An underwater winch cable deployment and recovery system and its multi-mode dynamic optimization control method

Abstract

This invention belongs to the field of marine exploration technology and relates to an underwater winch cable deployment and retrieval system and its multi-mode dynamic optimization control method. The system includes a control cabin, a cable deployment drive assembly, a frame assembly, a drum drive assembly, a drum, a temperature-depth composite sensing cable, a transition pulley assembly, and a cable cutting assembly. This invention adopts a modular design concept, optimizes the mechanical structure layout, significantly reduces the overall size and weight of the device, and improves structural compactness. This invention also provides adaptive switching logic for three core working modes: cable retrieval, cable deployment, and towing. The system can automatically match corresponding control parameters according to the specific task application requirements such as profile measurement, fixed-point observation, and dynamic towing detection; achieving high precision, high reliability, and high adaptability in underwater dynamic scenarios for ocean temperature, salinity, and depth profile measurement, effectively supporting the operational needs of marine environmental monitoring, marine dynamic process research, and other related tasks.

Description

Technical Field

[0001] The present invention belongs to the technical field of ocean prospecting, and relates to a subsea winch cable-reeling system and a multi-mode dynamic optimization control method therefor. Background Art

[0002] In ocean environment measurement, high spatio-temporal resolution observation of the surface water field and profiles of seawater temperature and salinity is the key basis for studying dynamic processes such as ocean water dynamics, mesoscale eddies, internal waves, and thermohaline layers. At the same time, it is necessary to adapt to diverse practical application scenarios such as the towed measurement of unmanned underwater vehicles, which poses stringent requirements on the dynamic adaptability, operation stability, and data real-time performance of the measurement system.

[0003] Currently, there are still many technical bottlenecks in the field of ocean temperature, salinity, and depth profile measurement, which restrict efficient and accurate observation in complex scenarios. First, the subsea winch cable-reeling devices supporting existing measurement systems are generally large in size and insufficient in structural compactness, making it difficult to adapt to space-constrained carrier platforms such as unmanned underwater vehicles, which greatly limits the application scope of the system. Second, traditional winch control methods have a single mode and lack the adaptive and dynamic optimization capabilities for multiple operation modes such as cable paying, cable reeling, and towing. Especially during the towing measurement process, changes in the platform's moving speed easily cause cable tension fluctuations and stress mutations, which not only affect the service life of the cable but also directly interfere with the stability of the measurement process, resulting in a decrease in data accuracy and making it difficult to balance the requirements of high precision and dynamic operation.

[0004] In summary, existing measurement solutions are difficult to simultaneously meet the comprehensive requirements of high precision, real-time performance, and multi-scenario adaptability. Especially in the underwater dynamic towing measurement scenario, there is a lack of reliable winch devices and supporting control methods.

[0004] Summary of the Invention

[0005] To solve the above technical problems, the present invention provides a subsea winch cable-reeling system and a multi-mode dynamic optimization control method therefor, which can achieve high-precision and high-stability measurement of ocean temperature, salinity, and depth profiles.

[0006] The technical solution provided by this invention is as follows: an underwater winch cable deployment and retrieval system, comprising a control cabin, a cable laying drive assembly, a frame assembly, a drum drive assembly, a drum, a temperature-depth composite sensing cable, a transition pulley assembly, and a cable cutting assembly; the end shaft of the drum is fixed to the frame assembly via a flange; an optical fiber demodulator is integrated inside the drum, and a communication connector for the optical fiber demodulator is installed outside the drum; the temperature-depth composite sensing cable is wound on the drum and connected to the optical fiber demodulator inside the drum; the control cabin is mounted on the frame assembly and includes a PLC controller and a salinity signal processing board; the PLC controller is communicatively connected to the salinity signal processing board, and the salinity signal processing board... The cable management board is connected to the salinity sensor probe via a watertight connector; the PLC controller is connected to the fiber optic demodulator communication connector, the cable laying drive assembly, and the drum drive assembly via watertight connectors, thereby controlling the operation of the cable laying drive assembly and the drum drive assembly; the transition pulley assembly is mounted on the frame assembly, and the temperature-depth composite sensing cable passes through the transition pulley assembly to achieve cable winding and unwinding transition; the cable cutting assembly is mounted on the transition pulley assembly and is connected to the PLC controller in the control cabin via a watertight connector; the cutting channel of the cable cutting assembly is set inside the transition pulley assembly for cutting the temperature-depth composite sensing cable in emergency situations.

