Intelligent detection system for positioning the beam of a gantry crane for operating a stopgate in a hydropower station and its use method

Abstract

The present invention discloses an intelligent detection system and a method for using the same for positioning the grab beam of a stacked beam door operating gantry crane in a hydropower station, including a data acquisition subsystem and a fault diagnosis subsystem; the data acquisition subsystem is composed of an industrial control board, a pressure sensor assembly, a magnetic ring sensor assembly and a permanent magnet assembly; the pressure sensor assembly, the magnetic ring sensor assembly and the permanent magnet assembly are respectively mounted on the grab beam and the stacked beam door, and are used to collect data related to the positioning and pinning process between the grab beam and the stacked beam door, and transmit the collected related data to the industrial control board; the fault diagnosis subsystem is composed of a hardware module and a diagnosis module. Through this detection system, the combination state of the grab beam and the stacked beam door can be monitored in real time, thereby providing a basis for the driver to accurately control the stacked beam door, and providing data support for further improving the accuracy of the intelligent grab beam grabbing stacked beam door in the future.

Description

Technical Field

[0001] The present invention belongs to the field of automatic detection technology, and more specifically relates to the design and preparation of an intelligent detection system for positioning a beam of a stopcock operating gantry crane in a hydropower station and a use method thereof. Background Art

[0002] The stratified water intake structure at the water inlet of a hydropower station has become an important part of the eco-friendly practice of hydropower. Due to its relatively small investment, strong adaptability to reservoir water level changes, and flexible operation, the stratified water intake with stoplog gates is widely used in the design of the inlet of large power stations. In the prior art, the stratified water intake at the water inlet of a hydropower station is mainly achieved by hoisting the stoplog gates with a gantry crane.

[0003] At present, most of the gantry cranes in hydropower stations use hydraulic grab beams. When the grab beam is submerged in water, how to ensure the stable and accurate connection and disconnection between the grab beam and the gate underwater is related to whether the gate can be normally raised and lowered, which is the key to the entire lifting work. The grab beam works in an environment of more than 10 meters to more than 100 meters underwater. The working conditions are complicated. Various uncertain factors such as broken branches, rotten leaves and some domestic garbage may block the pin holes, which makes the underwater opening and closing of the gate in a state that cannot be fully controlled, which greatly increases the difficulty of the ecological water diversion work of the hydropower station. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent detection system for positioning the grab beam of a gantry crane for operating the stacked beam doors of a hydropower station and a method for using the same. Through this detection system, the combination status of the grab beam and the stacked beam doors can be monitored in real time, thereby providing a basis for the driver to accurately control the stacked beam doors, and providing data support for further improving the accuracy of the intelligent grab beam grabbing stacked beam doors in the future.

[0005] In order to achieve the above technical effects, the present invention provides an intelligent detection system for positioning the beam of a stopgate operating gantry crane in a hydropower station, including a data acquisition subsystem and a fault diagnosis subsystem;

[0006] The data acquisition subsystem is composed of an industrial control board, a pressure sensor assembly, a magnetic ring sensor assembly and a permanent magnet assembly; the pressure sensor assembly, the magnetic ring sensor assembly and the permanent magnet assembly are respectively mounted on the grab beam and the stop beam door, and are used to collect data related to the positioning and pinning process between the grab beam and the stop beam door, and transmit the collected relevant data to the industrial control board;

[0007] The fault diagnosis subsystem is composed of a hardware module and a diagnosis module;

[0008] The hardware module adopts an industrial computer, which is connected to the industrial control board of the data acquisition subsystem and is used to receive the relevant data collected by the data acquisition subsystem;

[0009] The diagnostic module consists of two parts: a network layer and an application layer; the network layer is used to receive relevant data acquired by the hardware module, process the relevant data, and send the identified relevant data to the application layer; the application layer performs logical judgment on the processed relevant data to determine whether to issue an alarm signal.

[0010] The pressure sensor assembly includes a left pressure sensor and a right pressure sensor; the left pressure sensor is installed inside the left hydraulic cylinder of the grab beam, and is used to monitor the pressure signal inside the left hydraulic cylinder to determine whether the left pin is stuck; the right pressure sensor is installed inside the right hydraulic cylinder of the grab beam, and is used to monitor the pressure signal inside the right hydraulic cylinder to determine whether the right pin is stuck.

[0011] The magnetic ring sensor assembly includes a left positioning pin No. 1 magnetic ring sensor and a left positioning pin No. 2 magnetic ring sensor installed on the left positioning pin; and includes a right positioning pin No. 1 magnetic ring sensor and a right positioning pin No. 2 magnetic ring sensor installed on the right positioning pin;

[0012] It includes a left side No. 1 magnetic ring sensor and a left side No. 2 magnetic ring sensor installed on the left side through pin; it includes a right side No. 1 magnetic ring sensor and a right side No. 2 magnetic ring sensor installed on the right side through pin.

