A floating inspection door device for ship lock and automatic sinking and floating control method

Abstract

A floating inspection door device for a ship lock and an automatic control method for sinking and buoyancy. The device is provided with a central water tank, side water tanks and an adjusting water tank. The water tanks are interconnected through pipelines under the cabins. The central water tank serves as the general water supply tank for other water tanks. The adjusting water tank can adjust the water level inside it through a control device to control the floating and sinking depth of the device. The attitude of the device is sensed through an attitude sensing device, and the flow rate and speed entering each adjusting water tank are controlled by adjusting the opening and closing degree of each electric regulating valve to achieve the purpose of maintaining a stable attitude of the device. When draining water, a drainage pump is used to drain water to make the device float. The entire floating and sinking and attitude control are automatically completed through the control device, which can accurately control the attitude and floating speed of the device, avoid the device from overturning due to inaccurate manual adjustment, and greatly improve the safety and automation level.

Description

Technical Field

[0001] The invention relates to the field of ship lock maintenance, and in particular to a ship lock floating maintenance door device and an automatic sinking and floating control method. Background Art

[0002] When large-scale navigation locks are shut down for maintenance, they will shut down the locks and drain the water in the lock chambers before construction work can be carried out. Usually, due to the leakage of the upstream and downstream water retaining facilities during maintenance, water will continue to flow into the upstream and downstream reservoirs and water transfer corridors, making it difficult to repair the working gates of the locks and the damaged corridor hydraulic structures. Water retaining and drainage are required to form local dry areas for maintenance. The construction of traditional earth-rock cofferdams consumes a lot of manpower and time, the on-site construction environment is poor, and it more or less pollutes the water body, which does not meet the requirements of rapid maintenance and environmentally friendly construction of locks.

[0003] The floating inspection door of a ship lock is a water retaining facility, which is mainly used to separate the lock chamber from the water body of the downstream pilot channel to facilitate the drainage of water in the lock chamber and provide a working surface for the implementation of the ship lock chamber maintenance project. It is suitable for ship lock chamber maintenance, but the current floating inspection door cabin is roughly set up, with only a sinking and floating cabin, which is not conducive to the posture adjustment of the inspection door, and the valve is opened and closed manually. Any improper operation will cause the floating inspection door device to overturn. If the posture and sinking and floating of the floating inspection door of the ship lock can be accurately controlled, the operability of the floating inspection door can be greatly improved, making it easy to use, safe and feasible. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a floating inspection door device for a ship lock and an automatic control method for sinking and floating. Through a reasonable water tank setting, the center of the inspection door is stable and reliable when it sinks and floats, and a water tank that is conducive to posture adjustment is set, and the entire sinking and floating operation and posture adjustment are automatically controlled. The floating inspection door device can be accurately adjusted to avoid the inspection door from capsizing.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A floating inspection door device for a ship lock comprises a floating inspection door and a control device thereof, wherein the floating inspection door is a box-type gate, a central water tank is provided in the middle of the floating inspection door, side water tanks and regulating water tanks are provided on both sides of the central water tank, a main water pipe is provided below the central water tank, the main water pipe runs through the entire lower part of the inspection door and is through-connected with the central water tank, the side water tanks and regulating water tanks are through-connected with the central water tank via a bottom water supply pipe, a drainage pipe and a drainage pump connected to the main water pipe are provided on one side of the floating inspection door, electric valves are provided on each through pipe, a fixedly connected attitude sensing device is provided on the floating inspection door, the control device controls the sinking and attitude of the floating inspection door via the electric valve and inclination sensor connected thereto, and the control device is placed in a control cabinet on the floating inspection door.

[0007] The above-mentioned side water tank and regulating water tank structure is: a first side water tank and a second side water tank are provided on both sides of the central water tank, a first regulating water tank and a second regulating water tank are provided above and below the first side water tank respectively, a third regulating water tank and a fourth regulating water tank are provided above and below the second side water tank respectively, the first side water tank and the central water tank are connected through a first water supply pipe and a second water supply pipe arranged in parallel up and down, the second side water tank and the central water tank are connected through a third water supply pipe and a fourth water supply pipe arranged in parallel up and down, and the first regulating pipe, the second regulating pipe, the third regulating pipe and the fourth regulating pipe respectively connect the first regulating water tank to the fourth regulating water tank with the first water supply pipe to the fourth water supply pipe.

[0008] The structure of the above-mentioned control device is as follows: a main water supply valve and a main water inlet flowmeter are arranged on the main water inlet side of the main water pipe, a main drain valve and a main drain flowmeter are arranged on the drainage side of the main water pipe, and No. 1 flowmeter, No. 2 flowmeter, No. 3 flowmeter and No. 4 flowmeter are respectively arranged on the first water supply pipe to the fourth water supply pipe near the central water tank end, a No. 5 electric regulating valve is arranged on the second water supply pipe near the first side water tank end, and a No. 6 electric regulating valve is arranged on the third water supply pipe near the first side water tank end. The first regulating pipe to the fourth regulating pipe are provided with No. 1 electric regulating valve, No. 2 electric regulating valve, No. 3 electric regulating valve and No. 4 electric regulating valve for controlling the water supply amount from the first regulating water tank to the fourth regulating water tank, the control device is electrically connected to the main water pipe, all valves and flowmeters on the first water supply pipe to the fourth water supply pipe and the first regulating pipe to the fourth regulating pipe, and the drainage pump is electrically connected to the control device.