[0007] Furthermore, the drum drive assembly consists of a drum drive motor, a brake device, a drum reducer, and a drum reducer gear; the drum drive motor is connected to the drum reducer, and then to the drum reducer gear; the brake device is connected to the drum drive motor; the drum reducer gear and the drum end shaft gear are connected by chain drive.

[0008] Furthermore, the cable laying drive assembly consists of a cable laying drive motor, a cable laying reducer, and a cable laying reducer gear; the cable laying drive motor is connected to the cable laying reducer, and then to the cable laying reducer gear.

[0009] Furthermore, the transition pulley assembly includes a cable guide opening, a lead screw nut, a lead screw, a cable laying guide transition block, and a cable laying guide block; the cable laying guide transition block is connected and installed with the cable laying guide block, and the cable guide opening is connected and installed with the cable laying guide block; the lead screw nut is installed on the cable laying guide block; the cable laying guide block has three through holes, two of which pass through two guide rods, the two ends of which are fixed to the two sides of the frame assembly; the other through hole passes through the lead screw, one end of which is fixed to the frame assembly, and the other end is fixed with a gear, which meshes with the gear of the cable laying reducer to drive the lead screw nut to reciprocate along the lead screw, thereby driving the transition pulley assembly to reciprocate.

[0010] Furthermore, the present invention also provides a multi-mode dynamic optimization control method for an underwater winch cable deployment and retrieval system. The method includes the following steps: after the system is powered on, an initialization operation is first performed to complete the hardware self-test and parameter reset; after initialization, the system enters the multi-scenario adaptive mode decision-making stage, automatically identifies and matches the working mode according to the working conditions, or selects the three working modes of cable deployment, towing, and cable retrieval by manual command, so as to realize intelligent switching under dynamic observation scenarios. In cable laying mode, the system first sets the cable laying speed, and then performs closed-loop speed control on the drum drive motor and the cable laying drive motor according to the set value to achieve smooth cable laying at the set speed. In towing mode, the system first sets the tension protection value, and then controls the drum drive motor and the cable laying drive motor to lock the brakes and set the motor speed to 0 to prevent the cable from being accidentally retracted or released during towing. At the same time, the system continuously monitors the tension, and triggers the protection action when the tension exceeds the set protection value. In cable winding mode, the system first sets the cable winding speed, and then performs closed-loop speed control on the drum drive motor and the cable laying drive motor according to the set value to achieve smooth cable winding at the set speed.

[0011] Furthermore, during the operation of the three working modes of cable laying, towing, and cable retrieval, the signals from the temperature, depth, and salinity sensors on the underwater winch are continuously collected, output, and displayed in real time, providing operators with real-time temperature, depth, and salinity data.

[0012] Furthermore, the system continuously collects data from the cable release and take-up limit position sensors and determines whether the cable has reached its limit position. If it reaches the limit position, it immediately controls the drum drive motor and the cable laying drive motor to stop running, executes the motor protection program, and ends the operation to prevent the cable from being over-released or over-retracted, which could cause equipment damage or cable breakage. If it has not reached the limit position, it continues to collect data on the cable release and take-up length and speed, updates the PLC controller clock parameter status, and displays it in real time.

[0013] Furthermore, when the tension threshold detected during the control cabin's cable deployment exceeds the set upper limit, the cable cutting assembly is controlled to complete the cable cutting action.

[0014] Furthermore, after the single-cycle control process is completed, it automatically returns to the multi-scenario adaptive mode decision-making stage to continuously respond to changes in operating conditions and control commands.