[0013] The permanent magnet assembly includes a left-side No. 2 permanent magnet installed on the left-side positioning pin hole of the stoplog door, and the left-side No. 2 permanent magnet cooperates with the left-side positioning pin No. 1 magnetic ring sensor and the left-side positioning pin No. 2 magnetic ring sensor of the magnetic ring sensor assembly to determine the position of the left-side positioning pin;

[0014] It includes a right No. 2 permanent magnet installed on the right positioning pin hole of the stoplog door, the right No. 2 permanent magnet cooperates with the right positioning pin No. 1 magnetic ring sensor and the right positioning pin No. 2 magnetic ring sensor of the magnetic ring sensor assembly, and determines the position of the right positioning pin;

[0015] It includes a left No. 1 permanent magnet installed on the left pin hole of the stoplog door, the left No. 1 permanent magnet cooperates with the left No. 1 magnetic ring sensor and the left No. 2 magnetic ring sensor of the magnetic ring sensor assembly to determine the position of the left pin;

[0016] It includes a right side No. 1 permanent magnet installed on the right side pin hole of the stacked beam door. The right side No. 1 permanent magnet cooperates with the right side No. 1 magnetic ring sensor and the right side No. 2 magnetic ring sensor of the magnetic ring sensor assembly to determine the position of the right side pin.

[0017] Determination method of intelligent detection system for positioning of stopcock gates in hydropower station:

[0018] After the intelligent detection system is started, the stopgate door starts to position, the running height h of the grab beam is certain, and the falling speed v is certain. If no signal is obtained from the magnetic ring sensor No. 2 of the right positioning pin and the magnetic ring sensor No. 2 of the left positioning pin within the time h / v, it means that the stopgate door has failed to position and needs to be repositioned. If there is a signal on the magnetic ring sensor No. 2 of the right positioning pin and the magnetic ring sensor No. 2 of the left positioning pin within the specified time, it means that the stopgate door has been positioned successfully;

[0019] After the threading pin starts working, within the working time for the threading pin to complete the work, there are no signals from the left side magnetic ring sensor No. 1, the left side magnetic ring sensor No. 2, the right side magnetic ring sensor No. 1 and the right side magnetic ring sensor No. 2, and the values ​​of the left positioning pin No. 1 magnetic ring sensor and the left positioning pin No. 2 magnetic ring sensor increase, indicating that a foreign object is stuck in the threading pin or the threading pin hole is blocked, the system sounds an alarm, and the staff goes into the water to clean the threading pin hole, and then the threading pin works again; if the values ​​of the left positioning pin No. 1 magnetic ring sensor and the left positioning pin No. 2 magnetic ring sensor are normal but there is no threading pin signal, it means that the left side permanent magnet No. 1 and the right side permanent magnet No. 1 may fall off, and personnel need to go into the water to repair the permanent magnets; when the threading pin signal is normal and the pressure sensor value is also normal, it indicates that the threading work has been completed and the system operation is ended.

[0020] The left positioning pin No. 1 magnetic ring sensor and the left positioning pin No. 2 magnetic ring sensor are used to judge whether the left positioning pin enters the positioning pin hole and reaches the specified position respectively;

[0021] The right positioning pin No. 1 magnetic ring sensor and the right positioning pin No. 2 magnetic ring sensor are used to judge whether the right positioning pin enters the positioning pin hole and reaches the specified position respectively;

[0022] The left side magnetic ring sensor No. 1 and the left side magnetic ring sensor No. 2 are used to judge whether the left side pin has entered the pin hole and reached the specified position respectively;

[0023] The right side No. 1 magnetic ring sensor and the right side No. 2 magnetic ring sensor are used to judge whether the right side through-pin enters the through-pin hole and whether it reaches the specified position respectively.

[0024] The method for using the intelligent detection system for positioning the beam of a stopcock door operator in a hydropower station comprises the following steps:

[0025] Step 1: Two magnetic rings will be installed on each locating pin, namely, magnetic ring sensor No. 1 on the left locating pin, magnetic ring sensor No. 2 on the left locating pin, magnetic ring sensor No. 1 on the right locating pin, and magnetic ring sensor No. 2 on the right locating pin; magnetic ring sensor No. 1 on the left locating pin and magnetic ring sensor No. 1 on the right locating pin are installed at the bottom of the locating pin trunk to determine whether the locating pin enters the pin hole of the stacked beam door; the installation position of magnetic ring sensor No. 2 on the left locating pin and magnetic ring sensor No. 2 on the right locating pin is the position where the locating pin is located when the locating pin of the grab beam is aligned with the pin hole of the stacked beam door;

[0026] Step 2: The right side pin needs to be installed at the hydraulic cylinder with the right side pressure sensor, the right side magnetic ring sensor No. 1, the right side magnetic ring sensor No. 2 and the right side permanent magnet No. 1; the left side pin needs to be installed at the hydraulic cylinder with the left side pressure sensor, the left side magnetic ring sensor No. 1, the left side magnetic ring sensor No. 2 and the left side permanent magnet No. 1; the right side permanent magnet No. 1 and the left side permanent magnet No. 1 are installed at the exit of the pin hole of the grab beam respectively. Since the permanent magnet cannot bear the force, the diameter of the permanent magnet should be larger than the pin hole of the stacked beam door. The right side pressure sensor and the left side pressure sensor are installed inside the hydraulic cylinder. The required signals and power supply are used together with the power supply of the hydraulic cylinder. When working, the magnetic ring sensor attached to the surface of the pin and the pressure sensor realize common communication;

