A navigation scheduling method for reducing the influence of multi-line single-stage ship lock discharge wave

Abstract

A kind of navigation scheduling method for reducing the influence of multi-line single-stage ship lock drainage wave, based on ship lock drainage wave operation law, ship lock drainage wave database, ship scheduling rules, ship sailing process and ship lock operation process constraints, a ship lock operation ship scheduling composite operation model is established;Collect real-time water level on the upstream and downstream of the ship lock, select the target lock in the lock plan for the day, calculate the end time of the first lock gate opening, substitute into the established ship lock operation ship scheduling composite operation model, calculate the time when the target lock starts to drain;Collect the information of the ship passing through the lock, based on the real-time water level on the upstream and downstream of the ship lock and the calculated time when the target lock starts to drain, calculate the minimum water depth of the channel and the water depth change process, calculate the best sailing time of the ship passing through the lock or the best time for the ship to leave the lock. The present application reduces the adverse effects of ship lock drainage wave on ship passing through the lock under the premise of ensuring efficient operation of the ship lock and safety of ship navigation, effectively improves the channel and ship lock capacity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of navigation scheduling, in particular to a navigation scheduling method for reducing the influence of water discharge waves of a multi-line single-stage ship lock. BACKGROUND

[0002] For a high water head ship lock, the approach channel below the ship lock is narrow, and if the ship lock water discharge facility outlet is arranged in the channel, all the water in the lock chamber is discharged into the channel during the operation of the ship lock. After the water discharge starts, the water level process line in the channel is like a wave, with a peak and valley shape that is obviously higher or lower than the normal water level. Due to the blind channel boundary characteristics of the approach channel, the waves generated by the water discharge move back and forth at both ends of the approach channel, forming a reciprocating flow.

[0003] Water transportation has obvious advantages in long-distance transportation of bulk cargo, and the tonnage of ships is rapidly increasing, with the draft of ships becoming larger and larger, which puts forward more urgent requirements for the increase of the water depth of the channel. The periodic fluctuation of the ship lock water discharge wave affects the navigation of the approach channel. If the ship lock water discharge wave is not considered, the navigation depth of the channel will suddenly decrease, and the navigation safety of the passing ship cannot be guaranteed. If the adverse effects of the ship lock water discharge wave on navigation are considered too much, the maintenance water depth is reduced, and the channel and ship lock passing capacity are reduced, which will make the navigation demand contradiction of the hub more prominent, and the situation of waiting for the ship lock will be more severe. SUMMARY

[0004] The present application provides a navigation scheduling method for reducing the influence of water discharge waves of a multi-line single-stage ship lock. The method establishes a ship lock operation ship scheduling composite calculation model to reduce the adverse effects of ship lock water discharge waves on ship lock passage under the premise of ensuring efficient operation of the ship lock and navigation safety of the ship, and scientifically utilizes the water depth of the ship lock approach channel to effectively improve the channel and ship lock passing capacity.

[0005] The technical scheme adopted by the present application is as follows:

[0006] A navigation scheduling method for reducing the influence of water discharge waves of a multi-line single-stage ship lock, comprising the following steps:

[0007] Step 1: based on the ship lock water discharge wave operation law, the ship lock water discharge wave database, the ship scheduling rules, the ship sailing process and the ship lock operation process constraint conditions, a ship lock operation ship scheduling composite calculation model is established;

[0008] Step 2: collect the real-time water level of the upstream and downstream of the ship lock, select a target lock in the daily lock plan, calculate the end time of the first lock gate opening of the target lock, and substitute it into the ship lock operation ship scheduling composite calculation model established in step 1 to calculate the time when the target lock starts to discharge water;

[0009] Step 3: Collect the ship position, ship speed and loading draft information of the ship passing through the ship lock, calculate the minimum water depth of the channel and the water depth change process based on the real-time water level of the upstream and downstream of the ship lock and the time of the target lockage start to discharge calculated in step 2, and calculate the best departure time of the ship passing through the ship lock or the best time of the ship descending out of the lock.

[0010] Step 4: After the lockage plan is completed, the real-time water depth change process of the downstream approach channel of the ship lock after each lockage discharge in the lockage plan is calculated through the ship lock operation and ship scheduling composite calculation model according to the upstream and downstream water level prediction, and the lockage plan is adjusted in advance based on the principles of safe and efficient operation of the ship lock and controllable operation time.

[0011] The instantaneous water level data of the channel is monitored by the water level sensor along the approach channel downstream of the ship lock, and when the real-time water depth of the channel is lower than the real-time minimum water depth of the channel calculated by the ship lock operation and ship scheduling composite calculation model, the ship passing through the ship lock scheduling scheme is corrected, and the time of the ship ascending into the approach channel or descending out of the lock is delayed.

[0012] In step 1, the ship lock discharge wave operation law includes:

[0013] 1) When the ship lock is discharging, the discharge wave amplitude λ is related to the ship lock discharge flow Q and the real-time water depth h of the approach channel s , the discharge wave amplitude increases with the increase of the ship lock discharge flow Q, and decreases with the increase of the real-time water depth h of the channel; s

[0014] 2) When the ship lock is jointly discharging, according to the principle of wave superposition and cancellation, when the discharge time of the rear lock is separated from the discharge time of the front lock by 1 / 4 period or more, the ship lock discharge wave is weakened;

[0015] 3) The amplitude of the ship lock discharge wave λ decreases along the way, where the decrease in the straight line segment of the downstream approach channel is small, and based on the consideration of ship navigation safety, it is considered as constant, and it decreases rapidly after entering the entrance area, and the amplitude becomes 0 at the channel intersection;

[0016] 4) The amplitude of the ship lock discharge wave λ decays with time, since it is a gravity wave, the peak amplitude λ 峰 is smaller than the trough amplitude λ 谷 , the decay process of λ 峰 , λ 谷 is consistent with the damping vibration curve, the decay speed of λ 峰 is smaller than the decay speed of λ 谷 , λ 谷 decays faster, and the second period is half of the first period.