[0009] The above-mentioned electric regulating valve No. 1, electric regulating valve No. 2, electric regulating valve No. 3, electric regulating valve No. 4, electric regulating valve No. 5 and electric regulating valve No. 6 adjust the opening and closing degree of the valves through the control device, thereby adjusting the filling and drainage flow of each water tank and automatically correcting the door posture.

[0010] The above-mentioned attitude sensing device is a two-axis inclination sensor, which is fixed in the center above the floating inspection door. When the two-axis inclination sensor is installed for the first time, the floating inspection door needs to be placed on the horizontal ground. After horizontal leveling, the two-axis inclination sensor is fixed and horizontal calibration is performed. The two-axis inclination sensor can sense the attitude of the floating inspection door in the two-axis direction on the horizontal plane, and then adjust the flow of the cabin.

[0011] In a preferred solution, the above-mentioned posture sensing device includes a laser rangefinder fixedly connected to the outer shell of the floating inspection door. The ranging head of the laser rangefinder faces the water surface. The laser rangefinder can measure the horizontal distance of the floating inspection door from the water surface and send it to the control device. The control device determines the posture of the door body through calculation.

[0012] In a preferred solution, the first water supply pipe is also connected to the first side water tank. A No. 1 side water tank valve is provided on the first water supply pipe near the end of the first side water tank, which can increase the flow of the pipeline. The No. 1 side water tank valve is a switch valve, which can increase the flow or serve as a standby.

[0013] The above-mentioned fourth water supply pipe is also connected with the second side water tank. A No. 2 side water tank valve is arranged on the fourth water supply pipe near the end of the first side water tank, which can increase the pipeline flow. The No. 2 side water tank valve is a switch valve, which can increase the flow or serve as a standby.

[0014] The above control device adopts a single chip microcomputer or a PLC.

[0015] An automatic sinking and floating control method using the above device, the specific control steps are:

[0016] Step 1: Use a tugboat to tow the floating inspection door to the door slot and put it in place, and power on the control device;

[0017] Step 2: The floating inspection door is lowered, the control device controls the main water supply valve to open, and water enters the central water tank from the main water inlet of the main water pipe. The control device calculates the water supply volume entering the central water tank through the water inlet flow collected by the total water inlet flow meter until the central water tank is filled with water, and then enters step 3;

[0018] Step three: the control device controls the No. 5 electric regulating valve and the No. 6 electric regulating valve to open the corresponding opening and closing degrees according to the set flow rate, and the central water tank injects water into the first side water tank and the second side water tank through the first water supply pipe to the fourth water supply pipe. At the same time, the control device collects the left and right side inclination angle values ​​collected by the attitude sensing device, and adjusts the opening and closing degrees of the No. 5 electric regulating valve and the No. 6 electric regulating valve according to the inclination angle values. At the same time, the flow data of the No. 1 flow meter to the No. 4 flow meter are collected to balance the water injection amount and injection speed on the left and right sides until the first side water tank and the second side water tank are filled with water. During the whole process, water still enters the central water tank from the main water inlet to make up for the loss;

[0019] Step 4: The control device controls the No. 5 electric regulating valve and the No. 6 electric regulating valve to close, and controls the No. 1 electric regulating valve, the No. 2 electric regulating valve, the No. 3 electric regulating valve and the No. 4 electric regulating valve to open the corresponding opening and closing degrees according to the set flow rate. The central water tank injects water into the first regulating water tank to the fourth regulating water tank. At the same time, the control device collects the left and right and up and down inclination data collected by the attitude sensing device, and adjusts the opening and closing degrees of the No. 1 electric regulating valve to the No. 4 electric regulating valve according to the inclination data to adjust the water inlet flow rate, so that the device reaches a balanced and stable state. When there is no flow change in the No. 1 flow meter to the No. 4 flow meter, the floating inspection door falls to the bottom, and the No. 1 electric regulating valve to the No. 4 electric regulating valve are closed at this time;