[0015] Compared with the prior art, the present invention has the following beneficial effects: (1) The underwater winch cable deployment and retrieval system of the present invention adopts a modular integrated design, optimizes the mechanical layout to achieve a reduction in volume and weight, and greatly improves the structural compactness. It can be directly adapted to underwater dynamic observation platforms with limited space, such as underwater submersibles, underwater gliders, and wave energy gliders, breaking the limitations of traditional winches on the mounting platform and broadening the application scenarios of ocean profile measurement. The hidden design of the cutting blade not only improves the compactness but also improves the safety. (2) The multi-mode dynamic optimization control method of the present invention constructs an adaptive switching logic for three core working conditions: cable winding, cable unwinding, and towing. It can automatically match control parameters according to the work task. The control method is embedded with tension over-limit protection and dual limit protection at the winding and unwinding limit positions. Combined with the emergency shearing and anti-entanglement protection structure of the device, it can automatically trigger braking, stopping or emergency protection actions when the cable tension exceeds the standard, reaches the winding and unwinding limit position, or encounters fishing nets, reefs, or other emergency working conditions, thereby eliminating the risk of cable overload breakage and mechanism damage. (3) The multi-mode dynamic optimization control method realizes seamless switching and intelligent regulation of cable retrieval, cable release and towing conditions, taking into account both operational efficiency and process stability, and significantly improves the accuracy and reliability of ocean temperature, salinity and depth profile measurement data, providing stable and reliable technical support for ocean dynamics research, marine environmental monitoring and safety assurance of maritime activities. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the underwater winch cable deployment and retrieval system in an embodiment of the present invention; Figure 2 This is a front view of the overall system structure. Figure 3 This is a structural diagram of the framework components; Figure 4 A schematic diagram of the drum structure of an integrated fiber optic demodulator; Figure 5 This is a partial detail diagram of the system; Figure 6 This is a diagram of the internal structure of the control cabin; Figure 7 This is a schematic diagram of the cable routing drive assembly structure; Figure 8 This is a structural diagram of the internal structure of the cable routing drive assembly. Figure 9 This is a schematic diagram of the roll drive assembly structure; Figure 10 This is a structural diagram of the internal structure of the roll drive assembly; Figure 11 This is a schematic diagram of the transition pulley assembly and the cable cutting assembly. Figure 12 This is a longitudinal sectional view of the transition pulley assembly and the cable cutting assembly; Figure 13 This is a top view of the cable cutting assembly; Figure 14 Perspective view of the cable cutting assembly; Figure 15 This is the overall flowchart of the PLC control program; Figure 16 Flowchart of the control program for the underwater winch cable-laying mode; Figure 17 Flowchart of the underwater winch cable retrieval mode control program; In the diagram: 1. Control cabin; 2. Fiber optic demodulator communication connector; 3. Cable laying drive assembly; 4. Cable cutting assembly; 5. Frame assembly; 6. Drum drive assembly; 7. Salinity sensor probe; 8. Watertight junction box; 9. Transition pulley assembly; 10. Drum; 11. Fiber optic demodulator; 12. Temperature and depth composite sensing cable; 13. Lead screw nut; 14. Cable guide port; 15. Cable laying guide transition block; 16. Cable laying guide block; 17. Position sensor; 31. Cable laying drive motor; 32. Cable laying reducer; 33. Cable laying reducer gear; 61. Drum drive motor; 62. Drum reducer; 63. Drum reducer gear; 64. Braking device; 101. PLC controller; 102. Salinity signal processing board; 103. DC power supply and host computer; 104. Watertight connector A; 105. Watertight connector B; 106. Watertight connector C; 107. Watertight connector D; 108. Watertight connector E; 401. Cutting blade; 402. Fixing base; 403. Guide slide rod; 404. Release spring; 405. Locking pin; 406. Locking plate; 407. Compression spring; 408. Limiting screw; 409. Retaining ring; 410. Cutting channel. Detailed Implementation

[0017] To facilitate understanding of the present invention, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and specific examples. The following examples or drawings are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0018] The following is in conjunction with the appendix Figure 1 ~Attached Figure 17 The present invention will be further described with reference to specific embodiments: This invention provides an underwater winch cable deployment and retrieval system, as shown in the attached figure. Figure 1 ~Attached Figure 4 As shown, it includes a control cabin 1, a fiber optic demodulator communication connector 2, a cable laying drive assembly 3, a cable cutting assembly 4, a frame assembly 5, a drum drive assembly 6, a salinity sensor probe 7, a watertight junction box 8, a transition pulley assembly 9, a drum 10, a fiber optic demodulator 11, and a temperature and depth composite sensing cable 12.

[0019] As attached Figure 1 ~Attached Figure 3 As shown, frame assembly 5 serves as the support structure for the entire system. The control cabin 1, drum drive assembly 6, cable laying drive assembly 3, transition pulley assembly 9, cable cutting assembly 4, and salinity sensor probe 7 are mounted on frame assembly 5 using screws, nuts, bolts, and other fasteners of various specifications. Drum 10 is sealed with O-rings, and its end shaft is fixed to frame assembly 5 via flanges. Gears are connected to the end shaft.

[0020] As attached Figure 6 As shown, the control cabin 1 consists of a PLC controller 101, a salinity signal processing board 102, and watertight connectors A104, B105, C106, D107, and E108.