[0017] In step 1, the establishment method of the ship lock discharge wave database is as follows:

[0018] ​S1.1: According to the scheduling operation demand, water level sensors are arranged at the static water position upstream of the ship lock to automatically collect the static water level Z upstream of the ship lock 上 , and multiple groups of water level sensors are arranged at the static water position downstream of the ship lock and from the lock head to the entrance of the approach channel to automatically collect the static water level Z downstream of the ship lock 下 , and the water level Z of the first cycle of the ship lock drainage wave when it runs to the peak and trough 峰 , Z 谷 , and λ 峰 = Z 峰 -Z 下 , λ 谷 = Z 谷 -Z 下 , λ 峰 is the peak amplitude of the first cycle of the ship lock drainage wave, and the specific calculation method is λ 峰 = Z 峰 -Z 下 ; λ 谷 is the trough amplitude of the first cycle of the ship lock drainage wave, and the specific calculation method is λ 谷 = Z 谷 -Z 下 ;

[0019] S1.2: According to the Ship Lock Water Conveying System Design Specification (JTJ306-2001), the maximum drainage flow rate Q max of the ship lock under the corresponding condition is calculated, and based on the long-term ship lock operation record, the drainage wave operation data under the single drainage condition of the ship lock is accumulated, through multi-sample analysis, the drainage wave operation data is corrected based on the safety consideration of the ship, and the ship lock drainage wave database is constructed.

[0020] A complete multi-line ship lock drainage wave database A is provided, which has i ship lock lines, and contains ship lock sub-drainage wave databases A1, A2, A3……Ai i , each ship lock sub-drainage wave database contains n i groups of drainage wave operation data, and the ship lock sub-drainage wave database A i is represented as a sub-set of multiple objects:

[0021] A i＝ {A i (Z i1上 , Z i1下 , Q maxi1 , λ i1峰 , λ i1谷 ), A i (Z i2上 , Q maxi2 , λ i2峰 , λ i2谷 ), A i (Z i3上 , Q maxi3, λ i3峰 , λ i3谷 ) … A i (Z ini上 , Z ini下 , Q maxini , λ ini峰 , λ ini谷 )}.

[0022] Z i1上 , Z i1下 , Q maxi1 , λ i1峰 , λ i1谷 , the 5 data groups constitute a ship lock sub-release water wave database A i The first group of release water wave operation data under single release condition, respectively representing the upstream static water level, the downstream static water level, the maximum release water flow of the ship lock, the wave crest amplitude and the wave trough amplitude of the ship lock release water wave generated under the release condition at a certain operation lock time;

[0023] Z i2上 , Q maxi2 , λ i2峰 , λ i2谷 The second group of release water wave operation data under single release condition of the ship lock sub-release water wave database A i

[0024] Z i3上 , Q maxi3 , λ i3峰 , λ i3谷 The third group of release water wave operation data under single release condition of the ship lock sub-release water wave database A i

[0025] Z ini上 , Z ini下 , Q maxini , λ ini峰 , λ ini谷 The i-th group of release water wave operation data under single release condition of the ship lock sub-release water wave database A i

[0026] In the step 1, the ship scheduling rule mainly refers to the ship passing lock sequence rule, the ship draft control requirement and the principle of more number of ships passing through the ship lock per lock. The ship passing lock lock plan is prepared based on the rule.

[0027] In the step 1, the ship sailing process refers to the whole process from the upbound ship passing lock sailing to the ship lock lower approach channel entrance, entering the approach channel entrance area to the ship pier. Through the process control, the ship timely arrives at the lower approach channel entrance and orderly enters the lower approach channel.

[0028] ​​​The ship lock operation process is the whole process of ship lock operation when a single lockage plan is executed, including opening the first lock gate of the ship lock, directing and issuing ship lockage instructions, ship entering lockage, closing the first lock gate, ship lock flushing, opening the second lock gate, ship untying and leaving lockage, etc.

[0029] In step 2, the target lockage is selected, and the optimal time for starting the discharge of the target lockage is calculated as follows:

[0030] Let the average cycle of each line ship lock lockage operation be T i 1, the average cycle of ship sailing and arriving is T i 2, and the number of ship lockages during the sailing process is P i , P i ≥ T i2 / T i1 +1, P i is rounded to the nearest integer; m i is selected from the m i unexecuted lockages of each line ship lock in turn, and the ship lock operates in order, so m i ≥ P i +1, that is:

[0031] m i ≥ T i 2 / T i 1+2, m i0 is rounded to the nearest integer (1)

[0032] Let the end time of the first lock gate of the current lockage of each line be t iq , then the end time of the first lock gate of the qth target lockage of the ith line ship lock is:

[0033]

[0034] According to the number of ships of each target lockage and the ship lock operation process, let the time interval between the discharge start time and the end time of the first lock gate of the qth target lockage of the ith line ship lock be Δt iq , then the discharge start time t' of the qth target lockage of the ith line ship lock is preliminarily determined as:

[0035]

[0036] According to the discharge order, each target lockage is sorted, and the lockage order number is j, then Let the discharge start time of the target lockage be t' in order, the last discharge time of the currently running lockage be t'0, and the discharge interval time between adjacent two lockages be:

[0037] △t' j = t' j -t'0 j .j-1 (4)

[0038] According to the measured data, the ship lock discharge wave period T c is basically consistent with:

[0039]

[0040] Wherein: L is the sum of the straight line L1 of the approach channel under the ship lock and the length L2 of the entrance area; g is the acceleration of gravity, taking 9.8 m / s 2 ; h j is the average water depth of the channel, which is calculated by taking the difference between the static water level Z 下 downstream of the ship lock and the maintenance bottom elevation Z of the approach channel; based on the smoothness of the operation of the hub channel water level, the water depth of the channel can be considered unchanged within a period of time, that is, the ship lock discharge wave period T c is unchanged.

[0041] ①: When j , t' j is the optimal discharge time of the target lockage;

[0042] ②: When , adjust the discharge time of the jth target lockage, and adjust the preliminary discharge time of the remaining target lockage of the ship lock accordingly, and re-sort and adapt the preliminary discharge time of the remaining target lockage according to the above order, the interval time between the adjacent two target lockages after re-sorting is △t" j , the adjustment scheme is generated with the least number of adjustments and the shortest total time interval, and t" s is the optimal discharge time of the target lockage.

[0043] In step 3, the method for calculating the minimum water depth and the water depth change process of the approach channel after the ship lock is discharged, comprising the following steps:

[0044] S3.1: Let the real-time water depth of the approach channel at the ship lock downstream after the ship lock is discharged be h s , then the change process of h s is a function of time, according to the ship lock discharge wave operation law in step 1, after discharge, the discharge wave amplitude process line at the ship lock downstream is a damped vibration curve, then:

[0045]

[0046] Wherein: k is a natural number, k=1, 2, 3…; ω is the angular velocity, ω=2π / T; t0 is the time interval from the beginning of discharge to the time when the discharge flow reaches the maximum; t is the time interval between the calculation time and the time when the discharge flow reaches the maximum; δ1, δ2 are the damping ratios of the peak amplitude and the valley amplitude of the discharge wave respectively, for gravity wave, generally δ1=0.007, δ2=0.02; h jThe real-time water depth of the channel at the position of the lower lock head after the ship lock is discharged; h j The average water depth of the channel, which is calculated by taking the static water level Z 下 The difference between the maintenance bottom elevation Z of the lower approach channel and the static water level Z of the ship lock.