[0020] Step 5: When the floating inspection door needs to float up, the control device controls the main water supply valve to close, fully opens the No. 1 electric regulating valve, No. 2 electric regulating valve, No. 3 electric regulating valve, and No. 4 electric regulating valve, opens the main drain valve, and starts the drainage pump to drain water outward. When the total drainage flow meter no longer has flow data, the water in the first regulating water tank to the fourth regulating water tank and the central water tank is drained, the drainage pump is stopped, the main drain valve is closed, and the No. 5 electric regulating valve and the No. 6 electric regulating valve are opened according to the set opening and closing degrees. The water in the first side water tank and the second side water tank is injected into the central water tank, and the attitude sensing device collects the same horizontal surface. The inclination data between the two side water tanks is then used to control the opening and closing matching relationship between the No. 5 electric regulating valve and the No. 6 electric regulating valve to balance the device. When the No. 2 flow meter and the No. 3 flow meter no longer sense flow, it means that the water level is flat. At this time, the No. 5 electric regulating valve and the No. 6 electric regulating valve are fully opened, the main drain valve is opened, the drain pump is started, and the water is drained out. When the total drain flow meter no longer has flow, the drainage is completed, the drain pump is stopped, the main drain valve is closed, the drainage is completed, the floating inspection door is floated up, the No. 5 electric regulating valve and the No. 6 electric regulating valve are closed, and the valves return to their initial state.

[0021] In the preferred solution, the specific process of the above step four is: the control device controls the No. 5 electric regulating valve and the No. 6 electric regulating valve to close, controls the No. 1 electric regulating valve, the No. 2 electric regulating valve, the No. 3 electric regulating valve and the No. 4 electric regulating valve to open the corresponding opening and closing degrees according to the set flow rate, and the central water tank injects water into the first regulating water tank to the fourth regulating water tank. At the same time, the control device collects the left and right and up and down direction inclination data collected by the attitude sensing device, and adjusts the opening and closing degrees of the No. 1 electric regulating valve to the No. 4 electric regulating valve according to the inclination data to adjust the water inlet flow rate so that the device reaches balance and stability. At the same time, the water injection volume in the floating inspection door is calculated according to the data collected by the No. 1 flow meter to the No. 4 flow meter and converted into the underwater depth of the device. When the set depth is reached, the No. 1 electric regulating valve, the No. 2 electric regulating valve, the No. 3 electric regulating valve and the No. 4 electric regulating valve are closed. In this process, water still enters the central water tank from the main water inlet to supplement the loss;

[0022] The process of step five mentioned above is: when the floating inspection door needs to float up, the control device controls the main water supply valve to close, and then opens the No. 1 electric regulating valve, No. 2 electric regulating valve, No. 3 electric regulating valve and No. 4 electric regulating valve according to the set flow value. At this time, the device collects the inclination data of four directions on the same horizontal plane by the attitude sensing device, and adjusts the opening and closing degree of the No. 1 electric regulating valve to the No. 4 electric regulating valve according to the inclination data to adjust the water inlet flow until the water level of the central water tank and the first regulating water tank to the fourth regulating water tank is flush, and then opens the main drain valve, starts the drainage pump to drain the water outward, and the control device collects the total drainage flow meter and calculates the volume of water discharged. When the water in the first regulating water tank to the fourth regulating water tank and the central water tank is drained, stops the drainage pump, closes the main drain valve, closes the No. 1 electric regulating valve to the No. 4 electric regulating valve, and then opens according to the set opening and closing degree. The No. 5 electric regulating valve and the No. 6 electric regulating valve, the water of the first side water tank and the second side water tank flows into the central water tank, and the attitude sensing device collects the inclination data between the two side water tanks on the same horizontal plane, and then controls the opening and closing degree matching relationship between the No. 5 electric regulating valve and the No. 6 electric regulating valve to balance the device. When the No. 2 flow meter and the No. 3 flow meter no longer sense flow, it means that the water level is flat. At this time, the No. 5 electric regulating valve and the No. 6 electric regulating valve are fully opened, the main drain valve is opened, the drain pump is started, and the water is drained out. When the total drain flow meter no longer has flow, the drainage is completed, the drainage pump is stopped, the main drain valve is closed, the drainage is completed, the floating inspection door is floated up, and the No. 1 electric regulating valve, the No. 2 electric regulating valve, the No. 3 electric regulating valve, the No. 4 electric regulating valve, the No. 5 electric regulating valve, and the No. 6 electric regulating valve are closed to return the valve to the initial state;

[0023] In case of emergency or failure, the floating inspection door can be controlled to hover at a specific depth. When floating up under specific circumstances, the water in the regulating water tank needs to be mixed with the side water tank and the central water tank to make the water level level, and then drain the water to avoid changes in the door posture due to sudden mixing of water.