[0027] Step 3: All sensors are used as information collection modules, and the industrial computer is used as an information processing module. The industrial computer is installed in the control area of ​​the gantry crane to provide real-time feedback on the working status of the grab beam;

[0028] Step 4: The interior of the stacked beam door is hollow, and the industrial control board is installed inside the stacked beam door;

[0029] Step 5: After the gantry crane starts working, all the magnetic ring sensors on the gantry crane are connected to the power supply, and the grab beam starts to run; first, the stacked beam door is positioned. When the magnetic ring sensor No. 1 on the left positioning pin and the magnetic ring sensor No. 1 on the right positioning pin correspond to the No. 2 permanent magnet on the left and the No. 2 permanent magnet on the right fixed on the stacked beam door, the magnetic field of the permanent magnet intersects with the magnetic field on the magnetic ring sensor, and a strain pulse will be returned to the magnet detection device. At this time, the magnetic ring sensor converts the magnetic field signal into an electrical signal, which is uploaded to the industrial control board by the connecting line. The industrial control board processes the signal and uploads it to the industrial computer. When the industrial computer receives this signal, it judges the signal according to the logic in the system judgment method. When the magnetic ring sensor No. 1 on the left positioning pin and the magnetic ring sensor No. 1 on the right positioning pin correspond to the No. 2 permanent magnet on the left and the No. 2 permanent magnet on the right After the magnetic ring sensors simultaneously obtain signals, the grab beam continues to work and moves downward. After the magnetic fields of permanent magnet No. 2 on the left and permanent magnet No. 2 on the right intersect with the magnetic fields on magnetic ring sensor No. 2 on the left and positioning pin No. 2 on the right, the magnetic ring sensor will transmit an electrical signal back for the second time. When the industrial control board uploads this signal to the industrial computer, the industrial computer issues a command to stop the positioning pin from working; the threading pin starts to work, and the pressure sensor at the threading pin hydraulic cylinder and the magnetic ring sensor on the outer wall of the threading pin begin to obtain the threading pin's signal. The connecting line uploads the obtained signal to the industrial computer, and then the signal is judged according to the system judgment method. When the data signals of the pressure sensor and the magnetic ring sensor are normal, it indicates that the threading pin has accurately entered the pin hole, the system is finished working, and the grab beam lifts the stacked beam door.

[0030] In general, the above technical solution conceived by the present invention has the following technical advantages compared with the prior art:

[0031] 1. This detection system can monitor the combination status of the grab beam and the stacked beam door in real time, thereby providing a basis for the driver to accurately control the stacked beam door, and providing data support for further improving the accuracy of the grab beam intelligent grabbing stacked beam door in the future.

[0032] 2. The above-mentioned pressure sensor assembly can be used to detect whether the pin is stuck. If the pressure sensor value is normal but there is no pin signal, it means that the permanent magnet may fall off and personnel need to go into the water to repair the permanent magnet. When the pin signal is normal and the pressure sensor value is also normal, it means that the MLM work has been completed and the system operation is over.

[0033] 3. The above-mentioned magnetic ring sensor assembly can be used to detect the positions of the corresponding positioning pins and through pins in the corresponding pin holes.

[0034] 4. The above-mentioned permanent magnet assembly can cooperate with the corresponding magnetic ring sensor to determine the corresponding pin shaft position. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] Figure 1 It is a diagram of the intelligent detection system of the present invention.

[0037] Figure 2 It is a flow chart of the determination method of the system of the present invention.

[0038] Figure 3 It is a schematic diagram of the installation of the through pin and positioning pin data acquisition device of the present invention.

[0039] Figure 4 The present invention Figure 3 Partial view of center A.

[0040] In the figure: 1. industrial computer, 2. industrial control board, 3. right side pressure sensor, 4. right side magnetic ring sensor No. 1, 5. right side permanent magnet No. 1, 6. right side magnetic ring sensor No. 2, 7. right side positioning pin No. 2 magnetic ring sensor, 8. right side permanent magnet No. 2, 9. right side positioning pin No. 1 magnetic ring sensor, 10. left side pressure sensor, 11. left side permanent magnet No. 1, 12. left side magnetic ring sensor No. 1, 13. left side magnetic ring sensor No. 2, 14. left side positioning pin No. 2 magnetic ring sensor, 15. left side permanent magnet No. 2, 16. left side positioning pin No. 1 magnetic ring sensor, 17. grab beam, 18. right side positioning pin, 19. stacked beam door, 20. left side hydraulic cylinder, 21. left side through pin. DETAILED DESCRIPTION

[0041] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0042] Embodiment 1:

[0043] See also Figure 1-4, an intelligent detection system for positioning the grab beam of a gantry crane for operating a stacked beam door in a hydropower station, comprising a data acquisition subsystem and a fault diagnosis subsystem; the data acquisition subsystem is composed of an industrial control board 2, a pressure sensor assembly, a magnetic ring sensor assembly and a permanent magnet assembly; the pressure sensor assembly, the magnetic ring sensor assembly and the permanent magnet assembly are respectively mounted on the grab beam 17 and the stacked beam door 19, and are used to collect data related to the positioning and pinning process between the grab beam 17 and the stacked beam door 19, and transmit the collected relevant data to the industrial control board 2; the fault diagnosis subsystem is composed of a hardware module and a diagnosis module; the hardware module adopts an industrial computer 1, which is connected to the industrial control board 2 of the data acquisition subsystem and is used to receive the relevant data collected by the data acquisition subsystem; the diagnosis module is composed of two parts: a network layer and an application layer; the network layer is used to receive the relevant data obtained by the hardware module, process the relevant data, and send the identified relevant data to the application layer; the application layer is to perform logical judgment on the processed relevant data whether to issue an alarm signal. This detection system can monitor the combination status of the grab beam and the stacking beam door in real time, thereby providing a basis for the driver to accurately operate the stacking beam door, and providing data support for further improving the accuracy of the intelligent grab beam grabbing stacking beam door in the future.

[0044] Furthermore, the pressure sensor assembly includes a left pressure sensor 10 and a right pressure sensor 3; the left pressure sensor 10 is installed inside the left hydraulic cylinder 20 of the grab beam 17, and is used to monitor the pressure signal inside the left hydraulic cylinder 20 to determine whether the left through pin is blocked; the right pressure sensor 3 is installed inside the right hydraulic cylinder of the grab beam 17, and is used to monitor the pressure signal inside the right hydraulic cylinder to determine whether the right through pin is blocked. By adopting the above-mentioned pressure sensor assembly, it can be used to detect whether the through pin is blocked. If the pressure sensor value is normal but the through pin signal is absent, it means that the permanent magnet may fall off, and personnel need to go into the water to inspect the permanent magnet. When the through pin signal is normal and the pressure sensor value is also normal, it means that the pyramid selling work has been completed and the system operation is terminated.

[0045] Further, the magnetic ring sensor assembly includes a left positioning pin No. 1 magnetic ring sensor 16 and a left positioning pin No. 2 magnetic ring sensor 14 installed on the left positioning pin; includes a right positioning pin No. 1 magnetic ring sensor 9 and a right positioning pin No. 2 magnetic ring sensor 7 installed on the right positioning pin 18; includes a left magnetic ring sensor No. 1 12 and a left magnetic ring sensor No. 2 13 installed on the left through pin 21; includes a right magnetic ring sensor No. 1 4 and a right magnetic ring sensor No. 2 6 installed on the right through pin. The magnetic ring sensor assembly can be used to detect the positions of the corresponding positioning pins and through pins in the corresponding pin holes.

[0046] Further, the permanent magnet assembly includes a left side No. 2 permanent magnet 15 installed on the left side positioning pin hole of the stacked beam door, and the left side No. 2 permanent magnet 15 cooperates with the left side positioning pin No. 1 magnetic ring sensor 16 and the left side positioning pin No. 2 magnetic ring sensor 14 of the magnetic ring sensor assembly, and determines the position of the left side positioning pin; includes a right side No. 2 permanent magnet 8 installed on the right side positioning pin hole of the stacked beam door, and the right side No. 2 permanent magnet 8 cooperates with the right side positioning pin No. 1 magnetic ring sensor 9 and the right side positioning pin No. 2 magnetic ring sensor 7 of the magnetic ring sensor assembly, And judge the position of the right positioning pin 18; including the left No. 1 permanent magnet 11 installed on the left pin hole of the stacked beam door, the left No. 1 permanent magnet 11 cooperates with the left No. 1 magnetic ring sensor 12 and the left No. 2 magnetic ring sensor 13 of the magnetic ring sensor assembly, and judges the position of the left through pin 21; including the right No. 1 permanent magnet 5 installed on the right pin hole of the stacked beam door, the right No. 1 permanent magnet 5 cooperates with the right No. 1 magnetic ring sensor 4 and the right No. 2 magnetic ring sensor 6 of the magnetic ring sensor assembly, and judges the position of the right through pin. The above-mentioned permanent magnet assembly can cooperate with the corresponding magnetic ring sensor to determine the corresponding pin shaft position.

[0047] Embodiment 2:

[0048] Determination method of intelligent detection system for positioning of stopcock gates in hydropower station:

[0049] After the intelligent detection system is started, the stopgate door starts to position, the running height h of the grab beam is certain, and the falling speed v is certain. If no signal is obtained from the right positioning pin No. 2 magnetic ring sensor 7 and the left positioning pin No. 2 magnetic ring sensor 14 within the time h / v, it means that the stopgate door has failed to position and needs to be repositioned. If there is a signal from the right positioning pin No. 2 magnetic ring sensor 7 and the left positioning pin No. 2 magnetic ring sensor 14 within the specified time, it means that the stopgate door has been successfully positioned.