[0047] S3.2: Collect the static water level Z of the ship lock upstream and downstream 上 , Z 下 Based on the safety of ship navigation, without considering the superposition and cancellation of discharge waves, according to the discharge wave operation data adaptation principle of the ship lock, λ 峰 , λ 谷 is extracted from the discharge wave database A of the multi-line ship lock after the ship lock is discharged, and combined with formula (6), the minimum water depth and the water depth change process of the lower approach channel after the ship lock is discharged can be calculated.

[0048] The minimum water depth of the lower approach channel in the first period of the discharge wave after the ship lock is discharged is h smin , which can be expressed as:

[0049] h smin = h j - λ 谷 = (Z 下 - Z) - λ 谷 (7)

[0050] The water depth change process of the straight section of the lower approach channel is consistent with that of the lower lock head of the ship lock, and the time period during which the lower approach channel maintains the minimum water depth h smin is calculated as:

[0051] Let the time interval △T c of the discharge wave fluctuation at the lower lock head of the ship lock being transmitted to the end of the straight section of the lower approach channel be △T c , which can be expressed as:

[0052]

[0053] For the discharge wave velocity V c , it is expressed as:

[0054]

[0055] Where: V0 is the average flow velocity of the lower approach channel section, which is expressed as:

[0056]

[0057] Where: Q is the discharge flow of the ship lock, which can be approximately taken as Q max , S is the water passing section area of the lower approach channel, d is the bottom width of the channel, and n1 and n1 are the slope ratios of the two sides of the lower approach channel.

[0058] The principle for adapting the lock spillway wave operation data is to select an appropriate lock sub-spillway wave database based on the spillway interval and scale of two adjacent spillway events.

[0059] 1) When the dimensions of the lock chambers of two adjacent spillway gates are the same or similar, select the corresponding ship lock sub-slot spillway wave database for the current spillway gate for adaptation;

[0060] 2) When the dimensions of two adjacent spillway gates differ significantly and the current spillway gate chamber is smaller than the previous spillway gate chamber, if the spillway interval is less than or equal to two lock spillway wave cycles, the corresponding lock sub-slot spillway wave database of the previous spillway gate will be selected for adaptation; if the spillway interval is greater than two lock spillway wave cycles, the corresponding lock sub-slot spillway wave database of the current spillway gate will be selected for adaptation.

[0061] In step 3, the optimal departure time for the vessel passing through the lock and the optimal exit time for the downstream vessel are calculated as follows:

[0062] Based on the optimal discharge time for the target gate sequence, the opening and closing time T of the primary gate for each gate sequence was recalculated. 新 The opening and closing time of the first gate of the second target lock of the i-th lock line is approximately T. i2新 The time interval between the start time of water discharge and the end time of the opening of the first-stage gate for this gate operation is Δt. i2 The optimal drainage time is t′ i2 ,have:

[0063] T i2新 =t′ i2 -△t i2 ,t′ i2 ∈t' j or t′ i2 ∈t″ j (11)

[0064] It is preliminarily determined that the i-th lock is about to depart for the P-th lock. i+1 The departure time of the vessel at the lock is T. i2新 The corresponding number of gate passes is m. i+1 ,like:

[0065] 1) Lock m of line i i+1 If the gate operates in the downward direction, then P i+1 The optimal departure time is T i2新 ;

[0066] After the lock operation ends and the vessel unmooring, compare h' with the real-time water depth h in the downstream approach channel. s The relationship between them determines the opening time of the final lock gate of the ship lock:

[0067] ①: The minimum water depth h of the lower approach channel is collected by water level sensors installed along the channel.smin , such as h smin ≥h' indicates that after the ship unmooring, the final lock gate will be opened and the ship will sail out of the lock chamber;

[0068] ②: For example The real-time water depth h at the lower gate is collected by a water level sensor installed at the lower gate. s h collected before and after s h respectively s前 h s后 When h s后 h s前 The system prompts the vessel to untie its moorings and then open the final lock gate, allowing the vessel to exit the lock chamber.

[0069] 2) Lock m of line i i+1 If the gate operates in the upward direction, then the Pth gate... i+1 Vessels entering the pilotway after the lock's opening may be affected by lock spillway waves. For the Pth... i+1 For vessels waiting to enter the lock, let S be the distance between their waiting anchorage and the berthing facilities of the lower approach channel, and L3 be the distance between the waiting anchorage and the lower boundary of the lower approach channel entrance area. The berthing facilities within the approach channel are relatively close to the lower lock head, and can be approximated as follows:

[0070] S = L1 + L2 + L3 (12);

[0071] If the average speed V of the departing vessel is given, then the time T for the vessel to arrive at the lower boundary of the gate area of ​​the lower approach channel of the lock is given. i2口 Approximately:

[0072]

[0073] Adapting gate discharge to the closest T i2口 The target gate time is calculated by the model, and T is used for this purpose. i2口 Real-time water depth h at the end of the straight section of the lower approach channel of the time lock s Minimum water depth h of the process and channel smin :

[0074] a: such as the calculated h smin If ≥h', the ship is unaffected by spillway waves and can directly enter the pilotage channel, then P i+1 The optimal departure time is T i2新 ;

[0075] b: If calculated, The real-time water depth at the end of the straight section of the lower approach channel of the lock was calculated using a model. The time is T′ i2口 Then P i+1 The optimal departure time is T′ i2新 , represented as:

[0076]

[0077] In step 4, the adjustment of the lock plan is made in advance to avoid the situation that the loaded draft of the ship is greater than the second cycle minimum water depth of the discharge wave Occurrence.

[0078] The adjustment of the lock plan is as follows: the upstream and downstream water level prediction information of the ship lock on the execution day of the lock plan is collected, which is substituted into the ship lock operation and ship scheduling compound operation model to calculate the real-time water depth change process of the ship lock lower approach channel under the single discharge condition of each lock in the lock plan, when the real-time water depth change processes of the ship lock lower approach channel after the discharge of each lock overlap in time, the most unfavorable situation is taken as the real-time water depth change process of the period; based on the calculated real-time water depth change process of the ship lock lower approach channel on the execution day of the lock plan and the sailing process of the lock ship, combined with the loaded draft of the ship, the type of the ship, the size of the ship, etc., the lock plan is optimized and adjusted according to the lock plan preparation rules, so that the loaded draft of the ship is more suitable for the real-time water depth of the approach channel when the ship arrives at the ship lock lower approach channel.