[0024] The present invention provides a floating inspection door device for a ship lock and an automatic sinking and buoyancy control method. The device is provided with a central water tank, a side water tank and an adjusting water tank. The water tanks are interconnected by pipelines under the cabin. The central water tank serves as a general water supply tank for other water tanks. The adjusting water tank can adjust the water level inside it through a control device to control the sinking and buoyancy and depth of the device. The attitude of the device is sensed through an attitude sensing device, and the flow rate and speed entering each adjusting water tank are controlled by adjusting the opening and closing degree of each adjusting water valve to achieve the purpose of maintaining a stable attitude of the device. When draining water, a drainage pump is used to drain water to make the device float. The entire sinking and buoyancy and attitude control are automatically completed by the control device, which can accurately control the attitude and sinking speed of the device. Inaccurate manual adjustment on the surface may cause the device to overturn, and the safety and automation level are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0026] Figure 1 This is a schematic diagram of the floating inspection door structure;

[0027] Figure 2 It is a structural schematic diagram of the preferred posture sensing device solution;

[0028] Figure 3 It is the front view of the floating access door;

[0029] Figure 4 for Figure 3 AA view;

[0030] Figure 5 for Figure 4 BB view;

[0031] Figure 6 1 is a preferred pipeline structure diagram;

[0032] Figure 7 This is the layout diagram of the floating inspection gate valve;

[0033] Figure 8 The preferred arrangement diagram of the floating inspection gate valve is shown;

[0034] Fig. 9 This is the structural diagram of the control device.

[0035] In the figure: floating inspection door 1, control device 2, central water tank 3, main water pipe 4, drainage pipe 5, drainage pump 6, attitude sensing device 7, first side water tank 8, second side water tank 9, control cabinet 10, first regulating water tank 11, second regulating water tank 12, third regulating water tank 13, fourth regulating water tank 14, first water supply pipe 15, second water supply pipe 16, third water supply pipe 17, fourth water supply pipe 18, first regulating pipe 19, second regulating pipe 20, third regulating pipe 21, The fourth regulating pipe 22, the main water inlet 23, the main water supply valve 24, the total water inlet flowmeter 25, the main drain valve 26, the total drain flowmeter 27, the No. 1 flowmeter 28, the No. 1 flowmeter 28, the No. 3 flowmeter 30, the No. 4 flowmeter 31, the No. 1 electric regulating valve 32, the No. 2 electric regulating valve 33, the No. 3 electric regulating valve 34, the No. 4 electric regulating valve 35, the No. 1 side water tank valve 36, the No. 5 electric regulating valve 37, the No. 6 electric regulating valve 38, and the No. 2 side water tank valve 39. DETAILED DESCRIPTION

[0036] like Figures 1 to 4As shown in the figure, a floating inspection door device for a ship lock comprises a floating inspection door 1 and a control device 2 thereof. The floating inspection door 1 is a box-type gate. A central water tank 3 is provided in the middle of the floating inspection door 1. Side water tanks and regulating water tanks are provided on both sides of the central water tank 3. A main water pipe 4 is provided below the central water tank 3. The main water pipe 4 runs through the entire lower part of the inspection door and is connected with the central water tank 3. The side water tanks and regulating water tanks are connected with the central water tank 3 through the bottom water supply pipe. A drainage pipe 5 and a drainage pump 6 connected with the main water pipe 4 are provided on one side of the floating inspection door 1. Electric valves are provided on each through pipe. A fixedly connected posture sensing device 7 is provided in the center above the floating inspection door 1. The control device 2 controls the sinking and posture of the floating inspection door 1 through the electric valve and the inclination sensor 7 connected thereto. The control device 2 is placed in a control cabinet 10 on the floating inspection door 1.

[0037] like Figure 3 As shown in , the above-mentioned side water tank and regulating water tank structure is: a first side water tank 8 and a second side water tank 9 are provided on both sides of the central water tank 3, a first regulating water tank 11 and a second regulating water tank 12 are provided above and below the first side water tank 8 respectively, and a third regulating water tank 13 and a fourth regulating water tank 14 are provided above and below the second side water tank 9 respectively, the first side water tank 8 and the central water tank 3 are connected through a first water supply pipe 15 and a second water supply pipe 16 arranged in parallel up and down, the second side water tank 9 and the central water tank 3 are connected through a third water supply pipe 17 and a fourth water supply pipe 18 arranged in parallel up and down, and the first regulating pipe 19, the second regulating pipe 20, the third regulating pipe 21 and the fourth regulating pipe 22 respectively connect the first regulating water tank 11 to the fourth regulating water tank 14 with the first water supply pipe 15 to the fourth water supply pipe 18.

[0038] like Figure 5 As shown in the figure, the structure of the control device 2 is as follows: a main water supply valve 24 and a total water inlet flowmeter 25 are arranged on one side of the main water inlet 23 of the main water pipe 4, a main drainage valve 26 and a total drainage flowmeter 27 are arranged on the drainage side of the main water pipe 4, a No. 1 flowmeter 28, a No. 2 flowmeter 29, a No. 3 flowmeter 30 and a No. 4 flowmeter 31 are arranged on the first water supply pipe 15 to the fourth water supply pipe 18 near the end of the central water tank 3, a No. 5 electric regulating valve 37 is arranged on the second water supply pipe 16 near the end of the first side water tank 8, and a No. 6 electric regulating valve 37 is arranged on the third water supply pipe 18 near the end of the first side water tank 8. A No. 6 electric regulating valve 38 is arranged on 17 near the end of the first side water tank 8, and a No. 1 electric regulating valve 32, a No. 2 electric regulating valve 33, a No. 3 electric regulating valve 34 and a No. 4 electric regulating valve 35 for controlling the water supply of the first regulating water tank 11 to the fourth regulating water tank 14 are arranged on the first regulating pipe 19 to the fourth regulating pipe 22. The control device 2 is electrically connected to all valves and flow meters on the main water pipe 4, the first water supply pipe 15 to the fourth water supply pipe 18, and the first regulating pipe 19 to the fourth regulating pipe 22, and the drainage pump 6 is electrically connected to the control device 2.

