Integrated intelligent hoist

Abstract

The invention relates to the field of hydraulic engineering gate control, and particularly discloses an integrated intelligent hoist which comprises a volume measuring and calculating module which divides gridding subunits based on a DEM (digital elevation model), performs curved surface integral in combination with terrain curvature parameters and real-time water depth, dynamically calculates reservoir volume, and calculates the volume of the reservoir; the problem of water storage capacity misjudgment caused by complex terrain and sludge interference in a traditional water level method is solved; the gate opening trigger module generates a flood discharge instruction through volume threshold value comparison; the flood discharge monitoring module extracts a gate contour line through high-definition video monitoring and calibrates the actual opening degree in combination with an image edge detection algorithm, and it is ensured that the overflowing area is accurate and controllable. And the automatic gate closing module calculates the flood discharge required duration according to the flood discharge water amount, the overflowing area and the flow velocity, dynamically corrects the gate closing time point, and prevents excessive flood discharge or insufficient water storage. According to the method, the limitation of a traditional warning water level method and fixed opening control is systematically solved, and the accuracy, safety and resource utilization efficiency of reservoir management are improved.

Description

Technical Field

[0001] The present invention relates to the field of water conservancy project gate control, and in particular to an integrated intelligent gate hoist. Background Art

[0002] The gate hoist is an instrument used in various large-scale water supply and drainage, water conservancy and hydropower projects. It can control the lifting and lowering of various large and medium-sized cast iron gates and steel gates to open and close.

[0003] Precise control of gate opening and closing by gate hoists is crucial to the safety and profitability of water conservancy projects. This precise control prevents mechanical damage caused by gate opening and closing, preventing hazards such as water hammer, and ensuring project safety. It also enables refined water resource allocation, improving power generation and shipping efficiency. It also forms the foundation for intelligent automated water conservancy management, facilitating data collection and predictive maintenance. It also reduces equipment wear and tear, lowers operation and maintenance costs, enables rapid response in emergencies, and enhances project emergency preparedness.

[0004] Existing methods to improve the accuracy of gate opening and closing control of gate hoists mostly improve the structure of the gate hoist itself, but rarely consider external factors that affect the precise control of the gate. For example, the accumulation of bottom silt or complex terrain makes the water depth and water storage capacity have a nonlinear relationship, which makes the reliability of triggering the gate opening based on the warning water level insufficient. For example, gate deformation and slag inclusion or equipment failure and aging cause the actual gate opening to be inconsistent with the system set value, which will cause the gate closing time based on the flood discharge volume to be advanced or delayed. The existence of these external factors will make the gate hoist control system's control accuracy for opening and closing gates not high enough. Summary of the Invention

[0005] In response to the above problems, the present invention proposes an integrated intelligent gate hoist to realize the function of controlling the gates of water conservancy projects.

[0006] The technical solution adopted by the present invention to solve its technical problems is: the present invention provides an integrated intelligent gate hoist, including: a volume measurement module, which divides the reservoir area into gridded sub-units according to the DEM digital elevation model of the reservoir and records the terrain curvature parameters, boundary elevation data and boundary coordinate data of each sub-unit, performs spatial integration calculations in combination with the water depth of each sub-unit, and dynamically calculates the current volume of the reservoir.

[0007] The gate opening trigger module compares the current volume of the reservoir with the preset volume threshold. If the threshold is exceeded, an opening command is generated and sent to the gate hoist, and the discharge volume and the start time of the discharge are simultaneously recorded.

[0008] The flood discharge monitoring module uses high-definition video monitoring devices to obtain the visual characteristics of the gate opening during the flood discharge process, calibrate the opening, analyze the actual flow area of ​​the gate, and monitor the flood discharge flow rate.

[0009] The automatic gate closing module calculates the required flood discharge time based on the flood discharge volume, the actual flow area of ​​the gate and the flood discharge flow velocity, and calculates the end time of flood discharge based on the start time of flood discharge, generates the gate closing instruction and transmits it to the gate opening machine.