[0079] The technical effects of the method are as follows:

[0080] 1) The ship lock operation and ship scheduling compound operation model is established in step 1 of the present application, which fully utilizes the water depth of the ship lock approach channel under the premise of ensuring the efficient operation of the ship lock and the safety of ship navigation, reduces the adverse effects of the ship lock discharge wave on the ship passing through the lock, and effectively improves the channel and ship lock passing capacity.

[0081] 2) The optimal discharge time of each operation lock of the ship lock is scientifically determined based on the operation law of the ship lock discharge wave in step 2 of the present application, which avoids the superposition and enhancement of the discharge waves of the multi-line ship lock, and reduces the adverse effects of the ship lock discharge on the water depth and flow conditions of the channel.

[0082] 3) The ship passing through the lock scheduling scheme is optimized and adjusted in real time based on the operation law of the ship lock discharge wave and the operation of the ship lock, and combined with the real-time ship position, speed, loaded draft and other information of the ship, so that the ship passing through the lock scheduling is more safe, accurate and orderly.

[0083] 4) The water depth change process of the ship lock approach channel is scientifically predicted by collecting the upstream and downstream water level information of the ship lock on the execution day of the lock plan and combining with other element data of the ship lock discharge wave in step 4 of the present application, and the lock plan is optimized and adjusted based on this, which further improves the accuracy and executability of the lock plan, and also ensures the safety of ship navigation in the approach channel. BRIEF DESCRIPTION OF DRAWINGS

[0084] Figure 1 The flowchart for reducing the influence of the discharge wave of the multi-line single-stage ship lock.

[0085] Figure 2 Layout of water level sensors along the approach channel. DETAILED DESCRIPTION

[0086] Embodiment:

[0087] A two-line single-stage ship lock on one side of a Yangtze River hub is selected as the implementation object. The two-line single-stage ship lock, ship lock 1 and ship lock 2, has the following operating conditions:

[0088] The ship lock 1 chamber has the following dimensions: 280 m in length and 34 m in width.

[0089] The ship lock 2 chamber has the following dimensions: 120 m in length and 18 m in width.

[0090] The two ship locks share an approach channel, which is 6.5 km long, including an upper approach channel of 2.5 km and a lower approach channel of 4.0 km. The lower approach channel is further divided into a straight section, a mouth area, and a connecting section. The straight section is 2.8 km long and has a minimum navigation width of 120 m. The mouth area is 0.5 km long and has a navigation width of 230 m. The connecting section is 0.7 km long.

[0091] The two ship locks have a design water head of 27 m. In actual operation, the upstream water level is controlled to be no less than 63 m-66.5 m. The minimum navigation water level of the downstream water level is controlled to be no less than 39.0 m in the mouth area. The highest navigation water level is 54.5 m.

[0092] As shown in FIG. 1, a navigation scheduling method for reducing the influence of ship lock emptying waves in a multi-line single-stage ship lock includes the following steps: Figure 1 Step 1: Based on the ship lock emptying wave operation law, the ship lock emptying wave database, the ship scheduling rules, the ship departure process, and the ship lock operation process, a ship lock operation ship scheduling composite operation model is established. The ship lock operation ship scheduling composite operation model is written in JAVA language and runs on a server based on X86 architecture.

[0093] Step 2: Collect real-time water levels upstream and downstream of the ship lock, select a target lock in the daily lock plan, calculate the end time of the first lock gate opening, and substitute it into the ship lock operation ship scheduling composite operation model to calculate the optimal time for the target lock to start emptying.

[0094] Step 3: Collect information such as ship position, ship speed, and loaded draft of the passing ship, calculate the minimum water depth and water depth change process of the channel based on the real-time water levels upstream and downstream of the ship lock and the ship lock emptying time calculated in step 2, calculate the optimal departure time of the ship or the optimal time for the ship to descend out of the lock, and optimize the ship passing scheduling scheme.

[0095]

[0096] ​Step 4: After the lockage plan in step 2 is completed, the lockage plan for the day is generally completed in the last planning period. According to the prediction of the water level upstream and downstream of the ship lock, the real-time water depth change process of the ship lock downstream approach channel after the discharge of each lockage in the plan is calculated by the model, and based on the principles of safe and efficient operation of the ship lock and controllable operation time, the lockage plan is adjusted in advance.

[0097] The lockage plan is the next day's operation plan for the ship lock 1 and the ship lock 2. The ship lock scheduling department formulates the plan and organizes the lockage scheduling according to the scheduling principles of "safety first, efficiency second; priority to key points, classification control; first-come-first-served, reasonable flow distribution".

[0098] The instantaneous water level data of the approach channel downstream of the ship lock is monitored by the water level sensor along the channel. When the real-time water depth of the monitored channel is lower than the model-calculated real-time minimum water depth of the channel, the ship lock scheduling scheme is optimized, and the time for the ship to enter the approach channel or leave the lock is delayed.

[0099] As shown in Figure 2 , there are 18 water level sensors in the approach channel downstream of the ship lock, arranged on the left and right banks of the approach channel. The sensors collect water level data every 10 seconds, and the data is transmitted to the data platform for analysis and use after the sensors collect the water level.

[0100] Among them:

[0101] The ship lock discharge wave operation law in step 1 is:

[0102] When the ship lock is discharging, the discharge wave amplitude λ is related to the ship lock discharge flow Q and the real-time water depth h s of the approach channel. The discharge wave amplitude increases with the increase of the ship lock discharge flow Q, and decreases with the increase of the real-time water depth h s of the channel;

[0103] When the ship lock is discharging, the discharge wave amplitude λ is related to the ship lock discharge flow Q and the real-time water depth h s of the approach channel. The discharge wave amplitude increases with the increase of the ship lock discharge flow Q, and decreases with the increase of the real-time water depth h s of the channel;

[0104] The ship lock discharge wave amplitude λ decreases along the way, where the decrease in the straight section of the downstream approach channel is small, and based on the consideration of ship navigation safety, it can be regarded as constant, and it rapidly decreases after entering the entrance area, and becomes 0 at the channel intersection;

[0105] The ship lock discharge wave amplitude λ decays with time. Since it is a gravity wave, the peak amplitude λ 峰 is smaller than the trough amplitude λ 谷 , and the decay process of λ 峰 , λ 谷 follows the damping vibration curve, and the decay speed of λ 峰 is smaller than that of λ 谷 , and the decay speed of λ 谷The attenuation is faster, and the second cycle is half of the first cycle.

