical solution of this invention first responds to the user's recovery initiation operation by performing a recovery operation on the target detector through the recovery system. Then, it acquires the recovery data of the target detector at the current time point in real time and determines the current recovery stage of the target detector based on the recovery data. If the current recovery stage is determined to be an acceleration ascent stage, a deceleration ascent stage, or a towed recovery stage, it calculates a target difference vector matching the current time point based on the current recovery stage and the recovery data. Then, it acquires pre-set proportional gain, integral gain, and derivative gain matching the current recovery stage, historical difference vectors of this recovery operation, and the data acquisition interval of the target detector. Finally, based on the data acquisition interval, the target difference vector, and the current... The rate of change of the target detector is calculated by taking the historical difference vectors of adjacent time points. The summation of these historical difference vectors yields a total difference vector. Then, the change in the target recovery rotation speed is calculated based on a preset formula. The current recovery rotation speed in the recovery data is adjusted according to this change to obtain the target recovery rotation speed. Finally, the target detector is recovered according to the target recovery rotation speed, and the process returns to acquire the target detector's recovery data in real time until the target detector is recovered to a preset endpoint. This process calculates the target recovery rotation speed of the target detector at the current time point, thereby achieving automated recovery of the mobile detector and improving its recovery speed and efficiency.

[0089] Example 3

[0090] Figure 3 This is a schematic diagram of the structure of a recovery device for a mobile detector provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes:

[0091] The operation start module 310 is used to respond to the user's recycling start operation and to recycle the target detector through the recycling system;

[0092] The data acquisition module 320 is used to acquire the recovery data of the target detector at the current time point in real time, and determine the current recovery stage of the target detector based on the recovery data. The recovery data includes: the recovery cable speed, recovery cable length, cable tension, current recovery rotation speed, recovery temperature, and detector depth of the target detector.

[0093] Rotation speed determination module 330 is used to determine the target recovery rotation speed of the target detector at the current time point based on the current recovery stage and the recovery data;

[0094] The execution module 340 is returned to perform the recovery of the target detector according to the target recovery rotation speed, and then returns to perform the operation of acquiring the recovery data of the target detector in real time until the target detector is recovered to the preset endpoint position.

[0095] The technical solution of this invention first responds to the user's recovery start operation, then performs a recovery operation on the target detector through the recovery system, then acquires the recovery data of the target detector at the current time point in real time, and determines the current recovery stage of the target detector based on the recovery data, then determines the target recovery rotation speed of the target detector at the current time point based on the current recovery stage and the recovery data, and finally recovers the target detector according to the target recovery rotation speed, and returns to the operation of acquiring the recovery data of the target detector in real time until the target detector is recovered to the preset endpoint position, thus realizing the automated recovery of the mobile detector and improving the recovery speed and efficiency of the mobile detector.

[0096] Based on the above embodiments, the data acquisition module 320 includes:

[0097] The first judgment unit is used to determine whether the length of the recovered cable in the recovered data is greater than the preset first cable length threshold.

[0098] The ascent determination unit is activated to determine that if the current retrieval phase is greater than the first cable length threshold, the current retrieval phase is the ascent phase.

[0099] The second judgment unit is used to determine whether the length of the recovery cable is less than a preset second cable length threshold if it is not greater than a first cable length threshold; wherein the second cable length threshold is less than the first cable length threshold; if it is less than the second cable length threshold, the current recovery stage is determined to be the end of the recovery stage.

[0100] The data acquisition unit is configured to, if the depth h of the detector at the current time point t is not less than the second cable length threshold, acquire the length L of the retrieved cable, and acquire the length of the adjacent time point t. ‘ adjacent detector depth h ‘ Length L of adjacent recovery cable ‘ The adjacent time point is the previous sampling time that is one control cycle away from the current time point, and the control cycle is the data acquisition interval between two consecutive data acquisition operations of the recycling system.

[0101] The impact factor calculation unit is used based on the formula: M=[(hh ‘ ) / (LL ‘ )] / (tt ‘ The current stage influence factor of the target detector is calculated, where M represents the current stage influence factor;

[0102] An accelerated ascent determination unit is used to obtain a preset third cable length threshold. If the current stage influence factor is less than the negative value of the third cable length threshold, the current recovery stage is determined to be an accelerated ascent stage. The third cable length threshold is less than the second cable length threshold.

[0103] The deceleration and ascent determination unit is used to determine that the current recovery stage is a deceleration and ascent stage if the current stage influence factor is greater than the third cable length threshold.