[0010] Based on the above embodiment, the specific working process of dynamically measuring the current volume of the reservoir in the volume measurement module is as follows: Step 1, obtain the DEM digital elevation model of the reservoir to construct the terrain surface at the bottom of the reservoir, divide the entire reservoir area into gridded sub-units, and record the terrain curvature parameters, boundary elevation data and boundary coordinate data of each sub-unit. The boundary elevation data includes the elevations of the four corner points of the unit, and the boundary coordinate data includes the coordinates of the four corner points of the unit.

[0011] Step 2: Use the distributed depth sensor array deployed in the reservoir area to collect the water depth value of each sub-unit center point in real time.

[0012] Step 3: Get the boundary elevation data and real-time water depth of each sub-unit according to the sub-unit boundary elevation data and real-time water depth value. Water surface elevation .

[0013] Step 4. Obtain the base elevation of each subunit, and construct the bottom elevation function of each subunit by combining the center point coordinates of each subunit and the terrain curvature parameters. .

[0014] Step 5. Obtain the plane coordinate range of each subunit based on the coordinates of the four corner points of each subunit 、 .

[0015] Step 6: Use biquadratic surface integral Calculate the volume of each subunit .

[0016] Step 7. Add up the volumes of each subunit to get the current volume of the reservoir.

[0017] Based on the above embodiment, the specific working process of the gate opening trigger module is: compare the current volume of the reservoir with the preset volume threshold. If it exceeds the threshold, the gate opening is triggered and a gate opening instruction is generated and sent to the gate opening machine control system. The part of the current volume of the reservoir that exceeds the volume threshold is recorded as the flood discharge volume, and at the same time, the flood discharge timer is activated to record the starting time point of the flood discharge.

[0018] Based on the above embodiment, the specific working process of the flood discharge monitoring module is as follows: D1: Set a monitoring time period during the flood discharge process and arrange each monitoring time point within the monitoring time period according to the preset equal time interval principle, and collect images of the gate at each monitoring time point within the monitoring time period through high-definition video monitoring devices deployed on both sides of the gate chamber, and extract the contour lines corresponding to the gate opening at each monitoring time point based on the image edge detection algorithm.

[0019] D2: Compare the contour lines corresponding to the gate opening at each monitoring time point with the contour lines corresponding to the gate setting opening. If they match, the gate opening does not need to be calibrated, and the flow area under the gate setting opening is recorded as the actual flow area of ​​the gate. Otherwise, the gate opening needs to be calibrated and execute D3.

[0020] D3: Obtain the flow area of ​​the gate at each monitoring time point based on the contour line corresponding to the gate opening at each monitoring time point, perform dynamic or static calibration of the gate opening based on whether the flow area of ​​the gate at the monitoring time point fluctuates, and analyze the actual flow area of ​​the gate.

[0021] D4: Use a Doppler flowmeter to collect the water flow velocity of the gate at each monitoring time point during the monitoring period and calculate the average value to obtain the flood discharge flow velocity.

[0022] On the basis of the above embodiment, the specific process of calculating the flood discharge demand time in the automatic gate closing module is as follows: the flood discharge volume, the actual flow area of ​​the gate and the flood discharge flow velocity are recorded as , through the hydraulic model Calculate flood discharge demand duration ,in Indicates the compensation amount for the preset flood discharge demand duration.

[0023] Based on the above embodiment, the specific process of self-starting gate closing in the automatic gate closing module is: the cumulative value of the flood discharge start time point and the flood discharge demand time is recorded as the flood discharge end time point. When the system time reaches the flood discharge end time point, a gate closing control instruction is generated and transmitted to the gate opening and closing machine control system. At the same time, the flood discharge timer is terminated and the reservoir volume measurement value is updated.

[0024] Compared with the prior art, the integrated intelligent gate hoist described in the present invention has the following beneficial effects: 1. Improving the accuracy of volume measurement and avoiding misjudgment of flood discharge triggering conditions: (1) The present invention dynamically divides grid sub-units based on the DEM digital elevation model, combines terrain curvature parameters, boundary elevation and real-time water depth for spatial integration calculation, and accurately calculates the reservoir volume, overcoming the problem of nonlinear relationship between water depth and water storage capacity caused by complex terrain and silt accumulation in traditional warning water level methods.