[0021] Inside the control cabin 1, the PLC controller 101 is connected to the watertight connector A104 for RS232 communication and power supply with the DC power supply and the host computer 103; the PLC controller 101 is connected to the watertight connector B105 via the RS485 serial port, and then to the fiber optic demodulator communication connector 2 outside the drum 10, for communication with the fiber optic demodulator 11 installed inside the drum; the PLC controller 101 is connected to the watertight junction box 8 via the watertight connector C106, and then to the position sensor 17; the PLC controller 101 is connected to the drum drive assembly 6 and the cable laying drive assembly 3 via the watertight connector D107, and then to control the drum drive motor 61 and the cable laying drive motor 31; the PLC controller 101 is connected to the salinity signal processing board 102 via the RS232 serial port for communication, and the salinity signal processing board 102 is connected to the watertight connector E108, and then to the salinity sensor probe 7.

[0022] As attached Figure 7 ~Attached Figure 8 As shown, the cable laying drive assembly 3 consists of a cable laying drive motor 31, a cable laying reducer 32, and a cable laying reducer gear 33. The cable laying drive motor 31 is connected to the cable laying reducer 32, and then to the cable laying reducer gear 33.

[0023] As attached Figure 9 ~Attached Figure 10 As shown, the drum drive assembly 6 consists of a drum drive motor 61, a brake device 64, a drum reducer 62, and a drum reducer gear 63. The drum drive motor 61 is connected to the drum reducer 62, and then to the drum reducer gear 63. The drum reducer gear 63 is connected to a gear on the end shaft of the drum 10 via chain drive.

[0024] As attached Figure 5 and attached Figure 11As shown, the transition pulley assembly 9 consists of a lead screw nut 13, a lead screw, a cable guide opening 14, a cable laying guide transition block 15, and a cable laying guide block 16. The cable laying guide transition block 15 is connected and installed with the cable laying guide block 16. The lead screw nut 13 is installed on the cable laying guide block 16; the cable laying guide block 16 has three through holes, two of which pass through two guide rods, the two ends of which are fixed to the two sides of the frame assembly; the other through hole passes through the lead screw, one end of which is fixed to the frame assembly, and the other end is fixed with a gear. This gear meshes with the gear of the cable laying reducer, causing the lead screw nut to reciprocate along the lead screw, thereby driving the transition pulley assembly to reciprocate.

[0025] As attached Figure 5 Appendix Figure 11 Appendix Figure 12 Appendix Figure 13 and attached Figure 14 As shown, the cable cutting assembly 4 is mounted on the cable guide block 16 of the transition pulley assembly 9. The cable cutting assembly includes a cutting blade 401, a fixed base 402, a guide slide rod 403, a release spring 404, a locking pin 405, a locking plate 406, a compression spring 407, and a limiting screw 408. The fixed base 402 serves as the mounting base for the assembly, and the cutting blade 401 is mounted at the front opening of the fixed base 402. The guide slide rod 403 passes through an axial guide hole in the fixed base 402, allowing it to slide linearly back and forth within the fixed base. The front end of the guide slide rod 403 is fixedly connected to the cutting blade 401. The release spring 404 is sleeved on the rear end of the guide slide rod 403. One end of the spring abuts against the end face of the fixed base 402, and the other end abuts against a retaining ring 409 on the guide slide rod 403, providing elastic driving force for the forward cutting action of the guide slide rod. When the spring 404 is released and returns to its original deformation, it drives the cutting blade 401 to move forward to complete the cutting action.

[0026] The card plate 406 is installed above the guide slide rod 403, and the locking pin 405 is installed on the guide slide rod 403. The card plate is provided with a positioning slot that cooperates with the locking pin 405. The upper end of the locking pin 405 can be embedded in the positioning slot of the card plate 406 to lock the position of the guide slide rod 403, or disengage from the slot to release the guide slide rod when triggered.

[0027] As attached Figure 12As shown, the cutting channel 410 of the cable cutting assembly 4 is located inside the transition pulley assembly 9. Specifically, a shallow groove is made on the cable guide block 16 along the movement direction of the cutting blade 401, and a gap is made at the corresponding position of the cable guide opening 14 for the cutting blade to pass through. In this way, not only is the compact design of the transition pulley assembly and the cutting assembly achieved, but also the cutting is concealed. When not in operation, the cutting blade 401 is hidden inside the transition pulley assembly 9, avoiding the risk of cuts during assembly, transportation, maintenance, or accidental contact, reducing biofouling caused by long-term exposure of the blade, and avoiding physical impacts from the external environment on the blade. The extension and retraction of the cutting blade are linked by a spring trigger mechanism, and it will only extend under specific working conditions (such as when the cutting action is triggered), avoiding unintended cuts caused by accidental contact. No additional protective cover is required, the overall size is smaller, and it is suitable for installation scenarios with limited space, which conforms to the lightweight and miniaturized design concept of underwater equipment.