[0106] The ship lock drainage wave database establishment method in step 1:

[0107] According to the scheduling operation requirements, water level sensors are arranged at the static water position upstream of the ship lock to automatically collect the static water level Z 上 upstream of the ship lock, and a plurality of water level sensors are arranged along the path from the downstream lock head to the entrance of the approach channel to automatically collect the static water level Z 下 downstream of the ship lock. 峰 downstream of the ship lock. 谷 .

[0108] According to the Ship Lock Water Conveying System Design Specification (JTJ306-2001), the maximum drainage flow rate Q max of the ship lock under corresponding conditions is calculated, and based on the long-term ship lock operation records, the drainage wave operation data under single drainage conditions of the ship lock are accumulated, through multi-sample analysis, the drainage wave operation data are corrected based on the safety of the ship, and a multi-line ship lock drainage wave database A is constructed.

[0109] The multi-line ship lock drainage wave database A is an important part of the ship lock operation ship scheduling composite operation model and the basis for effective operation. For a stable ship lock, when the upstream and downstream water levels are the same or similar, the operation mode of the ship lock water conveying system is basically unchanged, that is, when the upstream and downstream water levels of the ship lock are the same or similar, the characteristic parameters of the ship lock drainage wave generated by the operation are approximately the same. On this premise, through a large number of ship lock drainage wave operation data samples in the multi-line ship lock drainage wave database A, the water depth and change process of the downstream approach channel of the ship lock during operation can be scientifically calculated, and the ship lock drainage wave operation cycle is combined to optimize the ship lock scheduling scheme in real time.

[0110] A complete two-line ship lock drainage wave database, with the number of ship lock lines being 2, should include each line ship lock sub-drainage wave database A1, A2, and each line ship lock sub-drainage wave database includes n2 groups of drainage wave operation data, so that the ship lock sub-drainage wave database A i is represented as a subset of multiple objects A i＝ {A i (Z i1上 , Z i1下 , Q maxi1 , λ i1峰 , λ i1谷 ), A i (Z i2差 , Q maxi2 , λ i2峰 , λ i2谷 ), A i (Z i3差 , Q maxi3 , λ i3峰 , λi3谷 )……A i (Z ini上 、Z ini下 、Q maxini 、λ ini峰 、λ ini谷 )}。

[0111] The method for selecting target lockage and calculating the optimal time for starting discharge in step 2 is as follows:

[0112] Let the average cycle of lockage operation of each line be T i 1, the average cycle of ship departure and arrival be T i 2, and the number of lockages of the ship during the departure and travel process be P i , P i ≥ T i2 / T i1 +1, and P i is the nearest integer.

[0113] In the example, the average cycles of lockage operation of ship lock 1 and ship lock 2 are 90 minutes and 60 minutes respectively, the average cycle of ship departure and arrival is about 180 minutes, and according to the departure rules, the number of lockages of the ship during the departure and travel process in the operation process of ship lock 1 and ship lock 2 is 3 and 4 respectively when they are operated at full capacity.

[0114] Each line of ship lock selects m i unexecuted lockages in turn, and the ship locks are operated in order, so m i ≥ P i +1, that is:

[0115] m i ≥ T i 2 / T i 1+2, and m i is the nearest integer.

[0116] In the example, ship lock 1 and ship lock 2 select 4 and 5 unexecuted lockages in turn as target lockages, and let t i0 be the closing time of the first lock gate of the currently executed lockage of each line, then the closing time of the first lock gate of the qth target lockage of the ith line of ship lock is:

[0117]

[0118] According to the number of ships of each target lockage and the operation process of the ship lock, let the time interval between the discharge start time and the closing time of the first lock gate of the qth target lockage of the ith line of ship lock be△t iq , then the discharge start time t' iq of the qth target lockage of the ith line of ship lock can be preliminarily determined as:

[0119]

[0120] The target gates are sorted according to the order of water release, and their gate sequence number is j, where j = 1, 2, 3...9. Let the start time of water release for each target gate be t′ in sequence. j The last discharge time of the currently operating gate is t′0. The interval between discharges of two adjacent gates can be expressed as:

[0121] △t' j =t' j -t' j-1 (4)

[0122] Based on measured data, the period of the ship lock discharge wave is T. c Basically meets the requirements:

[0123]

[0124] Where: L is the sum of the straight section L1 of the lower approach channel of the lock and the length L2 of the entrance area; g is the acceleration due to gravity, taken as 9.8 m / s². 2 h j The average water depth of the channel is taken as Z, the still water level downstream of the lock, in the calculation. 下 The difference between the bottom elevation Z of the downstream approach channel and the channel depth can be considered constant over a period of time, based on the stability of the channel water level operation. This is because the lock discharge wave period T is constant. c constant;

[0125] Based on operational data, the lower approach channel of the lock is calculated to be L = L1 + L2 = 3.3 km, and the maintenance bottom elevation Z of the lower approach channel is 35.0 m; for example:

[0126] 1) When When, then t′ j This is the optimal discharge time for the target gate.

[0127] 2) When When the time is right, adjust the discharge time of the j-th target lock, and correspondingly adjust the initial discharge time of the remaining target locks on that line. Reorder and adapt the initial discharge times of the remaining target locks according to the above order. After reordering, the interval between the discharge times of two adjacent target locks is Δt". j To generate an adjustment plan with the fewest adjustments and the shortest total time interval, the desired t″ is obtained. j This is the optimal discharge time for the target gate.

[0128] The calculation method for the minimum water depth and water depth change process of the downstream approach channel after the lock discharges water in step 3 is as follows:

[0129] Real-time water depth h of the downstream approach channel after the lock is discharged s Then h sThe change process of the water level is a function of time, according to the ship lock discharge wave operation law in step 1. After discharge, the water level process line of the ship lock lower lock head discharge wave is a damping vibration curve, so that:

[0130]

[0131] Wherein: k is a natural number, which takes k = 1, 2, 3…; ω is the angular velocity, which takes ω = 2π / T; t0 is the time interval from the beginning of discharge to the time when the discharge flow reaches the maximum, which is generally about 8 minutes; t is the time interval between the calculation time and the time when the discharge flow reaches the maximum; δ1 and δ2 are the damping ratios of the peak amplitude and the valley amplitude of the discharge wave respectively, which are generally taken as δ1 = 0.007 and δ2 = 0.02 for gravity waves;

[0132] The static water levels Z 上 and Z 下 on the upstream and downstream of the ship lock are collected 峰 , based on the ship navigation safety, without considering the superposition and cancellation of the discharge wave, according to the ship lock discharge wave operation data adaptation principle, the λ 谷 on the downstream of the ship lock after discharge is extracted from the database A, combined with formula (6), the minimum water depth and the water depth change process of the lower approach channel after the ship lock discharge can be calculated.