[0025] (2) The present invention collects water depth data in real time through distributed depth-measuring sensors and corrects the terrain influence by combining surface integral to ensure that volume measurement is not affected by bottom depressions or bulges, thus avoiding overestimation of water depth caused by silt accumulation.

[0026] 2. Improve the calibration accuracy of gate opening and ensure the controllability of flood discharge: (1) The present invention uses a high-definition video monitoring device to extract the gate contour line in real time, and dynamically calibrates the actual gate opening through an image edge detection algorithm to solve the problem of gate deformation or opening feedback distortion caused by equipment aging and sediment wear.

[0027] (2) The present invention combines static and dynamic gate opening calibration mechanisms to obtain the actual flow area of ​​the gate and then control the flood discharge, thereby preventing the flood discharge from deviating from expectations and reducing downstream safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 This is a system module connection diagram of the present invention.

[0030] Figure 2 This is a system architecture diagram of the present invention.

[0031] Figure 3 This is a working flow chart of gate opening calibration of the present invention. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0033] See also Figure 1 and Figure 2 As shown, the present invention provides an integrated intelligent gate hoist, including a volume measurement module, a gate opening trigger module, a flood discharge monitoring module, and an automatic gate closing module.

[0034] The gate opening trigger module is connected to the volume measurement module and the flood discharge monitoring module respectively, and the automatic gate closing module is connected to the flood discharge monitoring module.

[0035] The volume calculation module divides the reservoir area into gridded sub-units based on the reservoir's DEM digital elevation model and records the terrain curvature parameters, boundary elevation data, and boundary coordinate data of each sub-unit. It performs spatial integration calculations based on the water depth of each sub-unit to dynamically calculate the current volume of the reservoir.

[0036] Furthermore, the specific working process of dynamically calculating the current volume of the reservoir in the volume measurement module is as follows: Step 1, obtain the DEM digital elevation model of the reservoir to construct the terrain surface at the bottom of the reservoir, divide the entire reservoir area into gridded sub-units, and record the terrain curvature parameters, boundary elevation data and boundary coordinate data of each sub-unit. The boundary elevation data includes the elevations of the four corner points of the unit, and the boundary coordinate data includes the coordinates of the four corner points of the unit.

[0037] It should be noted that the DEM digital elevation model of the reservoir can be obtained through drone aerial survey, satellite remote sensing or field survey.

[0038] It should be noted that the reservoir area can be divided into gridded sub-units such as squares and rectangles in a uniform or non-uniform manner.

[0039] Step 2: Use the distributed depth sensor array deployed in the reservoir area to collect the water depth value of each sub-unit center point in real time.

[0040] Step 3: Get the boundary elevation data and real-time water depth of each sub-unit according to the sub-unit boundary elevation data and real-time water depth value. Water surface elevation .

[0041] Step 4. Obtain the base elevation of each subunit, and construct the bottom elevation function of each subunit by combining the center point coordinates of each subunit and the terrain curvature parameters. .

[0042] Step 5. Obtain the plane coordinate range of each subunit based on the coordinates of the four corner points of each subunit 、 .

[0043] Step 6: Use biquadratic surface integral Calculate the volume of each subunit .

[0044] Step 7. Add up the volumes of each subunit to get the current volume of the reservoir.

[0045] In this embodiment, the present invention dynamically divides grid sub-units based on the DEM digital elevation model, performs spatial integration operations in combination with terrain curvature parameters, boundary elevation and real-time water depth, and accurately calculates the reservoir volume, overcoming the nonlinear relationship between water depth and water storage capacity caused by complex terrain and silt accumulation in traditional warning water level methods.

[0046] In this embodiment, the present invention collects water depth data in real time through distributed depth sounding sensors, and combines the surface integral to correct the terrain influence, ensuring that the volume measurement is not affected by bottom depressions or protrusions, and avoiding overestimation of water depth caused by silt accumulation.