[0028] like Figure 1 As shown, a limiting screw 408 is provided inside the frame assembly 5 on the side near the card plate 406. The card plate 406 moves inward under the action of the limiting screw 408, squeezing and compressing the spring 407. At this time, the positioning slot releases the restriction on the positioning pin 405, causing the positioning pin 405 to disengage from the card plate 406.

[0029] When an emergency occurs, such as the temperature-depth composite sensing cable becoming entangled in reefs or fishing nets, and the tension threshold detected by the control cabin during cable retrieval exceeds the set upper limit, such as 300N, in the emergency, according to the program control, the transition pulley assembly moves to the left, triggering the locking plate; the cutting blade, under the action of the release spring, pops forward to cut the temperature-depth composite sensing cable, thus protecting the safety of the entire underwater winch. The position sensor 17, used to detect the extreme positions of the cable retrieval, is installed and fixed inside the cable cutting assembly 4.

[0030] As attached Figure 1 Appendix Figure 4 As shown, the drum 10 integrates an optical fiber demodulator 11, and an optical fiber demodulator communication connector 2 is installed on the outside of the drum 10. The optical fiber at the end of the temperature-depth composite sensing cable 12 is fused together and then connected to the optical fiber demodulator 11 inside the drum 10. By running the PLC control system program on the host computer, as well as the underwater winch cable laying and retrieval mode control program, the temperature-depth composite sensing cable integrating optical fiber temperature and pressure sensors can be released into the water through the cable guide port of the transition pulley assembly to measure hydrological parameters such as temperature, salinity, and depth, according to the specific working requirements of the underwater winch. The program drives the orderly retrieval and laying of the temperature-depth composite sensing cable on the drum.

[0031] The control system of the underwater winch cable deployment and retrieval system of this invention adopts a PLC controller and is equipped with a multi-scenario adaptive dynamic mode control strategy to realize intelligent switching of all working conditions such as cable deployment, towing, and cable retrieval, dynamic parameter optimization, and closed-loop safety control. The overall workflow is combined with the attached... Figure 15 Execute as follows: After powering on, the system first performs initialization, completing self-tests and parameter resets for hardware such as the PLC controller, motor drive module, sensor module, and display module. This establishes a stable adaptive control environment, laying the foundation for dynamic switching and precise execution across multiple modes. After initialization, the system enters the multi-scenario adaptive mode decision-making phase. It can automatically identify and match the working mode based on the operational conditions, or allow manual selection of three core working modes: cable deployment, towing, and cable retrieval, achieving seamless intelligent switching in underwater dynamic observation scenarios.

[0032] In cable laying mode, the system first sets the cable laying speed, and then performs closed-loop speed control on the drum drive motor and cable laying drive motor according to the set value to achieve smooth cable laying at the set speed. In towing mode, the system first sets the tension protection value, and then controls the drum and cable laying motors to lock the brakes, setting the motor speed to 0 to prevent accidental unwinding or rewinding of the temperature-depth composite sensing cable during towing. At the same time, the system continuously monitors the tension, and triggers the protection action when the tension exceeds the set protection value. In cable winding mode, the system first sets the cable winding speed, and then performs closed-loop speed control on the drum motor and cable laying motor according to the set value to achieve smooth cable winding at the set speed.

[0033] During operation in the three modes of cable laying, towing, and cable retrieval, the system continuously collects signals from the temperature, depth, and salinity sensors on the underwater winch and outputs them to the display unit for real-time display, providing operators with real-time temperature, depth, and salinity data.

[0034] The system continuously collects data from the cable reel-in / reel-out limit position sensor and determines whether the temperature-depth composite sensing cable has reached its limit position. If the limit position (Y) is reached, the system immediately stops the drum drive motor and the cable laying drive motor, executes the motor protection program, ends the operation, and awaits manual intervention to prevent over-releasing or over-retracting of the temperature-depth composite sensing cable, which could damage the equipment or cause the cable to break. If the limit position (N) is not reached, the system continues to collect data on the cable reel-in / reel-out length and speed, and updates the status of parameters such as the PLC controller clock, which are displayed in real time on the display unit.

[0035] After completing the parameter acquisition and display for the current control cycle, the program automatically returns to the multi-scenario adaptive mode decision-making stage, continuously responding to changes in operating conditions and control commands. It supports continuous dynamic operation under the same mode or intelligent switching across modes, forming an adaptive, fully closed-loop, and highly safe underwater winch cable deployment and retrieval control logic.

[0036] The specific control procedure for the underwater winch cable laying mode is attached. Figure 16 As shown, when the underwater winch needs to perform underwater cable laying operations, the operator selects "cable laying mode" in the control system, and the program officially starts, entering the initial control stage of the cable laying operation. All subsequent actions are carried out around this mode.