[0050] After the threading pin starts working, within the working time for the threading pin to complete the work, there are no signals from the left side magnetic ring sensor 12 No. 1, the left side magnetic ring sensor 13 No. 2, the right side magnetic ring sensor 4 No. 1 and the right side magnetic ring sensor 6 No. 2, and the values ​​of the left positioning pin No. 1 magnetic ring sensor 16 and the left positioning pin No. 2 magnetic ring sensor 14 increase, indicating that a foreign object is stuck in the threading pin or the threading pin hole is blocked, and the system sounds an alarm, and the staff goes into the water to clean the threading pin hole, and then the threading pin works again; if the values ​​of the left positioning pin No. 1 magnetic ring sensor 16 and the left positioning pin No. 2 magnetic ring sensor 14 are normal but there is no threading pin signal, it means that the left side permanent magnet 11 No. 1 and the right side permanent magnet 5 may fall off, and personnel need to go into the water to repair the permanent magnets; when the threading pin signal is normal and the pressure sensor value is also normal, it indicates that the threading work has been completed and the system operation is ended.

[0051] The left-side locating pin No. 1 magnetic ring sensor 16 and the left-side locating pin No. 2 magnetic ring sensor 14 are respectively used to determine whether the left-side locating pin enters the locating pin hole and whether it reaches the specified position; the right-side locating pin No. 1 magnetic ring sensor 9 and the right-side locating pin No. 2 magnetic ring sensor 7 are respectively used to determine whether the right-side locating pin enters the locating pin hole and whether it reaches the specified position; the left-side magnetic ring sensor No. 12 and the left-side magnetic ring sensor No. 2 13 are respectively used to determine whether the left-side through pin 21 enters the through pin hole and whether it reaches the specified position; the right-side magnetic ring sensor No. 1 4 and the right-side magnetic ring sensor No. 2 6 are respectively used to determine whether the right-side through pin enters the through pin hole and whether it reaches the specified position.

[0052] Embodiment 3:

[0053] The method for using the intelligent detection system for positioning the beam of a stopcock door operator in a hydropower station comprises the following steps:

[0054] Step 1: Two magnetic rings will be installed on each locating pin, namely, magnetic ring sensor No. 1 16 for the left locating pin, magnetic ring sensor No. 2 14 for the left locating pin, magnetic ring sensor No. 1 9 for the right locating pin, and magnetic ring sensor No. 2 7 for the right locating pin; magnetic ring sensor No. 1 16 for the left locating pin and magnetic ring sensor No. 1 9 for the right locating pin are installed at the bottom end of the locating pin trunk to determine whether the locating pin enters the pin hole of the stacked beam door; the installation position of magnetic ring sensor No. 2 14 for the left locating pin and magnetic ring sensor No. 2 7 for the right locating pin is the position where the locating pin is located when the locating pin of the grab beam is aligned with the pin hole of the stacked beam door;

[0055] Step 2: The right side pin needs to be installed with the right side pressure sensor 3, the right side No. 1 magnetic ring sensor 4, the right side No. 2 magnetic ring sensor 6 and the right side No. 1 permanent magnet 5 at the hydraulic cylinder; the left side pin needs to be installed with the left side pressure sensor 10, the left side No. 1 magnetic ring sensor 12, the left side No. 2 magnetic ring sensor 13 and the left side No. 1 permanent magnet 11 at the hydraulic cylinder; the right side No. 1 permanent magnet 5 and the left side No. 1 permanent magnet 11 are correspondingly installed at the exit of the pin hole of the grab beam. Since the permanent magnet cannot withstand force, the diameter of the permanent magnet should be larger than the pin hole of the stacked beam door. The right side pressure sensor 3 and the left side pressure sensor 10 are installed inside the hydraulic cylinder. The required signals and power supply are used together with the power supply of the hydraulic cylinder. When working, the magnetic ring sensor and the pressure sensor attached to the surface of the pin realize common communication;

[0056] Step 3: All sensors are used as information collection modules, and the industrial computer 1 is used as an information processing module. The installation location of the industrial computer 1 is in the control area of ​​the gantry crane, which is used to provide real-time feedback on the working status of the grab beam;

[0057] Step 4: The interior of the stacked beam door is hollow, and the industrial control board is installed inside the stacked beam door;