[0047] Furthermore, in the step Step 3, each sub-unit is obtained Water surface elevation The specific process is: determine the reference surface, compare the elevations of the four corner points of each sub-unit to obtain the lowest boundary elevation of each sub-unit , and record the real-time water depth value of each subunit as , by analyzing the formula Calculate each subunit Water surface elevation .

[0048] It should be noted that water surface elevation = boundary elevation + real-time water depth.

[0049] Furthermore, in the step 4, the bottom elevation function of each subunit is constructed The specific process is: obtain the center point coordinates of each sub-unit according to the coordinates of the four corner points of each sub-unit , the benchmark elevation of each subunit is recorded as , and the terrain curvature parameter of each subunit is recorded as , construct the bottom elevation function of each subunit ,in .

[0050] It should be noted that the bottom elevation function Including curvature correction, terrain curvature parameters Used to correct the integral weight, using Gaussian model Create bottom elevation function ,in Indicates the unit center benchmark elevation, The value of is related to the degree of depression of the bottom of the unit. If the bottom is flat, If the bottom is a raised terrain, If the bottom is a concave terrain, .

[0051] Furthermore, the specific process of obtaining the plane coordinate range of each sub-unit in Step 5 is: according to the coordinates of the four corner points of each sub-unit, obtain the plane coordinate range of each sub-unit. The lower left corner coordinates and the upper right corner coordinates , then the plane coordinate range of each subunit is 、 .

[0052] It should be noted that the present invention uses a method of dynamically measuring the reservoir volume to determine flood discharge, rather than the conventional warning water level method, because the conventional warning water level method has the following limitations: (1) Nonlinear relationship between water depth and water storage capacity: The terrain at the bottom of the reservoir is complex, and the water level is not simply linearly corresponding to the actual water storage capacity. For example, at the same water level, the water storage capacity of the concave area may be significantly greater than that of the flat area. The actual volume cannot be accurately reflected by the water level alone; (2) Interference from silt accumulation: Silt at the bottom of the water will cause the actual water depth to be overestimated, thereby causing deviations in the calculation of water storage capacity. For large reservoirs or reservoirs that have been in operation for a long time, the amount of silt accumulated may reach tens of thousands of cubic meters, seriously affecting the effectiveness of the warning water level; (3) Accuracy requirements for irrigation water demand: If the reservoir needs to retain an accurate amount of water for irrigation, judging only by the water level will ignore the influence of factors such as terrain curvature and silt on the volume, which may lead to insufficient water storage or excessive flood discharge, affecting agricultural production.

[0053] The gate opening trigger module compares the current volume of the reservoir with the preset volume threshold. If the threshold is exceeded, an opening command is generated and sent to the gate hoist, and the discharge volume and the start time of the discharge are simultaneously recorded.

[0054] Furthermore, the specific working process of the gate opening trigger module is: comparing the current volume of the reservoir with the preset volume threshold, if it exceeds the threshold, triggering the gate opening and generating a gate opening instruction to be sent to the gate opening machine control system, and recording the part of the current volume of the reservoir that exceeds the volume threshold as the flood discharge volume, and at the same time activating the flood discharge timer to record the starting time point of the flood discharge.

[0055] It should be noted that the threshold for triggering flood discharge in the present invention is based on the current volume of the reservoir rather than the water level to avoid misjudgment.

[0056] The flood discharge monitoring module uses high-definition video monitoring devices to obtain the visual characteristics of the gate opening during the flood discharge process, calibrate the opening, analyze the actual flow area of ​​the gate, and monitor the flood discharge flow rate.

[0057] Further, see Figure 3 As shown in FIG, the specific working process of the flood discharge monitoring module is as follows: D1: a monitoring time period is set during the flood discharge process and each monitoring time point is arranged within the monitoring time period according to the preset equal time interval principle. The high-definition video monitoring device deployed on both sides of the gate chamber collects the image of each monitoring time point within the monitoring time period, and the contour line corresponding to the gate opening at each monitoring time point is extracted based on the image edge detection algorithm.