[0039] The above-mentioned electric regulating valve No. 1 32, electric regulating valve No. 2 33, electric regulating valve No. 34, electric regulating valve No. 4 35, electric regulating valve No. 5 37 and electric regulating valve No. 6 38 can adjust the opening and closing degree of the valves through the control device 2, thereby adjusting the water filling flow of each water tank and automatically correcting the door body posture.

[0040] The above-mentioned posture sensing device 7 is a commercially available product, such as the SSA00XXH2 posture sensing device produced by SOFO.

[0041] like Figure 1 As shown in , the above-mentioned attitude sensing device 7 is a two-axis inclination sensor, which is fixed in the center above the floating inspection door 1. When the two-axis inclination sensor is installed for the first time, the floating inspection door 1 needs to be placed on the horizontal ground. After horizontal leveling, the two-axis inclination sensor is fixed and horizontal calibration is performed. The two-axis inclination sensor can sense the attitude of the floating inspection door 1 in the two-axis direction on the horizontal plane, and then adjust the flow of the cabin.

[0042] like Figure 2 As shown in the preferred solution, the above-mentioned posture sensing device 7 includes a laser rangefinder, and the ranging head of the laser rangefinder is facing the water surface. The laser rangefinder can measure the horizontal distances of the four sides of the floating inspection door 1 from the water surface and send them to the control device 2. The control device 2 determines the posture of the door body through calculation.

[0043] The preferred solution is Figure 6 As shown in the figure, the first water supply pipe 15 is also connected to the first side water tank 8. A first side water tank valve 36 is provided on the first water supply pipe 15 near the end of the first side water tank 8, which can increase the flow of the pipeline. The first side water tank valve 36 is a switch valve, which can increase the flow or standby.

[0044] The above-mentioned fourth water supply pipe 18 is also connected with the second side water tank 9. A No. 2 side water tank valve 39 is arranged on the fourth water supply pipe 18 near the end of the first side water tank 8, which can increase the pipeline flow. The No. 2 side water tank valve 39 is a switch valve, which can increase the flow or serve as a standby.

[0045] The control device 2 is a single chip microcomputer or a PLC, for example, a 6ES7 214-1AG40-0XB0 S1200 series PLC produced by SIEMENS.

[0046] An automatic sinking and floating control method using the above device, the specific control steps are:

[0047] Step 1: Use a tugboat to tow the floating inspection door 1 to the door slot and put it in place, and power on the control device 2;

[0048] Step 2: The floating inspection door 1 is lowered, the control device 2 controls the main water supply valve 24 to open, and water enters the central water tank 3 from the main water inlet 23 of the main water pipe 4. The control device 2 calculates the water supply volume entering the central water tank 3 through the water inlet flow collected by the total water inlet flow meter 25 until the central water tank 3 is filled with water, and then enters step 3;

[0049] Step three: the control device 2 controls the No. 5 electric regulating valve 37 and the No. 6 electric regulating valve 38 to open the corresponding opening degree according to the set flow rate, and the central water tank 3 injects water into the first side water tank 8 and the second side water tank 9 through the first water supply pipe 15 to the fourth water supply pipe 18. At the same time, the control device 2 collects the left and right side inclination angle values ​​collected by the posture sensing device 7, and adjusts the opening and closing degrees of the No. 5 electric regulating valve 37 and the No. 6 electric regulating valve 38 according to the inclination angle values. At the same time, the flow data of the No. 1 flow meter 28 to the No. 4 flow meter 31 are collected to balance the water injection amount and injection speed on the left and right sides until the first side water tank 8 and the second side water tank 9 are filled with water. During the whole process, water still enters the central water tank 3 from the main water inlet 23 to make up for the loss;

[0050] Step 4: The control device 2 controls the No. 5 electric regulating valve 37 and the No. 6 electric regulating valve 38 to close, and controls the No. 1 electric regulating valve 32, the No. 2 electric regulating valve 33, the No. 3 electric regulating valve 34 and the No. 4 electric regulating valve 35 to open the corresponding opening and closing degrees according to the set flow rate, and the central water tank 3 injects water into the first regulating water tank 11 to the fourth regulating water tank 14. At the same time, the control device 2 collects the left and right and up and down inclination data collected by the attitude sensing device 7, and adjusts the opening and closing degrees of the No. 1 electric regulating valve 32 to the No. 4 electric regulating valve 35 according to the inclination data to adjust the water inlet flow rate, so that the device reaches a balanced and stable state. When there is no flow change in the No. 1 flow meter 28 to the No. 4 flow meter 31, the floating inspection door 1 falls to the bottom, and the No. 1 electric regulating valve 32 to the No. 4 electric regulating valve 35 are closed at this time;