[0037] The drum is the core component for winding the temperature and depth composite sensing cable. Its drive assembly has a built-in mechanical brake that is always in a holding brake state when the equipment is in standby mode to prevent the drum from rotating unexpectedly due to gravity or ocean current pull.

[0038] After entering the cable laying mode, the program first outputs a control signal to open the brake device, release the mechanical lock of the drum, and enable the drum to rotate freely, thus eliminating mechanical obstruction for subsequent cable laying operations.

[0039] The program initiates a motor enable signal, and the drum drive motor and cable laying drive motor enter a linked control state. The cable laying drive motor drives the cable laying mechanism to reciprocate, ensuring the temperature-depth composite sensor cable is evenly distributed on the drum, preventing cable tangling or jamming during the unloading process. The drum drive motor drives the drum to rotate, realizing the lowering action of the temperature-depth composite sensor cable, while maintaining the tension of the temperature-depth composite sensor cable through torque control.

[0040] Based on the ocean current velocity, descent depth, and the weight of the underwater equipment, the operator inputs the target tension value (e.g., 30N) into the control system for this cable-laying operation. This tension value is a key parameter for controlling the tension of the temperature-depth composite sensor cable during the cable-laying process. The purpose is to maintain the temperature-depth composite sensor cable at an appropriate tension. Insufficient tension will cause the temperature-depth composite sensor cable to loosen and become tangled; excessive tension may break the temperature-depth composite sensor cable or damage the underwater equipment.

[0041] The program performs an adaptive safety threshold check on the target tension. Here, "100%" is defined as the maximum safe tension allowed by the system (i.e., the upper limit of the rated allowable tension of the temperature-depth composite sensing cable and equipment). The check logic is as follows: If the set tension is >100% (judgment result is "Y"), it means that the set value is outside the safe range, and there is a risk of the temperature and depth composite sensor cable breaking or the equipment being damaged. The program will automatically execute tension limiting and force the cable release tension to 100% to avoid over-tension operation. If the set tension is ≤100% (judgment result is "N"), the set value is within the safe range and no correction is needed. Proceed directly to the next step.

[0042] The program enters a loop monitoring state, continuously determining whether the cable-laying operation needs to be terminated. This determination node constitutes a closed-loop control cycle for the cable-laying process. If the determination result is "N", it indicates that the cable-laying operation is still in progress. The program returns to the tension setting stage, repeating the process of tension setting, safety verification, and command issuance, continuously monitoring and adjusting the cable-laying tension to cope with changes in ocean currents and tension fluctuations during the lowering of the temperature-depth composite sensor cable, maintaining stable control of the cable-laying process. If the determination result is "Y", it indicates that the cable-laying operation is completed (when the lowering depth reaches the set value) or the operator issues a stop command, and the program enters the safety stop procedure.

[0043] The underwater winch program outputs a stop control signal, controlling the cable laying drive motor and the drum drive motor to stop running. The electromagnetic brakes of the two motors re-close, braking the motor shafts to prevent the motors from continuing to rotate due to inertia. Finally, the entire cable laying mechanism enters a safe stop state, the cable laying mode process ends, and the equipment returns to standby state.

[0044] The specific control procedure for the underwater winch cable retrieval mode is attached. Figure 17 As shown. When the underwater winch detection operation is completed and it is necessary to retrieve the temperature-depth composite sensor cable and underwater equipment, the operator selects "Cable Retrieval Mode" in the control system. The program flow is then officially started, entering the initial control phase of the cable retrieval operation. At this time, the equipment is in standby braking state, and the drum, drum drive motor, and cable laying drive motor are all locked, awaiting subsequent control commands.

[0045] After entering the cable winding mode, the program first outputs a control signal to open the brake device, release the mechanical lock of the drum, and enable the drum to rotate in the forward direction to wind up the cable, thus eliminating mechanical obstacles for subsequent cable winding actions.

[0046] The control system automatically recommends graded cable retrieval speeds and protective tension values ​​based on the retrieval conditions, while also supporting manual fine-tuning, such as 30N, which is the "safety red line" during the retrieval process. Operators need to manually set the cable retrieval speed according to the retrieval stage and conditions to achieve a balance between efficiency and safety. In the initial stage of retrieval, when the underwater equipment is far away and the temperature-depth composite sensor cable is long, a higher cable retrieval speed can be set to improve retrieval efficiency; in the later stage of retrieval, when the equipment is close to the water surface, a lower speed should be set due to the susceptibility to wave impacts to reduce tension fluctuations and avoid damage to the equipment from impact loads. This speed value is written to the motor driver as the reference for the drum motor's speed control.