[0058] D2: Compare the contour lines corresponding to the gate opening at each monitoring time point with the contour lines corresponding to the gate setting opening. If they match, the gate opening does not need to be calibrated, and the flow area under the gate setting opening is recorded as the actual flow area of ​​the gate. Otherwise, the gate opening needs to be calibrated and execute D3.

[0059] D3: Obtain the flow area of ​​the gate at each monitoring time point based on the contour line corresponding to the gate opening at each monitoring time point, perform dynamic or static calibration of the gate opening based on whether the flow area of ​​the gate at the monitoring time point fluctuates, and analyze the actual flow area of ​​the gate.

[0060] D4: Use a Doppler flowmeter to collect the water flow velocity of the gate at each monitoring time point during the monitoring period and calculate the average value to obtain the flood discharge flow velocity.

[0061] In this embodiment, the present invention uses a high-definition video monitoring device to extract the gate contour line in real time, and dynamically calibrates the actual gate opening through an image edge detection algorithm to solve the problem of gate deformation or opening feedback distortion caused by equipment aging and sediment wear.

[0062] In this embodiment, the present invention combines static and dynamic gate opening calibration mechanisms to obtain the actual flow area of ​​the gate and then control the flood discharge, thereby preventing the flood discharge from deviating from expectations and reducing downstream safety risks.

[0063] Furthermore, the specific process of calibrating the gate opening in step D3 is as follows: D31: according to the contour line corresponding to the gate opening at each monitoring time point, the flow area of ​​the gate at each monitoring time point is obtained in combination with the curve integral.

[0064] D32: Compare the flow areas of the gates at each monitoring time point. If no fluctuation occurs, perform a static calibration of the gate opening and execute D33. If fluctuation occurs, perform a dynamic calibration of the gate opening and execute D34.

[0065] D33: The flow area of ​​the gate at any monitoring time point is taken as the actual flow area of ​​the gate.

[0066] D34: The average value of the gate flow area at the monitoring time point is taken as the actual flow area of ​​the gate.

[0067] It should be noted that the gate of the gate hoist may be deformed due to long-term impact of water flow and wear of sediment, resulting in inconsistency between the actual opening and the system set value. At the same time, equipment aging, such as wear of the gate hoist gears and sensor drift, will distort the opening feedback signal. Especially in large gates, millimeter-level deviations may cause the flow area to differ by several square meters. Therefore, real-time detection and correction of the gate opening of the gate hoist is required.

[0068] It should be noted that the gate flow area is a core parameter in the flood discharge hydraulic model and directly affects the discharge volume. If the flow area is inaccurate, it may cause the discharge volume to deviate from expectations, threatening downstream safety or causing the failure of reservoir capacity regulation, thus affecting irrigation or flood control. Furthermore, the gate closing time is calculated based on the flow area. If the flow area is inaccurate, the gate closing time will be premature or delayed, which may lead to residual volume exceeding the threshold or excessive flood discharge, affecting water storage.

[0069] It should be noted that calibrating the gate opening and accurately knowing the gate flow area can ensure that the flood discharge volume is consistent with the plan, optimize water resource allocation, avoid uncontrolled flood discharge due to flow area errors, and monitor opening abnormalities to help detect equipment failures in a timely manner.

[0070] The automatic gate closing module calculates the required flood discharge time based on the flood discharge volume, the actual flow area of ​​the gate and the flood discharge flow velocity, and calculates the end time of flood discharge based on the start time of flood discharge, generates the gate closing instruction and transmits it to the gate opening machine.

[0071] Furthermore, the specific process of calculating the flood discharge demand time in the automatic gate closing module is as follows: the flood discharge volume, the actual flow area of ​​the gate and the flood discharge flow velocity are recorded as , through the hydraulic model Calculate flood discharge demand duration ,in Indicates the compensation amount for the preset flood discharge demand duration.

[0072] It should be noted that the setting of the compensation amount for flood discharge demand time can be based on the actual deviation in historical flood discharge data, the error range of fluid mechanics model simulation, safety redundancy design, etc.

[0073] It should be noted that setting the compensation amount for the flood discharge demand time can improve the robustness of the calculation to cope with actual complex working conditions, ensure that the reservoir capacity meets the standard at the end of flood discharge, and reduce the systematic errors caused by the idealized assumptions of the model.