[0051] Step 5: When the floating inspection door 1 needs to float, the control device 2 controls the main water supply valve 24 to close, fully opens the No. 1 electric regulating valve 32, the No. 2 electric regulating valve 33, the No. 3 electric regulating valve 34, and the No. 4 electric regulating valve 35, opens the main drainage valve 26, and starts the drainage pump 6 to drain water outward. When the total drainage flow meter 27 no longer has flow data, the water in the first regulating water tank 11 to the fourth regulating water tank and the central water tank 3 is drained, the drainage pump 6 is stopped, the main drainage valve 26 is closed, and the No. 5 electric regulating valve 37 and the No. 6 electric regulating valve 38 are opened according to the set opening and closing degrees. The water in the first side water tank 8 and the second side water tank 9 is injected into the central water tank 3, and the attitude sensing device 7 collects the same The inclination data between the two side water tanks on the horizontal plane, and then control the opening and closing matching relationship between the No. 5 electric regulating valve 37 and the No. 6 electric regulating valve 38 to balance the device. When the No. 2 flow meter 29 and the No. 3 flow meter 30 no longer sense flow, it means that the water level is flat. At this time, the No. 5 electric regulating valve 37 and the No. 6 electric regulating valve 38 are fully opened, the main drain valve 26 is opened, and the drain pump 6 is started to drain water out. When the total drain flow meter 27 no longer has flow, when drainage is completed, stop the drain pump 6, close the main drain valve 26, drain is completed, and the floating inspection door 1 is floated up. Close the No. 5 electric regulating valve 37 and the No. 6 electric regulating valve 38 to return the valve to the initial state.

[0052] In the preferred solution, the specific process of the above step 4 is: the control device 2 controls the No. 5 electric regulating valve 37 and the No. 6 electric regulating valve 38 to close, controls the No. 1 electric regulating valve 32, the No. 2 electric regulating valve 33, the No. 3 electric regulating valve 34 and the No. 4 electric regulating valve 35 to open the corresponding opening and closing degrees according to the set flow rate, and the central water tank 3 injects water into the first regulating water tank 11 to the fourth regulating water tank 14. At the same time, the control device 2 collects the left and right and up and down inclination data collected by the attitude sensing device 7, and controls the No. 1 electric regulating valve 32, the No. 2 electric regulating valve 33, the No. 3 electric regulating valve 34 and the No. 4 electric regulating valve 35 according to the set flow rate. The water inlet flow is adjusted by adjusting the opening and closing degree of the No. 1 electric regulating valve 32 to the No. 4 electric regulating valve 35, so that the device reaches a balanced and stable state. At the same time, the water volume in the floating inspection door 1 is calculated according to the data collected by the No. 1 flow meter 28 to the No. 4 flow meter 31 and converted into the underwater depth of the device. When the set depth is reached, the No. 1 electric regulating valve 32, the No. 2 electric regulating valve 33, the No. 3 electric regulating valve 34 and the No. 4 electric regulating valve 35 are closed. In this process, water still enters the central water tank 3 from the main water inlet 23 to supplement the loss.

[0053] The process of step five is as follows: when the floating inspection door 1 needs to float up, the control device 2 controls the main water supply valve 24 to close, and then opens the No. 1 electric regulating valve 32, No. 2 electric regulating valve 33, No. 3 electric regulating valve 34 and No. 4 electric regulating valve 35 according to the set flow value. At this time, the device collects the inclination data of four directions on the same horizontal plane through the attitude sensing device 7, and adjusts the opening and closing degrees of the No. 1 electric regulating valve 32 to the No. 4 electric regulating valve 35 according to the inclination data to adjust the water inlet flow until the water levels of the central water tank 3 and the first regulating water tank 11 to the fourth regulating water tank 14 are flush, and then opens the main drain valve 26, starts the drainage pump 6 to drain water outward, and the control device 2 collects the total drainage flow meter 27 and calculates the volume of water discharged. When the water in the first regulating water tank 11 to the fourth regulating water tank 14 and the central water tank 3 is drained, stops the drainage pump 6, closes the main drain valve 26, closes the No. 1 electric regulating valve 32 to the No. 4 electric regulating valve 35, and then opens according to the set opening and closing degrees. The No. 5 electric regulating valve 37 and the No. 6 electric regulating valve 38, the water of the first side water tank 8 and the second side water tank 9 flows into the central water tank, and the attitude sensing device 7 collects the inclination data between the two side water tanks on the same horizontal plane, and then controls the opening and closing degree matching relationship between the No. 5 electric regulating valve 37 and the No. 6 electric regulating valve 38 to balance the device. When the No. 2 flow meter 29 and the No. 3 flow meter 30 no longer sense flow, it means that the water level is flat. At this time, the No. 5 electric regulating valve 37 and the No. 6 electric regulating valve 38 are fully opened, the main drainage valve 26 is opened, and the drainage pump 6 is started to drain water outward. When the total drainage flow meter 27 no longer has flow, the drainage is completed, the drainage pump 6 is stopped, the main drainage valve 26 is closed, the drainage is completed, the floating inspection door 1 is floated up, and the No. 1 electric regulating valve 32, the No. 2 electric regulating valve 33, the No. 3 electric regulating valve 34, the No. 4 electric regulating valve 35, the No. 5 electric regulating valve 37, and the No. 6 electric regulating valve 38 are closed to return the valve to the initial state;