[0104] The towing recovery determination unit is used to determine that the current recovery stage is the towing recovery stage if the current stage influence factor is greater than or equal to the negative value of the third cable length threshold and less than or equal to the third cable length threshold.

[0105] Based on the above embodiments, the rotation speed determination module 330 includes:

[0106] The difference vector calculation unit is used to calculate a target difference vector that matches the current time point based on the current recovery stage and the recovery data if the current recovery stage is determined to be an acceleration ascent stage, a deceleration ascent stage, or a towing recovery stage.

[0107] The difference data acquisition unit is used to acquire the pre-set proportional gain, integral gain, and differential gain that match the current recovery stage, the historical difference vectors of this recovery operation, and the data acquisition interval of the target detector. The historical difference vector is the target difference vector calculated in each control cycle before the current time point.

[0108] The rate of change calculation unit is used to calculate the rate of change of the target detector based on the data acquisition interval, the target difference vector, and the historical difference vector of adjacent time points adjacent to the current time point;

[0109] The summation unit is used to sum the historical difference vectors to obtain the total difference vector.

[0110] The change calculation unit is used for formula-based calculation. The change in the target recovery rotation speed was calculated, where, To recover the change in rotational speed, For proportional gain, For integral gain, For differential gain, For the target difference vector, This is a vector of sums and differences. The rate of change of the difference;

[0111] The speed adjustment unit is used to adjust the current recovery speed in the recovery data according to the change in the target recovery speed, so as to obtain the target recovery speed.

[0112] Based on the above embodiments, the difference vector calculation unit includes:

[0113] The first data acquisition unit is used to acquire, if it is determined that the current recovery stage is the accelerated ascent stage, the cable tension, recovery temperature, and a pre-configured first tension limit and first temperature limit that match the accelerated ascent stage from the recovery data.

[0114] The acceleration ascent difference calculation unit is used to calculate the difference between the cable tension and the first tension upper limit as a first difference, and to calculate the difference between the recovery temperature and the first temperature upper limit as a second difference.

[0115] The first difference vector determination unit is used to construct a target difference vector based on the first difference and the second difference.

[0116] Based on the above embodiments, the difference vector calculation unit further includes:

[0117] The second data acquisition unit is used to acquire the recovery cable speed, cable tension, recovery temperature, and pre-configured first speed limit, second tension limit, and second temperature limit that match the deceleration and ascent stage if the current recovery stage is determined to be a deceleration and ascent stage.

[0118] The deceleration and ascent difference calculation unit is used to calculate the difference between the speed of the recovery cable and the first speed limit as a third difference, the difference between the cable tension and the second tension limit as a fourth difference, and the difference between the recovery temperature and the second temperature limit as a fifth difference.

[0119] The second difference vector calculation unit is used to construct a target difference vector that matches the current recovery stage based on the third, fourth, and fifth differences.

[0120] Based on the above embodiments, the difference vector calculation unit further includes:

[0121] The third data acquisition unit is used to acquire the recovery cable speed, recovery temperature, and pre-configured second speed limit and third temperature limit that match the towing recovery stage if it is determined that the current recovery stage is the towing recovery stage.

[0122] The towing recovery difference calculation unit is used to calculate the difference between the recovery cable speed and the second speed limit as the sixth difference, and to calculate the difference between the recovery temperature and the third temperature limit as the seventh difference;

[0123] The third difference vector calculation unit is used to construct a target difference vector that matches the current recovery stage based on the sixth and seventh differences.

[0124] Based on the above embodiments, the rotation speed determination module 330 further includes:

[0125] The start-up speed determination unit is used to determine the target recovery speed if the current recovery stage is determined to be the start-up stage.

[0126] The end-of-recovery speed determination unit is used to use a pre-set end-of-recovery speed as the target recovery speed if the current recovery stage is determined to be the end of the recovery stage.

[0127] The recovery device for a mobile detector provided in this embodiment of the invention can execute the recovery method for a mobile detector provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0128] Example 4

[0129] Figure 4A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0130] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as ROM 12 or RAM 13, communicatively connected to the at least one processor 11. The ROM is a read-only memory, and the RAM is a random access memory. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from the storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An I / O interface 15 is also connected to the bus 14; the I / O interface is an input / output interface.

[0131] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0132] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a method for recovering a mobile probe.