[0047] The drum drive motor drives the drum to rotate in the forward direction to realize the recovery of the temperature and depth composite sensor cable. The tension of the temperature and depth composite sensor cable is maintained by torque control, and the machine operates at the set cable recovery speed. The cable laying drive motor drives the cable laying mechanism to reciprocate, so that the recovered temperature and depth composite sensor cable is evenly distributed on the drum, avoiding cable tangling, cable stacking, and cable jamming, and preventing the temperature and depth composite sensor cable from being damaged by compression.

[0048] Once the program enters the core safety judgment stage, the tension sensor will collect the actual tension signal of the temperature-depth composite sensing cable in real time, transmit it to the control system, and compare it with the set recovery protection tension value.

[0049] If the judgment result is "Y (actual tension > protection value)", it indicates that an abnormal situation occurred during the cable retrieval process, such as underwater equipment being stuck by an obstacle, the temperature-depth composite sensor cable becoming entangled, or the cable retrieval speed being too fast, leading to an increase in tension. This poses a risk of the temperature-depth composite sensor cable breaking, equipment damage, or mechanism overload. The program immediately executes protective actions, controlling the winch's drum drive motor and cable delivery drive motor to stop urgently, cutting off power output. Simultaneously, the motor brake and drum brake automatically apply braking to prevent the drum from continuing to rotate and causing further tension increases, thus avoiding an escalation of the accident. At this time, the operator needs to troubleshoot the fault before restarting the cable retrieval process. If the judgment result is "N (actual tension ≤ protection value)", it indicates that the current tension is within the safe range, the cable retrieval process is normal, and the program proceeds to the next stage.

[0050] Provided the tension is within a safe range, the program automatically adjusts the cable winding torque via the driver-controlled drum motor, achieving closed-loop matching between tension and speed. When the actual tension is below a reasonable range (e.g., due to slack in the temperature-depth composite sensor cable or reduced tension caused by underwater equipment surfacing), the motor increases torque to enhance the cable winding tension while maintaining the set winding speed to prevent the temperature-depth composite sensor cable from slackening or tangling. When the actual tension approaches the protection value (e.g., due to increased equipment recovery resistance or increased current pull), the motor automatically reduces torque to decrease the cable winding tension, or even briefly decelerates, allowing the tension to return to a safe range while maintaining the normal operation of the cable laying mechanism to prevent cable tangling.

[0051] The program enters a loop monitoring state, continuously determining whether the cable retrieval operation needs to be terminated. This node constitutes a closed-loop control cycle for the cable retrieval process. If the judgment result is "N", it means that the cable retrieval operation is still in progress. The program returns to the tension safety judgment step, repeating the process of tension monitoring, protection judgment, and torque adjustment, continuously monitoring tension changes during the cable retrieval process, responding to tension fluctuations caused by ocean currents and equipment position changes, and maintaining stable control of the cable retrieval process. If the judgment result is "Y", it means that the cable retrieval operation is completed (such as underwater equipment being retrieved to the deck, or the temperature and depth composite sensor cable being fully retracted into the drum) or the operator issues a stop command, and the program enters the safety stop procedure.

[0052] The program outputs a stop control signal, stopping the cable delivery drive motor and the drum drive motor and cutting off power output. The brake device of the drum drive assembly re-engages the drum, locking its position to prevent accidental rotation due to the tension of the temperature-depth composite sensor cable, which could cause the cable to loosen or the equipment to slip. Finally, the entire cable winding mechanism enters a safe stop state, the cable winding process ends, and the equipment returns to standby mode, awaiting the next work instruction.

[0053] Of course, the above description of specific embodiments of the present invention is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An underwater winch cable deployment and retrieval system, characterized in that: The system includes a control cabin, a cable laying drive assembly, a frame assembly, a drum drive assembly, a drum, a temperature-depth composite sensing cable, a transition pulley assembly, and a cable cutting assembly. The end shaft of the drum is fixed to the frame assembly via a flange. An optical fiber demodulator is integrated inside the drum, and a communication connector for the demodulator is installed outside the drum. The temperature-depth composite sensing cable is wound on the drum and connected to the optical fiber demodulator inside. The control cabin is mounted on the frame assembly and includes a PLC controller and a salinity signal processing board. The PLC controller is communicatively connected to the salinity signal processing board, which is connected to the salinity signal processing board via a watertight connector. Temperature sensor probe; PLC controller is connected to fiber optic demodulator communication connector, cable laying drive assembly, and drum drive assembly via watertight connectors, thereby controlling the operation of the cable laying drive assembly and drum drive assembly; the transition pulley assembly is installed on the frame assembly, and the temperature-depth composite sensing cable passes through the transition pulley assembly to realize the transition of cable laying and winding; the cable cutting assembly is installed on the transition pulley assembly and is connected to the PLC controller in the control cabin via watertight connectors. The cutting channel of the cable cutting assembly is set inside the transition pulley assembly for cutting the temperature-depth composite sensing cable in emergency conditions.