[0058] Step 5: After the gantry crane starts working, all the magnetic ring sensors on the gantry crane are connected to the power supply, and the grab beam starts to run; first, the stacking beam door is positioned, when the left positioning pin No. 1 magnetic ring sensor 16 and the right positioning pin No. 1 magnetic ring sensor 9 on the positioning pin correspond to the left No. 2 permanent magnet 15 and the right No. 2 permanent magnet 8 fixed on the stacking beam door, the permanent magnet magnetic field and the magnetic field on the magnetic ring sensor intersect, and a strain pulse will be returned to the magnet detection device. At this time, the magnetic ring sensor converts the magnetic field signal into an electrical signal, which is uploaded to the industrial control board 2 by the connecting line. The industrial control board 2 processes the signal and uploads it to the industrial computer 1. When the industrial computer 1 receives the signal, the industrial computer 1 judges the signal according to the logic in the system judgment method. When the left positioning pin No. 1 magnetic ring sensor 16 and the right positioning pin No. 1 magnetic ring sensor 9 on the positioning pin correspond to the left No. 2 permanent magnet 15 and the right No. 2 permanent magnet 8 fixed on the stacking beam door, the permanent magnet magnetic field and the magnetic field on the magnetic ring sensor intersect, and a strain pulse will be returned to the magnet detection device. At this time, the magnetic ring sensor converts the magnetic field signal into an electrical signal, which is uploaded to the industrial control board 2 by the connecting line. The industrial control board 2 processes the signal and uploads it to the industrial computer 1. When the industrial computer 1 receives the signal, the industrial computer 1 judges the signal according to the logic in the system judgment method. After the No. 1 magnetic ring sensor 9 obtains the signal at the same time, the grab beam continues to work and moves downward. After the magnetic fields of the No. 2 permanent magnet 15 on the left and the No. 2 permanent magnet 8 on the right intersect with the magnetic fields on the left positioning pin No. 2 magnetic ring sensor 14 and the right positioning pin No. 2 magnetic ring sensor 7, the magnetic ring sensor will send back an electrical signal for the second time. When the industrial control board 2 uploads this signal to the industrial computer 1, the industrial computer 1 issues a command to stop the positioning pin from working; the threading pin starts to work, and the pressure sensor at the threading pin hydraulic cylinder and the magnetic ring sensor on the outer wall of the threading pin begin to obtain the signal of the threading pin. The connecting line uploads the obtained signal to the industrial computer, and then the signal is judged according to the system judgment method. When the data signals of the pressure sensor and the magnetic ring sensor are normal, it indicates that the threading pin has accurately entered the pin hole, the system is finished working, and the grab beam lifts the stacked beam door.

[0059] Embodiment 4:

[0060] The embodiment is applied in the field of cranes. When the driver is driving the crane to lift the stop beam door, since the present invention can provide the combination status of the grab beam and the stop beam door in real time, a system that can monitor the combination status of the grab beam and the stop beam door in real time can provide a basis for the driver to accurately control the stop beam door. Figure 3 Install on the grab beam in the following way Figure 1 For the system components shown in the figure, if the stoplog door is located at a position of 100m underwater, and the speed of the grab beam underwater is usually 0.6m / s, it will take about 2 minutes and 46 seconds for the grab beam to reach the specified position at the stoplog door. The speed of the grab beam during positioning is 0.5~1.5m / min, so it will take at most about 3 minutes and 46 seconds for the grab beam to enter the water and for the locating pin to enter the pin hole. After this time, the industrial computer will send a prompt signal, indicating that the locating pin needs to be repositioned.

[0061] After that, the grab beam stops moving, the pin runs, and the stacking beam door is ready to be lifted. Usually, when the hydraulic cylinder pushes the pin at a constant speed, the pressure is constant, and the signal feedback can be achieved within about 30 seconds. If the pressure sensor is normal but there is no feedback electrical signal within the specified time, the industrial computer will send a prompt signal, and the magnetic ring may have fallen off and needs to be repaired. If there is a normal electrical signal within the specified time but the pressure sensor increases, the industrial computer will send a prompt signal, indicating that there is a foreign object blocking the pin hole, and prompting the staff to clean up the foreign object. If there is a normal electrical signal within the specified time and the pressure sensor is also normal, the industrial computer will prompt that the system is working normally and the work is completed.