[0074] Furthermore, the specific process of self-starting gate closing in the automatic gate closing module is: the cumulative value of the flood discharge start time point and the flood discharge demand time is recorded as the flood discharge end time point. When the system time reaches the flood discharge end time point, a gate closing control instruction is generated and transmitted to the gate opening and closing machine control system. At the same time, the flood discharge timer is terminated and the reservoir volume measurement value is updated.

[0075] In this embodiment, the present invention automatically calculates the required flood discharge time based on the flood discharge volume, flow area and flow velocity, introduces a compensation amount to correct the model error, and accurately calculates the gate closing time in combination with the flood discharge starting time point to avoid excessive flood discharge or residual volume exceeding the threshold.

[0076] In this embodiment, the present invention dynamically updates the calculated value of the reservoir volume to ensure that the water storage capacity after closing the gate meets the irrigation or flood control needs, thereby improving the level of refined water resource allocation.

[0077] In this embodiment, the present invention systematically solves the defects and limitations of the traditional warning water level method and fixed opening control through the triple mechanism of accurate volume calculation + dynamic opening calibration + flood discharge time compensation, thereby improving the accuracy, safety and resource utilization efficiency of reservoir management.

[0078] The above embodiments may be implemented in whole or in part through software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments may be implemented in whole or in part in the form of a computer program product.

[0079] Those skilled in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0080] In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0081] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0082] Finally, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An integrated intelligent gate hoist, characterized in that: include: The volume calculation module divides the reservoir area into gridded sub-units based on the reservoir's DEM digital elevation model and records the terrain curvature parameters, boundary elevation data, and boundary coordinate data of each sub-unit. It then performs spatial integration calculations based on the water depth of each sub-unit to dynamically calculate the current volume of the reservoir. The gate opening trigger module compares the current volume of the reservoir with the preset volume threshold. If the threshold is exceeded, a gate opening command is generated and sent to the gate hoist, and the flood discharge volume and the start time of flood discharge are simultaneously recorded; The flood discharge monitoring module uses a high-definition video monitoring device to obtain the visual characteristics of the gate opening during the flood discharge process, calibrate the opening, analyze the actual flow area of ​​the gate, and monitor the flood discharge flow rate; The automatic gate closing module calculates the required flood discharge time based on the flood discharge volume, the actual flow area of ​​the gate and the flood discharge flow velocity, and calculates the end time of flood discharge based on the start time of flood discharge, generates the gate closing instruction and transmits it to the gate opening machine.

2. The integrated intelligent gate hoist according to claim 1, characterized in that: The specific working process of dynamically calculating the current volume of the reservoir in the volume calculation module is as follows: Step 1: Obtain the DEM digital elevation model of the reservoir to construct the reservoir bottom terrain surface, divide the entire reservoir area into gridded sub-units, and record the terrain curvature parameters, boundary elevation data and boundary coordinate data of each sub-unit. The boundary elevation data includes the elevations of the four corner points of the unit, and the boundary coordinate data includes the coordinates of the four corner points of the unit; Step 2: Use the distributed depth sensor array deployed in the reservoir area to collect the water depth value of each sub-unit center point in real time; Step 3: Get the boundary elevation data and real-time water depth of each sub-unit according to the sub-unit boundary elevation data and real-time water depth value. Water surface elevation ; Step 4. Obtain the base elevation of each subunit, and construct the bottom elevation function of each subunit by combining the center point coordinates of each subunit and the terrain curvature parameters. ; Step 5. Obtain the plane coordinate range of each subunit based on the coordinates of the four corner points of each subunit 、 ; Step 6: Use biquadratic surface integral Calculate the volume of each subunit ; Step 7. Add up the volumes of each subunit to get the current volume of the reservoir.

3. The integrated intelligent gate hoist according to claim 2, characterized in that: In the step 3, each sub-unit is obtained Water surface elevation The specific process is: Determine the datum plane and compare the elevations of the four corner points of each subunit to obtain the lowest boundary elevation of each subunit. , and record the real-time water depth value of each subunit as , by analyzing the formula Calculate each subunit Water surface elevation .