[0133] Accordingly, the method includes:

[0134] In response to the user's recycling initiation operation, the target detector is recycled through the recycling system;

[0135] The system acquires the target detector's recovery data at the current time point in real time and determines the current recovery stage of the target detector based on the recovery data. The recovery data includes: the target detector's recovery cable speed, recovery cable length, cable tension, current recovery rotation speed, recovery temperature, and detector depth.

[0136] Determine the target recovery rotation speed of the target detector at the current time point based on the current recovery stage and the recovery data;

[0137] The target detector is recovered according to the target recovery rotation speed, and the operation of real-time acquisition of the recovery data of the target detector is performed until the target detector is recovered to the preset endpoint position.

[0138] In some embodiments, a method for recovering a mobile detector can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the mobile detector recovery method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform a mobile detector recovery method by any other suitable means (e.g., by means of firmware).

[0139] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0140] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0141] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0142] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0143] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0144] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0145] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

Claims

1. A method for recovering a mobile detector, characterized in that, include: In response to the user's recycling initiation operation, the target detector is recycled through the recycling system; The system acquires the target detector's recovery data at the current time point in real time and determines the current recovery stage of the target detector based on the recovery data. The recovery data includes: the target detector's recovery cable speed, recovery cable length, cable tension, current recovery rotation speed, recovery temperature, and detector depth. Determine the target recovery rotation speed of the target detector at the current time point based on the current recovery stage and the recovery data; The target detector is recovered according to the target recovery rotation speed, and the operation of real-time acquisition of the recovery data of the target detector is performed until the target detector is recovered to the preset endpoint position; The determination of the current retrieval stage of the target detector based on the retrieved data includes: determining whether the length of the retrieval cable in the retrieved data is greater than a preset first cable length threshold; if it is greater than the first cable length threshold, the current retrieval stage is determined to be the start-up stage; if it is not greater than the first cable length threshold, the determination of whether the length of the retrieval cable is less than a preset second cable length threshold; wherein the second cable length threshold is less than the first cable length threshold; if it is less than the second cable length threshold, the current retrieval stage is determined to be the end-retrieval stage; if it is not less than the second cable length threshold, the detector depth h and the retrieval cable length L at the current time point t are obtained, and the adjacent time point t is obtained. ‘ adjacent detector depth h ‘ Length L of adjacent recovery cable ‘ The adjacent time point is the previous sampling time that is one control cycle away from the current time point, and the control cycle is the data acquisition interval between two consecutive data acquisition operations of the recovery system; based on the formula: M=[(hh ‘ ) / (LL ‘ )] / (tt ‘ The current stage influence factor of the target detector is calculated, where M represents the current stage influence factor; a preset third cable length threshold is obtained; if the current stage influence factor is less than the negative value of the third cable length threshold, the current recovery stage is determined to be an acceleration ascent stage; wherein, the third cable length threshold is less than the second cable length threshold; if the current stage influence factor is greater than the third cable length threshold, the current recovery stage is determined to be a deceleration ascent stage; if the current stage influence factor is greater than or equal to the negative value of the third cable length threshold and less than or equal to the third cable length threshold, the current recovery stage is determined to be a towed recovery stage.

2. The method according to claim 1, characterized in that, Determining the target recovery rotation speed of the target detector at the current time point based on the current recovery stage and the recovery data includes: If the current recovery phase is determined to be an accelerated ascent phase, a decelerated ascent phase, or a towed recovery phase, then a target difference vector matching the current time point is calculated based on the current recovery phase and the recovery data. Obtain the pre-set proportional gain, integral gain, and derivative gain that match the current recovery stage, the historical difference vectors of this recovery operation, and the data acquisition interval of the target detector. The historical difference vector is the target difference vector calculated in each control cycle before the current time point. The rate of change of the difference of the target detector is calculated based on the data acquisition interval, the target difference vector, and the historical difference vector of the adjacent time points adjacent to the current time point; Summing each historical difference vector yields a total difference vector. Based on formula The change in the target recovery rotation speed was calculated, where, To recover the change in rotational speed, For proportional gain, For integral gain, For differential gain, For the target difference vector, This is a vector of sums and differences. The rate of change of the difference; The current recovery speed in the recovery data is adjusted according to the change in the target recovery speed to obtain the target recovery speed.

3. The method according to claim 2, characterized in that, Based on the current recovery stage and the recovery data, a target difference vector matching the current time point is calculated, including: If the current recovery phase is determined to be the accelerated ascent phase, then the cable tension, recovery temperature, and pre-configured first tension limit and first temperature limit matching the accelerated ascent phase are obtained from the recovery data. The difference between the cable tension and the first tension upper limit is calculated as the first difference, and the difference between the recovery temperature and the first temperature upper limit is calculated as the second difference. The target difference vector is constructed based on the first difference and the second difference.