Claims

1. An intelligent detection system for positioning the beams of a stopgate operator in a hydropower station, characterized in that: Including data acquisition subsystem and fault diagnosis subsystem; The data acquisition subsystem is composed of an industrial control board (2), a pressure sensor assembly, a magnetic ring sensor assembly and a permanent magnet assembly; the pressure sensor assembly, the magnetic ring sensor assembly and the permanent magnet assembly are respectively mounted on the grab beam (17) and the stop beam door (19) and are used to collect data related to the positioning and pinning process between the grab beam (17) and the stop beam door (19), and transmit the collected relevant data to the industrial control board (2); The fault diagnosis subsystem is composed of a hardware module and a diagnosis module; The hardware module adopts an industrial control computer (1), which is connected to an industrial control board (2) of a data acquisition subsystem and is used to receive relevant data collected by the data acquisition subsystem; The diagnostic module consists of two parts: a network layer and an application layer; the network layer is used to receive the relevant data obtained by the hardware module, process the relevant data, and send the identified relevant data to the application layer; the application layer is used to perform logical judgment on the processed relevant data to determine whether to issue an alarm signal; The magnetic ring sensor assembly comprises a left positioning pin No. 1 magnetic ring sensor (16) and a left positioning pin No. 2 magnetic ring sensor (14) installed on the left positioning pin; and comprises a right positioning pin No. 1 magnetic ring sensor (9) and a right positioning pin No. 2 magnetic ring sensor (7) installed on the right positioning pin (18); It includes a left-side No. 1 magnetic ring sensor (12) and a left-side No. 2 magnetic ring sensor (13) installed on a left-side through pin (21); and includes a right-side No. 1 magnetic ring sensor (4) and a right-side No. 2 magnetic ring sensor (6) installed on a right-side through pin; The permanent magnet assembly comprises a left-side No. 2 permanent magnet (15) mounted on a left-side positioning pin hole of the stoplog door, the left-side No. 2 permanent magnet (15) cooperates with a left-side positioning pin No. 1 magnetic ring sensor (16) and a left-side positioning pin No. 2 magnetic ring sensor (14) of the magnetic ring sensor assembly, and determines the position of the left-side positioning pin; The invention comprises a right side No. 2 permanent magnet (8) installed on the right side positioning pin hole of the stoplog door, the right side No. 2 permanent magnet (8) cooperates with the right side positioning pin No. 1 magnetic ring sensor (9) and the right side positioning pin No. 2 magnetic ring sensor (7) of the magnetic ring sensor assembly, and determines the position of the right side positioning pin (18); The invention comprises a left-side No. 1 permanent magnet (11) installed on the left-side through-pin hole of the stoplog door, wherein the left-side No. 1 permanent magnet (11) cooperates with the left-side No. 1 magnetic ring sensor (12) and the left-side No. 2 magnetic ring sensor (13) of the magnetic ring sensor assembly to determine the position of the left-side through-pin (21); The invention comprises a right side No. 1 permanent magnet (5) installed on the right side pin hole of the stopcock door, wherein the right side No. 1 permanent magnet (5) cooperates with the right side No. 1 magnetic ring sensor (4) and the right side No. 2 magnetic ring sensor (6) of the magnetic ring sensor assembly to determine the position of the right side pin.

2. The intelligent detection system for positioning the stoplog door operator's beam grabber according to claim 1 is characterized in that: The pressure sensor assembly comprises a left pressure sensor (10) and a right pressure sensor (3); the left pressure sensor (10) is installed inside a left hydraulic cylinder (20) of a gripping beam (17) and is used to monitor the pressure signal inside the left hydraulic cylinder (20) to determine whether a left through pin is stuck; the right pressure sensor (3) is installed inside a right hydraulic cylinder of the gripping beam (17) and is used to monitor the pressure signal inside the right hydraulic cylinder to determine whether a right through pin is stuck.

3. The determination method of the intelligent detection system for the positioning of the stopcock of a hydropower station according to any one of claims 1 to 2, characterized in that: After the intelligent detection system is started, the stopgate door starts to position, the operating height h of the grab beam is constant, and the falling speed v is constant. If no signal is obtained from the right positioning pin No. 2 magnetic ring sensor (7) and the left positioning pin No. 2 magnetic ring sensor (14) within the time h / v, it means that the stopgate door has failed to position and needs to be repositioned. If a signal is obtained from the right positioning pin No. 2 magnetic ring sensor (7) and the left positioning pin No. 2 magnetic ring sensor (14) within the specified time, it means that the stopgate door has been successfully positioned. After the threading pin starts working, within the working time of the threading pin completing the work, the left side No. 1 magnetic ring sensor (12), the left side No. 2 magnetic ring sensor (13), the right side No. 1 magnetic ring sensor (4) and the right side No. 2 magnetic ring sensor (6) have no signals, and the values ​​of the left side positioning pin No. 1 magnetic ring sensor (16) and the left side positioning pin No. 2 magnetic ring sensor (14) increase, indicating that a foreign object is stuck in the threading pin or the threading pin hole is blocked, and the system sends out an alarm, and the staff goes into the water to clean the threading pin hole, and then the threading pin works again; if the values ​​of the left side positioning pin No. 1 magnetic ring sensor (16) and the left side positioning pin No. 2 magnetic ring sensor (14) are normal but there is no threading pin signal, it means that the left side No. 1 permanent magnet (11) and the right side No. 1 permanent magnet (5) may fall off, and personnel need to go into the water to repair the permanent magnets; when the threading pin signal is normal and the pressure sensor value is also normal, it means that the threading pin work has been completed and the system operation ends.

4. The determination method of the intelligent detection system for the positioning of the stopcock of a hydropower station according to claim 3 is characterized by: The left positioning pin No. 1 magnetic ring sensor (16) and the left positioning pin No. 2 magnetic ring sensor (14) are used to judge whether the left positioning pin has entered the positioning pin hole and whether it has reached the designated position respectively; The right positioning pin No. 1 magnetic ring sensor (9) and the right positioning pin No. 2 magnetic ring sensor (7) are used to judge whether the right positioning pin has entered the positioning pin hole and whether it has reached the designated position respectively; The left side No. 1 magnetic ring sensor (12) and the left side No. 2 magnetic ring sensor (13) are used to judge whether the left side through-pin (21) has entered the through-pin hole and whether it has reached the designated position respectively; The right side No. 1 magnetic ring sensor (4) and the right side No. 2 magnetic ring sensor (6) are used to judge whether the right side through-pin has entered the through-pin hole and whether it has reached the designated position, respectively.