[0133] The minimum water depth of the lower approach channel in the first period of the discharge wave after the ship lock discharge is h smin , which can be expressed as:

[0134] h smin = h j - λ 谷 = (Z 下 - Z) - λ 谷 (7)

[0135] According to the ship lock discharge wave operation law in step 1, the water depth change process of the straight section of the lower approach channel is consistent with that of the ship lock lower lock head, and the calculation method of the time period when the lower approach channel maintains the minimum water depth h smin is:

[0136] Let the time interval △T c of the discharge wave fluctuation of the ship lock lower lock head transmitted to the end of the straight section of the lower approach channel be △T c , which can be expressed as:

[0137]

[0138] For the ship lock discharge wave velocity V c , which can be expressed as:

[0139]

[0140] Wherein: V0 is the average flow velocity of the lower approach channel section, which can be expressed as:

[0141]

[0142] Wherein: Q is the ship lock discharge flow, which can be approximately taken as Q max S is the water passing section area of the lower approach channel, d is the bottom width of the channel, taken as 120 m, n1 and n1 are the slope ratios of the two sides of the lower approach channel, taken as 2.5.

[0143] The ship lock discharge wave operation data adaptation principle is to select an adapted ship lock sub-discharge wave database according to the discharge interval and the size of the two adjacent discharge lock times:

[0144] 1) When the sizes of the two adjacent discharge lock chambers are the same or similar, the current discharge lock time is selected to adapt to the corresponding ship lock sub-discharge wave database;

[0145] 2) When the sizes of the two adjacent discharge lock chambers have a large gap and the size of the current discharge lock chamber is smaller than that of the previous discharge lock chamber, when the discharge interval time is less than or equal to 2 ship lock discharge wave periods, the previous discharge lock time is selected to adapt to the corresponding ship lock sub-discharge wave database; when the discharge interval time is greater than 2 ship lock discharge wave periods, the current discharge lock time is selected to adapt to the corresponding ship lock sub-discharge wave database.

[0146] According to the operation facility conditions of the two ship locks, the size of the lock chamber of ship lock 1 is obviously larger than that of ship lock 2, and in the process of calculating the discharge wave of the two ship locks, the sub-database of ship lock 1 is generally adapted.

[0147] The ship lock best departure time and the best downbound exit time in step 3:

[0148] According to the optimal discharge time of the target lock time, the opening and closing time T of the first-stage lock gate of each lock time is recalculated 新 , then the opening and closing time of the first-stage lock gate of the second target lock time of the i-th line ship lock is about T i2新 , the time interval between the discharge start time corresponding to the lock time and the opening and closing time of the first-stage lock gate is △t i2 , and the optimal discharge time is t' i2 , and

[0149] T i2新 = t' i2 -△t i2 , t' i2 ∈t' j or t' i2 ∈t" j (11)

[0150] Then the departure time of the ship to be departed from the i-th line ship lock is preliminarily determined as T i+1 , and the corresponding ship lock time is m i2新 , and the corresponding ship lock time is m i+1 , for example:

[0151] 1) Lock m of line i i+1 If the gate operates in the downward direction, then P i+1 The optimal departure time is T i2新 ;

[0152] After the lock operation ends and the vessel unmooring, compare h' with the real-time water depth h in the downstream approach channel. s The relationship between them determines the opening time of the final lock gate of the ship lock:

[0153] ①: The minimum water depth h of the lower approach channel is collected by water level sensors installed along the channel. smin , such as h smin ≥h' indicates that after the ship unmooring, the final lock gate will be opened and the ship will sail out of the lock chamber;

[0154] ②: For example The real-time water depth h at the lower gate is collected by a water level sensor installed at the lower gate. s h collected before and after s h respectively s前 h s后 When h s后 h s前 The system prompts the vessel to untie its moorings and then open the final lock gate, allowing the vessel to exit the lock chamber.

[0155] 2) Lock m of line i i+1 If the gate operates in the upward direction, then the Pth gate... i+1 Vessels entering the pilotway after the lock's opening may be affected by lock spillway waves. For the Pth... i+1 For vessels waiting to enter the lock, let S be the distance between their waiting anchorage and the berthing facilities of the lower approach channel, where L3 is the distance between the waiting anchorage and the lower boundary of the lower approach channel entrance area. The berthing facilities within the approach channel are relatively close to the lower lock head, and can be approximated as follows:

[0156] S = L1 + L2 + L3 (12)

[0157] If the average speed V of the departing vessel is given, then the time T for the vessel to arrive at the lower boundary of the gate area of ​​the lower approach channel of the lock is given. i2口 Approximately:

[0158]

[0159] The formula calculates S = 30km; the average speed of the departing vessel is V = 10km / h.

[0160] Adapting gate discharge to the closest T i2口 The target gate time is calculated by the model, and T is used for this purpose. i2口 Real-time water depth h at the end of the straight section of the lower approach channel of the time lock s Minimum water depth h of the process and channelsmin :

[0161] a: h' as calculated smin ≥ h', the ship is not affected by the emptying wave and can directly enter the approach channel, then the optimal departure time of P i+1 is T i2新 ;

[0162] b: h' as calculated according to the model , the real-time water depth at the end of the straight line segment of the approach channel under the ship lock is calculated by the model , and the time is T' i2口 , then the optimal departure time of P i+1 is T' i2新 , which can be expressed as:

[0163]

[0164] After the step 4, the planned lockage is adjusted in advance to avoid the situation that the loaded draft of the ship plus the surplus water depth h' is greater than the minimum water depth of the second cycle of the emptying wave .