4. The method according to claim 2, characterized in that, Based on the current recovery stage and the recovery data, the calculation of the target difference vector matching the current time point also includes: If the current recovery phase is determined to be the deceleration and ascent phase, then the recovery cable speed, cable tension, recovery temperature, and the pre-configured first speed limit, second tension limit, and second temperature limit matched with the deceleration and ascent phase are obtained from the recovery data. The difference between the speed of the recovery cable and the first speed limit is calculated as the third difference; the difference between the cable tension and the second tension limit is calculated as the fourth difference; and the difference between the recovery temperature and the second temperature limit is calculated as the fifth difference. Based on the third, fourth, and fifth differences, a target difference vector matching the current recovery stage is constructed.

5. The method according to claim 2, characterized in that, Based on the current recovery stage and the recovery data, the calculation of the target difference vector matching the current time point also includes: If the current recovery stage is determined to be the towing recovery stage, then the recovery cable speed, recovery temperature, and pre-configured second speed limit and third temperature limit matching the towing recovery stage are obtained from the recovery data. The difference between the speed of the recovery cable and the upper limit of the second speed is calculated as the sixth difference, and the difference between the recovery temperature and the upper limit of the third temperature is calculated as the seventh difference; Based on the sixth and seventh differences, a target difference vector matching the current recovery stage is constructed.

6. The method according to claim 1, characterized in that, Determining the target recovery rotation speed of the target detector based on the current recovery stage, the current time point, and the recovery data also includes: If the current recovery phase is determined to be the start-up phase, then the pre-set start speed is used as the target recovery speed. If the current recovery phase is determined to be the end of the recovery phase, then the pre-set end speed is used as the target recovery speed.

7. A recovery device for a mobile detector, used to perform the recovery method for a mobile detector as described in claim 1, characterized in that, include: The operation start module is used to respond to the user's recycling start operation and to recycle the target detector through the recycling system; The data acquisition module is used to acquire the target detector's recovery data at the current time point in real time, and determine the current recovery stage of the target detector based on the recovery data. The recovery data includes: the target detector's recovery cable speed, recovery cable length, cable tension, current recovery rotation speed, recovery temperature, and detector depth. The rotation speed determination module is used to determine the target recovery rotation speed of the target detector at the current time point based on the current recovery stage and the recovery data. The return execution module is used to recover the target detector according to the target recovery rotation speed, and return to execute the operation of real-time acquisition of the recovery data of the target detector until the target detector is recovered to the preset endpoint position; The data acquisition module includes: a first judgment unit, used to judge whether the length of the recovery cable in the recovery data is greater than a preset first cable length threshold; an ascent start judgment unit, used to determine that the current recovery stage is an ascent start stage if it is greater than the first cable length threshold; a second judgment unit, used to judge whether the length of the recovery cable is less than a preset second cable length threshold if it is not greater than the first cable length threshold; wherein the second cable length threshold is less than the first cable length threshold; if it is less than the second cable length threshold, the current recovery stage is an end recovery stage; and a judgment data acquisition unit, used to acquire the detector depth h and the recovery cable length L at the current time point t if it is not less than the second cable length threshold, and acquire the adjacent time point t. ‘ adjacent detector depth h ‘ Length L of adjacent recovery cable ‘ The adjacent time point is the previous sampling time that is one control cycle away from the current time point, and the control cycle is the data acquisition interval between two consecutive data acquisition operations of the recovery system; the influence factor calculation unit is used to calculate based on the formula: M=[(hh ‘ ) / (LL ‘ )] / (tt ‘ The system calculates the current stage influence factor of the target detector, where M represents the current stage influence factor; an acceleration ascent determination unit is used to obtain a preset third cable length threshold, and if the current stage influence factor is less than the negative value of the third cable length threshold, then the current recovery stage is determined to be an acceleration ascent stage; wherein, the third cable length threshold is less than the second cable length threshold; a deceleration ascent determination unit is used to determine the current recovery stage to be a deceleration ascent stage if the current stage influence factor is greater than the third cable length threshold; and a towing recovery determination unit is used to determine the current recovery stage to be a towing recovery stage if the current stage influence factor is greater than or equal to the negative value of the third cable length threshold and less than or equal to the third cable length threshold.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform a method for recovering a mobile detector according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement a method for recovering a mobile detector according to any one of claims 1-6.

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