5. The method for using the intelligent detection system for positioning the stopcock of a hydropower station stopcock according to claim 2, characterized in that: The following steps are involved: Step 1: Two magnetic rings are installed on each positioning pin, namely, magnetic ring sensor No. 1 (16) of the left positioning pin, magnetic ring sensor No. 2 (14) of the left positioning pin, magnetic ring sensor No. 1 (9) of the right positioning pin, and magnetic ring sensor No. 2 (7) of the right positioning pin; the magnetic ring sensor No. 1 (16) of the left positioning pin and the magnetic ring sensor No. 1 (9) of the right positioning pin are installed at the bottom end of the main trunk of the positioning pin, and are used to determine whether the positioning pin enters the pin hole of the stop beam door; the installation position of the magnetic ring sensor No. 2 (14) of the left positioning pin and the magnetic ring sensor No. 2 (7) of the right positioning pin is the position where the positioning pin is located when the positioning pin of the grab beam is aligned with the pin hole of the stop beam door; Step 2: The right side pin needs to be installed with a right side pressure sensor (3), a right side No. 1 magnetic ring sensor (4), a right side No. 2 magnetic ring sensor (6) and a right side No. 1 permanent magnet (5) at the hydraulic cylinder; the left side pin needs to be installed with a left side pressure sensor (10), a left side No. 1 magnetic ring sensor (12), a left side No. 2 magnetic ring sensor (13) and a left side No. 1 permanent magnet (11) at the hydraulic cylinder; the right side No. 1 permanent magnet (5) and the left side No. 1 permanent magnet (11) are installed at the exit of the pin hole of the grab beam respectively. Since the permanent magnet cannot bear the force, the diameter of the permanent magnet should be larger than the pin hole of the stacked beam door. The right side pressure sensor (3) and the left side pressure sensor (10) are installed inside the hydraulic cylinder. The required signals and power are used together with the power supply of the hydraulic cylinder. When working, the magnetic ring sensor attached to the surface of the pin and the pressure sensor realize common communication; Step 3: All sensors are used as information collection modules, and the industrial computer (1) is used as an information processing module. The industrial computer (1) is installed in the control area of ​​the gantry crane to provide real-time feedback on the working status of the grab beam; Step 4: The interior of the stacked beam door is hollow, and the industrial control board is installed inside the stacked beam door; Step 5: After the gantry crane starts working, all the magnetic ring sensors on the gantry crane are connected to the power supply, and the grab beam starts to operate; first, the stacking beam door is positioned. When the left positioning pin No. 1 magnetic ring sensor (16) and the right positioning pin No. 1 magnetic ring sensor (9) on the positioning pin pass through the left permanent magnet No. 2 (15) and the right permanent magnet No. 2 (8) fixed on the stacking beam door, the permanent magnet magnetic field and the magnetic field on the magnetic ring sensor intersect, and a strain pulse is returned to the magnet detection device. At this time, the magnetic ring sensor converts the magnetic field signal into an electrical signal and uploads it to the industrial control board (2) through the connecting line. The industrial control board (2) processes the signal and uploads it to the industrial control computer (1). When the industrial control computer (1) receives the signal, the industrial control computer (1) judges the signal according to the logic in the system judgment method. When the left positioning pin No. 1 magnetic ring sensor (16) and the right positioning pin No. 1 magnetic ring sensor (9) pass through the left permanent magnet No. 2 (15) and the right permanent magnet No. 2 (8) fixed on the stacking beam door, the permanent magnet magnetic field and the magnetic field on the magnetic ring sensor intersect, and a strain pulse is returned to the magnet detection device. After the No. 1 magnetic ring sensor (9) of the positioning pin obtains the signal at the same time, the grab beam continues to work and moves downward. After the magnetic fields of the No. 2 permanent magnet (15) on the left and the No. 2 permanent magnet (8) on the right intersect with the magnetic fields of the No. 2 magnetic ring sensor (14) on the left positioning pin and the No. 2 magnetic ring sensor (7) on the right positioning pin, the magnetic ring sensor will send back an electrical signal for the second time. After the industrial control board (2) uploads this signal to the industrial computer (1), the industrial computer (1) issues a command to stop the positioning pin from working; the threading pin starts to work, and the pressure sensor at the threading pin hydraulic cylinder and the magnetic ring sensor on the outer wall of the threading pin start to obtain the signal of the threading pin. The connecting line uploads the obtained signal to the industrial computer, and then the signal is judged according to the system judgment method. When the data signals of the pressure sensor and the magnetic ring sensor are normal, it indicates that the threading pin has accurately entered the pin hole, the system is finished working, and the grab beam hoists the stacked beam door.

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