Claims

1. A navigation scheduling method for reducing the discharge wave impact of a multi-lane single-stage ship lock, characterized in that It comprises the following steps: Step 1: based on the ship lock drainage wave operation law, the ship lock drainage wave database, the ship scheduling rule, the ship sailing process and the ship lock operation process constraint condition, a ship lock operation ship scheduling composite operation model is established; Step 2: the real-time water level of the upstream and downstream of the ship lock is collected, the target lock is selected in the daily lock plan, the end time of the first lock gate opening of the target lock is calculated, the ship lock operation ship scheduling composite operation model established in step 1 is substituted, and the time when the target lock starts to drain is calculated; Step 3: the ship position, ship speed and loading draft information of the ship passing through the ship lock are collected, based on the real-time water level of the upstream and downstream of the ship lock and the time when the target lock starts to drain calculated in step 2, the minimum water depth of the channel and the water depth change process are calculated, and the best sailing time of the ship passing through the ship lock or the best time for the ship to descend out of the ship lock is calculated; In step 2, the target lock is selected, and the optimal time when the target lock starts to drain is calculated as follows: Let the average cycle of each line ship lock is T i 1, the average cycle of ship sailing and arriving is T i 2, and the number of ship lock in the process of sailing is P i , P i ≥ T i2 / T i1 +1, P i Take the nearest integer; each line ship lock rolling in turn selects m i unexecuted lock, and the ship lock is in order, then m i ≥ P i +1, that is: m i ≥T i 2 / T i 1+2, m i Take the nearest integer (1); Let the current each line to perform the first lock gate open end time t i0 Then the first lock gate open end time of the i line ship lock q target lock is: （2）； Let the time interval between the qth target lockage discharge start time of the ith line ship lock and the closing time of the first lock gate be Then the qth target lockage discharge start time of the ith line ship lock is The preliminary determination is: （3）； According to the water release sequence, each target gate is sorted, and the gate order number is j, j = 1, 2, 3… , let the target gate release start time be in order , the last water release time of the current running gate is in order , and the interval time between adjacent two gate releases is represented as: （4）； Lock emptying wave period T c Conforms to: （5）； Wherein: L is the sum of the straight section L1 of the approach channel under the ship lock and the length L2 of the entrance area; g is the acceleration of gravity; h j is the average water depth of the channel, and the static water level Z 下 of the ship lock downstream is taken as the calculation value; the difference between the maintenance bottom elevation Z of the approach channel and the bottom elevation Z of the entrance area; the discharge wave period T of the ship lock is constant within a period of time; c . ①: when then is the optimal discharge time of the target gate. ②: When the jth target lockage time is adjusted, and the preliminary discharge time of the remaining target lockage is adjusted accordingly. The preliminary discharge time of the remaining target lockage is reordered and adapted according to the above sequence. The interval time between the two adjacent target lockages after reordering is to generate an adjustment scheme with the least number of adjustments and the shortest total time interval. The solution is the optimal target lockage discharge time. In step 3, the minimum water depth of the downstream approach channel of the ship lock after drainage and the water depth change process calculation method comprises the following steps: S3.1: the real-time water depth of the channel at the lower lock head position of the ship lock after the ship lock is discharged is h s , h s is a function of time, according to the ship lock discharge wave operation law in step 1, after the discharge, the ship lock lower lock head discharge wave amplitude process line is a damping vibration curve, so: (6); Wherein: k is a natural number, which takes the value of k = 1, 2, 3… is the angular velocity, and takes = 2π / T; t0 is the time interval from the beginning of the discharge to the time when the discharge reaches the maximum; t is the time interval from the calculation time to the time when the discharge reaches the maximum; δ1 and δ2 are the damping ratios of the peak amplitude and the valley amplitude of the discharge wave respectively; h s is the real-time water depth of the channel at the location of the lower lock head after the ship lock is discharged; h j is the average water depth of the channel, and the static water level Z 下 of the ship lock downstream is taken as the calculation time; and the difference between the water depth of the lower approach channel and the maintenance bottom elevation Z S3.2: Collect the static water level Z on the upstream and downstream of the ship lock 上 、Z 下 , based on the safety of ship navigation, without considering the superposition and cancellation of the discharge wave, according to the discharge wave operation data adaptation principle, the λ 峰 、λ 谷 of the discharge wave in the multi-line ship lock discharge wave database A is extracted after the discharge of the ship lock, combined with formula (6), the minimum water depth and water depth change process of the downstream approach channel after the discharge of the ship lock can be calculated.

2. The navigation scheduling method for reducing the discharge wave impact of a multi-lane single-stage ship lock according to claim 1, characterized in that: It also comprises step 4: after the lock plan is completed, according to the upstream and downstream water level prediction of the ship lock, the real-time water depth change process of the downstream approach channel of the ship lock after drainage of each lock in the lock plan is calculated through the ship lock operation ship scheduling composite operation model, and the lock plan is adjusted in advance.

3. The navigation scheduling method for reducing the influence of multi-line single-stage ship lock drainage wave according to claim 1, characterized in that: In step 1, the ship lock drainage wave operation law comprises: 1) when the ship lock is draining, the drain wave amplitude λ and the ship lock drainage flow Q and the real-time water depth h of the approach channel s There is a corresponding relationship, the drain wave amplitude increases with the increase of the ship lock drainage flow Q, and decreases with the increase of the real-time water depth h of the channel s ; 2) When the ship lock is jointly drained, according to the wave superposition and cancellation principle, when the time interval between the drainage of the rear lock and the drainage of the front lock is 1 / 4 period or more, the ship lock drainage wave is weakened; 3) The amplitude λ of the ship lock drainage wave decreases along the way, wherein the decrease in the straight line segment of the downstream approach channel is small, and based on the consideration of ship navigation safety, it is regarded as constant, and it rapidly decreases after entering the entrance area and becomes 0 at the channel intersection; 4) The wave amplitude λ of the ship lock outflow wave attenuates with time, since it belongs to gravity wave, the wave crest amplitude λ 峰 is smaller than the wave trough amplitude λ 谷 , 峰 λ 谷 The attenuation process line conforms to the damping vibration curve, λ 峰 The attenuation speed is smaller than λ 谷 The attenuation speed, λ 谷 Attenuation is faster, the second period is half of the first period.

4. The navigation scheduling method for reducing the influence of multi-line single-stage ship lock drainage wave according to claim 1, characterized in that: In step 1, the establishment method of the ship lock drainage wave database is as follows: S1.1: According to the scheduling operation demand, water level sensors are arranged at the static water position upstream of the ship lock to automatically collect the static water level Z upstream of the ship lock 上 A plurality of groups of water level sensors are arranged at the static water position downstream of the ship lock and from the lock head to the entrance of the approach channel to automatically collect the static water level Z downstream of the ship lock 下 and the water level Z of the first cycle of the ship lock drainage wave when it runs to the wave crest and trough 峰 , Z 谷 , and λ 峰 = Z 峰 -Z 下 , λ 谷 = Z 谷 -Z 下 , λ 峰 is the wave crest amplitude of the first cycle of the ship lock drainage wave, and the specific calculation method is λ 峰 = Z 峰 -Z 下 ; λ 谷 is the wave trough amplitude of the first cycle of the ship lock drainage wave, and the specific calculation method is λ 谷 = Z 谷 -Z 下 ; S1.2: According to the "Design Code for Ship Lock Water Delivery System" (JTJ306-2001), calculate the maximum discharge Q of the ship lock under the corresponding conditions max Based on the long-term ship lock operation records, the discharge wave operation data under single discharge conditions are accumulated, and through multi-sample analysis, the discharge wave operation data are corrected based on the safety of ships to build a ship lock discharge wave database.