2. The underwater winch cable deployment and retrieval system according to claim 1, characterized in that: The drum drive assembly consists of a drum drive motor, a brake device, a drum reducer, and a drum reducer gear; the drum drive motor is connected to the drum reducer, and then to the drum reducer gear; the brake device is connected to the drum drive motor; the drum reducer gear and the drum end shaft gear are connected by chain drive.

3. The underwater winch cable deployment and retrieval system according to claim 1, characterized in that: The cable laying drive assembly consists of a cable laying drive motor, a cable laying reducer, and a cable laying reducer gear; the cable laying drive motor is connected to the cable laying reducer, and then to the cable laying reducer gear.

4. The underwater winch cable deployment and retrieval system according to claim 1, characterized in that: The transition pulley assembly includes a cable guide opening, a lead screw nut, a lead screw, a cable laying guide transition block, and a cable laying guide block. The cable laying guide transition block is connected and installed with the cable laying guide block, and the cable guide opening is connected and installed with the cable laying guide block. The lead screw nut is installed on the cable laying guide block. The cable laying guide block has three through holes, two of which pass through two guide rods, the two ends of which are fixed to the two sides of the frame assembly. The other through hole passes through the lead screw, one end of which is fixed to the frame assembly, and the other end is fixed with a gear. This gear meshes with the gear of the cable laying reducer, causing the lead screw nut to reciprocate along the lead screw, thereby driving the transition pulley assembly to reciprocate.

5. A multi-mode dynamic optimization control method for an underwater winch cable deployment and retrieval system, characterized in that, The method utilizes the system described in any one of claims 1-4, and includes the following steps: after the system is powered on, an initialization operation is first performed to complete the hardware self-test and parameter reset; after initialization, the system enters the multi-scenario adaptive mode decision-making stage, automatically identifies and matches the working mode according to the working conditions or selects the working mode by manual instruction, and realizes intelligent switching of the three working modes of cable laying, towing and cable retrieval under dynamic observation scenarios. In cable laying mode, the system first sets the cable laying speed, and then performs closed-loop speed control on the drum drive motor and the cable laying drive motor according to the set value to achieve smooth cable laying at the set speed. In towing mode, the system first sets the tension protection value, and then controls the drum drive motor and the cable laying drive motor to lock the brakes and set the motor speed to 0 to prevent the cable from being accidentally retracted or released during towing. At the same time, the system continuously monitors the tension, and triggers the protection action when the tension exceeds the set protection value. In cable winding mode, the system first sets the cable winding speed, and then performs closed-loop speed control on the drum drive motor and the cable laying drive motor according to the set value to achieve smooth cable winding at the set speed.

6. The multi-mode dynamic optimization control method for underwater winch cable deployment and retrieval system according to claim 5, characterized in that, During operation in three modes—casting, towing, and retrieval—the system continuously collects signals from the temperature, depth, and salinity sensors on the underwater winch, outputs and displays the data in real time, providing operators with real-time temperature, depth, and salinity data.

7. The multi-mode dynamic optimization control method for underwater winch cable deployment and retrieval system according to claim 5, characterized in that, The system continuously collects data from the cable release and take-up limit position sensors and determines whether the cable has reached its limit position. If it reaches the limit position, it immediately controls the drum drive motor and the cable laying drive motor to stop running, executes the motor protection program, and ends the operation to prevent the cable from being over-released or over-retracted, which could cause equipment damage or cable breakage. If it has not reached the limit position, it continues to collect data on the cable release and take-up length and speed, updates the PLC controller clock parameter status, and displays it in real time.

8. The multi-mode dynamic optimization control method for an underwater winch cable deployment and retrieval system according to claim 5, characterized in that, When the tension threshold detected during the control cabin cable retraction exceeds the set upper limit, the cable cutting component is controlled to complete the cable cutting action.

9. The multi-mode dynamic optimization control method for an underwater winch cable deployment and recovery system according to any one of claims 5-8, characterized in that, After the single-cycle control process is completed, it automatically returns to the multi-scenario adaptive mode decision-making stage to continuously respond to changes in operating conditions and control commands.

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