4. The integrated intelligent gate hoist according to claim 2, characterized in that: In the step 4, the bottom elevation function of each subunit is constructed The specific process is: Get the center point coordinates of each subunit according to the coordinates of the four corner points of each subunit , the benchmark elevation of each subunit is recorded as , and the terrain curvature parameter of each subunit is recorded as , construct the bottom elevation function of each subunit ,in .

5. The integrated intelligent gate hoist according to claim 2, characterized in that: The specific process of obtaining the plane coordinate range of each subunit in Step 5 is as follows: According to the coordinates of the four corner points of each sub-unit, obtain each sub-unit The lower left corner coordinates and the upper right corner coordinates , then the plane coordinate range of each subunit is 、 .

6. The integrated intelligent gate hoist according to claim 1, characterized in that: The specific working process of the gate opening trigger module is as follows: The current volume of the reservoir is compared with the preset volume threshold. If it exceeds the threshold, the gate opening is triggered and an opening command is generated and sent to the gate opening machine control system. The part of the current volume of the reservoir that exceeds the volume threshold is recorded as the flood discharge volume. At the same time, the flood discharge timer is activated to record the starting time of the flood discharge.

7. The integrated intelligent gate hoist according to claim 1, characterized in that: The specific working process of the flood discharge monitoring module is as follows: D1: During the flood discharge process, a monitoring period is set and monitoring time points are arranged within the monitoring period according to the preset equal time interval principle. High-definition video surveillance devices deployed on both sides of the lock chamber collect images of the gate at each monitoring time point within the monitoring period, and the contour lines corresponding to the gate opening at each monitoring time point are extracted based on the image edge detection algorithm. D2: Compare the contour lines corresponding to the gate opening at each monitoring time point with the contour lines corresponding to the set gate opening. If they match, the gate opening does not need to be calibrated, and the flow area at the set gate opening is recorded as the actual flow area of ​​the gate. Otherwise, the gate opening needs to be calibrated and execute D3; D3: Obtain the flow area of ​​the gate at each monitoring time point based on the contour line corresponding to the gate opening at each monitoring time point, perform dynamic or static calibration of the gate opening based on whether the flow area of ​​the gate at the monitoring time point fluctuates, and analyze the actual flow area of ​​the gate; D4: Use a Doppler flowmeter to collect the water flow velocity of the gate at each monitoring time point during the monitoring period and calculate the average value to obtain the flood discharge flow velocity.

8. The integrated intelligent gate hoist according to claim 7, characterized in that: The specific process of calibrating the gate opening in step D3 is as follows: D31: Based on the contour lines corresponding to the gate opening at each monitoring time point, combined with the curve integral, the flow area of ​​the gate at each monitoring time point is obtained; D32: Compare the flow areas of the gates at each monitoring time point. If no fluctuation occurs, perform a static calibration of the gate opening and execute D33. If fluctuation occurs, perform a dynamic calibration of the gate opening and execute D34. D33: The flow area of ​​the gate at any monitoring time point is regarded as the actual flow area of ​​the gate; D34: The average value of the gate flow area at the monitoring time point is taken as the actual flow area of ​​the gate.

9. The integrated intelligent gate hoist according to claim 1, characterized in that: The specific process of calculating the flood discharge demand time in the automatic gate closing module is as follows: The flood discharge volume, the actual flow area of ​​the gate and the flood discharge flow velocity are recorded as , through the hydraulic model Calculate flood discharge demand duration ,in Indicates the compensation amount for the preset flood discharge demand duration.

10. The integrated intelligent gate hoist according to claim 1, characterized in that: The specific process of self-starting gate closing in the automatic gate closing module is as follows: The cumulative value of the flood discharge start time point and the flood discharge demand time is recorded as the flood discharge end time point. When the system time reaches the flood discharge end time point, the gate closing control instruction is generated and transmitted to the gate opening and closing machine control system. At the same time, the flood discharge timer is terminated and the reservoir volume measurement value is updated.

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