[0054] In case of emergency or failure, the floating inspection door 1 can be controlled to hover at a specific depth. When floating up under specific circumstances, the water in the regulating water tank needs to be mixed with the side water tank and the central water tank to make the water level level, and then drain the water to avoid changes in the door posture due to sudden mixing of water.

Claims

1. A method for automatically controlling the sinking and floating of a floating inspection door device for a ship lock, characterized in that: The invention comprises a floating inspection door (1) and a control device (2) thereof. The floating inspection door (1) is a box-type gate. A central water tank (3) is provided in the middle of the floating inspection door (1). Side water tanks and regulating water tanks are provided on the same horizontal plane on both sides of the central water tank (3). A main water pipe (4) is provided below the central water tank (3). The main water pipe (4) runs through the entire lower part of the inspection door and is connected to the central water tank (3). The side water tanks and regulating water tanks are connected to the central water tank (3) through a bottom water supply pipe. A drainage pipe (5) and a drainage pump (6) connected to the main water pipe (4) are provided on one side of the floating inspection door (1). Electric valves are provided on each through pipe. A fixedly connected attitude sensing device (7) is provided on the floating inspection door (1). The control device (2) controls the sinking and attitude of the floating inspection door (1) through the electric valve and attitude sensing device (7) connected thereto. The control device (2) is placed in a control cabinet (10) on the floating inspection door (1). The side water tank and regulating water tank structure is as follows: a first side water tank (8) and a second side water tank (9) are provided on the same horizontal plane on both sides of the central water tank (3); a first regulating water tank (11) and a second regulating water tank (12) are provided above and below the same horizontal plane of the first side water tank (8); a third regulating water tank (13) and a fourth regulating water tank (14) are provided above and below the same horizontal plane of the second side water tank (9); the first side water tank (8) and the central water tank (3) are connected through a horizontally arranged second water supply pipe (16); and the second side water tank (11) and the second regulating water tank (12) are provided above and below the same horizontal plane of the first side water tank (8). (9) and the central water tank (3) are connected through a third water supply pipe (17) arranged in a horizontal direction, a first water supply pipe (15) is further provided between the first side water tank (8) and the central water tank (3), a fourth water supply pipe (18) is further provided between the second side water tank (9) and the central water tank (3), and a first regulating pipe (19), a second regulating pipe (20), a third regulating pipe (21) and a fourth regulating pipe (22) respectively connect the first regulating water tank (11) to the fourth regulating water tank (14) with the first water supply pipe (15) to the fourth water supply pipe (18); The control device (2) is structured as follows: a main water supply valve (24) and a main water inlet flow meter (25) are provided on one side of a main water inlet (23) of the main water pipe (4); a main drain valve (26) and a main drain flow meter (27) are provided on the drain side of the main water pipe (4); a No. 1 flow meter (28), a No. 2 flow meter (29), a No. 3 flow meter (30) and a No. 4 flow meter (31) are provided on the first water supply pipe (15) to the fourth water supply pipe (18) near the end of the central water tank (3); a No. 5 electric regulating valve (37) is provided on the second water supply pipe (16) near the end of the first side water tank (8); and a No. 6 electric regulating valve (38) is provided on the third water supply pipe (17) near the end of the first side water tank (8). ) is provided with a No. 6 electric regulating valve (38) near the end of the first side water tank (8), and the No. 1 electric regulating valve (32), the No. 2 electric regulating valve (33), the No. 3 electric regulating valve (34) and the No. 4 electric regulating valve (35) for controlling the water supply of the first regulating water tank (11) to the fourth regulating water tank (14) are provided on the first regulating pipe (19) to the fourth regulating pipe (22). The control device (2) is electrically connected to all valves and flow meters on the main water pipe (4), the first water supply pipe (15) to the fourth water supply pipe (18), and the first regulating pipe (19) to the fourth regulating pipe (22), and the drainage pump (6) is electrically connected to the control device (2); The No. 1 electric regulating valve (32), No. 2 electric regulating valve (33), No. 3 electric regulating valve (34), No. 4 electric regulating valve (35), No. 5 electric regulating valve (37) and No. 6 electric regulating valve (38) adjust the opening and closing degrees of the valves through the control device (2), thereby adjusting the filling and drainage flow rates of each water tank and automatically correcting the posture of the door body; The posture sensing device (7) is a two-axis tilt sensor, and the two-axis tilt sensor is fixed in the center above the floating inspection door (1); The specific steps of control are: Step 1: Use a tugboat to tow the floating inspection door (1) to the door slot and put it in place, and energize the control device (2); Step 2: The floating inspection door (1) is lowered, the control device (2) controls the main water supply valve (24) to open, and water enters the central water tank (3) from the main water inlet (23) of the main water pipe (4). The control device (2) calculates the water supply volume entering the central water tank (3) through the water inlet flow collected by the total water inlet flow meter (25) until the central water tank (3) is filled with water, and then proceeds to step 3; Step 3: The control device (2) controls the No. 5 electric regulating valve (37) and the No. 6 electric regulating valve (38) to open to the corresponding opening degree according to the set flow rate, and the central water tank (3) injects water into the first side water tank (8) and the second side water tank (9) through the first water supply pipe (15) to the fourth water supply pipe (18). At the same time, the control device (2) collects the inclination angle values ​​of the left and right sides collected by the attitude sensing device (7), and adjusts the opening degree of the No. 5 electric regulating valve (37) and the No. 6 electric regulating valve (38) according to the inclination angle values. At the same time, the flow data of the No. 1 flow meter (28) to the No. 4 flow meter (31) are collected to balance the water injection amount and injection speed of the left and right sides until the first side water tank (8) and the second side water tank (9) are filled with water. During the whole process, water still enters the central water tank (3) from the main water inlet (23) to make up for the loss; Step 4: The control device (2) controls the No. 5 electric regulating valve (37) and the No. 6 electric regulating valve (38) to be closed, and controls the No. 1 electric regulating valve (32), the No. 2 electric regulating valve (33), the No. 3 electric regulating valve (34) and the No. 4 electric regulating valve (35) to open the corresponding opening and closing degrees according to the set flow rate, and the central water tank (3) injects water into the first regulating water tank (11) to the fourth regulating water tank (14). At the same time, the control device (2) collects the left and right and up and down inclination data collected by the attitude sensing device (7), and adjusts the opening and closing degrees of the No. 1 electric regulating valve (32) to the No. 4 electric regulating valve (35) according to the inclination data to adjust the water inlet flow rate, so that the device reaches a balanced and stable state. When there is no flow change in the No. 1 flow meter (28) to the No. 4 flow meter (31), the floating inspection door (1) falls to the bottom, and the No. 1 electric regulating valve (32) to the No. 4 electric regulating valve (35) are closed at this time; Step 5: When the floating inspection door (1) needs to float up, the control device (2) controls the main water supply valve (24) to close, fully opens the No. 1 electric regulating valve (32), the No. 2 electric regulating valve (33), the No. 3 electric regulating valve (34), and the No. 4 electric regulating valve (35), opens the main drainage valve (26), and starts the drainage pump (6) to drain water outward. When the total drainage flow meter (27) no longer has flow data, the water in the first regulating water tank (11) to the fourth regulating water tank and the central water tank (3) is completely drained, the drainage pump (6) is stopped, the main drainage valve (26) is closed, the No. 5 electric regulating valve (37) and the No. 6 electric regulating valve (38) are opened according to the set opening and closing degrees, and the water in the first side water tank (8) and the second side water tank (9) is injected into the central water tank (3), and the attitude sensing device ( 7) Collect the inclination data between the two side water tanks on the same horizontal plane, and then control the opening and closing matching relationship between the No. 5 electric regulating valve (37) and the No. 6 electric regulating valve (38) to balance the device. When the No. 2 flow meter (29) and the No. 3 flow meter (30) no longer sense flow, it means that the water level is flat. At this time, the No. 5 electric regulating valve (37) and the No. 6 electric regulating valve (38) are fully opened, the main drainage valve (26) is opened, and the drainage pump (6) is started to drain water. When the total drainage flow meter (27) no longer has flow, the drainage is completed, the drainage pump (6) is stopped, the main drainage valve (26) is closed, the drainage is completed, the floating inspection door (1) is floated up, and the No. 5 electric regulating valve (37) and the No. 6 electric regulating valve (38) are closed to return the valves to the initial state.

2. The method for automatically controlling the sinking and floating of a floating inspection door device for a ship lock according to claim 1, characterized in that: The first water supply pipe (15) is also connected to the first side water tank (8), and a first side water tank valve (36) is provided on the first water supply pipe (15) near the end of the first side water tank (8); The fourth water supply pipe (18) is also connected to the second side water tank (9), and a second side water tank valve (39) is provided on the fourth water supply pipe (18) near the end of the first side water tank (8).

3. The method for automatically controlling the sinking and floating of a floating inspection door device for a ship lock according to claim 2, characterized in that: The control device (2) adopts a single chip microcomputer or a PLC.

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