5. The navigation scheduling method for reducing the influence of multi-line single-stage ship lock drainage wave according to claim 4, characterized in that: The multi-line ship lock emptying wave database A is provided with i lines of ship locks, and contains sub emptying wave databases A1, A2, A3, …, An of each line of ship locks i Each line of ship lock sub emptying wave database contains n i Group emptying wave running data, then the ship lock sub emptying wave database A i The sub-set of multiple objects is represented as: A i= {A i (Z i1上 、Z i1下 、Q maxi1 、λ i1峰 、λ i1谷 ),A i (Z i2上 、Q maxi2 、λ i2峰 、λ i2谷 ),A i (Z i3上 、Q maxi3 、λ i3峰 、λ i3谷 )……A i (Z ini上 、Z ini下 、Q maxini 、λ ini峰 、λ ini谷 )}; wherein: Z i1上 , Z i1下 , Q maxi1 , λ i1峰 , λ i1谷 , the ship lock sub-discharge wave database A i The first group of discharge wave operation data under single discharge condition respectively represent the upstream static water level, the downstream static water level, the maximum discharge flow of the ship lock during discharge, the wave crest amplitude and the wave trough amplitude of the ship lock discharge wave generated under the discharge condition. Z i2上 , Q maxi2 , λ i2峰 , λ i2谷 indicates the 2nd group of data of the lock sub-discharge wave database A i under the single discharge condition Z i3上 , Q maxi3 , λ i3峰 , λ i3谷 indicates the database A of the ship lock sub-discharge waves i the 3rd group of discharge wave operation data under single discharge condition; Z ini上 、Z ini下 、Q maxini 、λ ini峰 、λ ini谷 represents the i-th group of the operation data of the lock sub-discharge wave database A i under the single-discharge condition.

6. The navigation scheduling method for reducing the influence of multi-line single-stage ship lock drainage wave according to claim 1, characterized in that: The minimum water depth of the approach channel in the first period of the lock emptying wave is h smin is represented as: （7）； The water depth change process of the straight section of the approach channel is consistent with the first downstream lock, and the approach channel maintains the minimum water depth h smin The time period calculation method is: The time interval for the water wave fluctuation at the lower lock head to be transmitted to the end of the straight section of the lower approach channel then may be expressed as: （8）； For the ship lock, the wave speed V c is represented by: （9）； Wherein: V0 is the average flow velocity of the downstream approach channel section, which is represented as: （10）； Where: Q is the lock discharge, which can be approximated as Q max , S is the cross-sectional area of the lower approach channel, d is the channel bottom width, and n1 and n1 are the side slope ratios of the lower approach channel.

7. The navigation scheduling method for reducing the influence of multi-line single-stage ship lock drainage wave according to claim 1, characterized in that: The ship lock drainage wave operation data adaptation principle is to select an adaptive ship lock sub-drainage wave database according to the drainage interval of two adjacent drainage locks and the lock size: 1) When the sizes of two adjacent drainage locks are the same or similar, the current drainage lock sub-drainage wave database is selected for adaptation; 2) When the size difference between two adjacent secondary lock chambers is large, and the size of the current secondary lock chamber is smaller than that of the previous secondary lock chamber, if the discharge interval time is less than or equal to 2 ship lock discharge wave periods, the previous secondary lock corresponding ship lock sub-discharge wave database is selected for adaptation; if the discharge interval time is greater than 2 ship lock discharge wave periods, the current secondary lock corresponding ship lock sub-discharge wave database is selected for adaptation.

8. The navigation scheduling method for reducing the influence of multi-line single-stage ship lock discharge waves according to claim 1, characterized in that: In step 3, the best departure time of the ship passing through the lock and the best time of the ship leaving the lock are calculated as follows: According to the target optimal lockage time, the opening and closing time of the first lock gate of each lockage is recalculated 新 The opening and closing time of the first lock gate of the i-th lockage is about The time interval between the discharge start time and the opening and closing time of the first lock gate of the i-th lockage is The optimal discharge time is And （11）； The i-th line ship lock is preliminarily determined to be about to depart at P i+1 The departure time of the m-th ship in the line is The corresponding passing lock number of the m-th ship is m i+1 For example: 1) the i-th line ship lock m i+1 downward, then P i+1 the optimal departure time is ; When the gate operation is over and the ship is unmoored, the relationship between h ' and the real-time water depth h s of the lower approach channel is compared to determine the opening time of the last-stage gate. ①: the minimum water depth h of the lower approach channel is collected by the water level sensor arranged along the lower approach channel smin , if h smin ≥ h ' , it indicates that the last stage gate is opened after the ship unmoors, and the ship sails out of the lock chamber; ②: For example ≥ h ' h smin The real-time water depth h at the lower gate is collected by water level sensors installed at the lower gate. s h collected before and after s h respectively s前 h s后 When h s后 h s前 The system prompts the vessel to untie its moorings and then open the final lock gate, allowing the vessel to exit the lock chamber. 2) Lock m of line i i+1 If the gate operates in the upward direction, then the Pth gate... i+1 Vessels entering the pilotway after the lock's opening may be affected by lock spillway waves. For the Pth... i+1 For vessels waiting to enter the lock, let S be the distance between their waiting anchorage and the berthing facilities of the lower approach channel, and L3 be the distance between the waiting anchorage and the lower boundary of the lower approach channel entrance area. The berthing facilities within the approach channel are relatively close to the lower lock head, and can be approximated as follows: S = L1 + L2 + L3 (12); V is the average speed of the ship, and is approximately: (13)； Adapt to gate discharge at the closest The target number of gates in time is calculated through the model. Real-time water depth h at the end of the straight section of the lower approach channel of the time lock s Minimum water depth h of the process and channel smin : a: as calculated h smin ≥ h ' , the ship is not affected by the draining wave, and can directly enter the pilot channel, so the best departure time of i+1 is ; b: as calculated according to the estimation, ≥ h ' > h smin The real-time water depth h at the end of the straight section of the approach channel of the ship lock is calculated by the model s = The time is The best departure time of P i+1 is , which is represented as: (14)。

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