A ship lock automatic control system and method based on parallel theory

Abstract

A ship lock automatic control system and method based on parallel theory, the system comprises a parallel ship lock operation management and control integrated platform, a ship lock operation process parallel control model, a ship lock operation process parallel control algorithm module, a ship lock passing process parallel control model, a ship lock passing process parallel management algorithm module, a time-based ship lock parallel management and control database, a ship lock equipment state monitoring module, a ship lock passing plan monitoring module, a passing ship state monitoring module, and a lock chamber water level monitoring module. The purpose of the present application is to solve the technical problems of high risk of ship lock operation and passing safety and low efficiency, which are caused by the fact that the existing ship lock operation and passing are analyzed by manually combining video monitoring information, voice interaction information and PLC information to obtain corresponding decisions and output instructions.

Description

Technical Field

[0001] This invention relates to the field of navigation hub technology, specifically to an automatic lock control technology based on parallel theory. Background Technology

[0002] As a passageway for ships, a lock is designed to overcome the water level difference between the upstream and downstream sides of a water conservancy project by opening and closing water discharge valves to fill and discharge water into the lock chamber, thus enabling ships to pass through the water conservancy project smoothly.

[0003] The process of a vessel passing through the lock mainly includes waiting, entering the lock, shifting mooring, and exiting the lock. When a vessel enters the lock's jurisdiction area but the lock does not meet the entry conditions, the vessel enters the lock's waiting area to berth and wait. Once the lock meets the entry conditions (the water level in the first-stage lock chamber is level with the upstream / downstream water level of the hub, the first-stage water supply valve is closed, and the first-stage working gate is fully open), the vessel enters the first-stage lock chamber. After all vessels in that lock cycle are reliably moored within the berthing area of ​​the lock chamber, the first-stage working gate is closed, and the second-stage water supply valve is opened. Once the water level in the first-stage lock chamber is level with the water level in the second-stage lock chamber, the second-stage water supply valve is closed, and the second-stage working gate is opened. The vessel then unmoors and shifts mooring to the second lock chamber. This process continues until the water level in the last-stage lock chamber is level with the downstream / upstream water level of the hub. At this point, the last-stage water supply valve is closed, the last-stage working gate is opened, and the vessel unmoors and exits the lock.

[0004] During lock operation, vessel status is primarily assessed through video monitoring and voice interaction, supplemented by manual judgment. Equipment operating status is transmitted to a PLC via sensor signals. During vessel passage, manual analysis of video monitoring, voice interaction, and PLC information is required to make passage decisions and issue commands. This operational control method not only suffers from low integration of vessel passage information and a lack of intelligence, but also necessitates significant manual intervention. Its efficiency is low and its safety risks are influenced by the operator's skill level and workload.

[0005] The patent application CN107067759A, entitled "A Real-Time Control Method for Parallel Traffic Lights Based on ACP," proposes building an artificial traffic light system. The system imports collected real-time traffic flow data into a computational experimental platform to calculate a real-time timing scheme. Finally, the real-time timing scheme is loaded into the actual traffic light system in a parallel execution manner, achieving guidance and intervention for real-time traffic flow. This method only optimizes the control of traffic lights at intersections to reduce road congestion, but it does not effectively optimize the travel routes of vehicles. Therefore, the demand for vehicles at the intersection is not reduced, potentially leading to the control method's actual performance falling short of expectations. Summary of the Invention

[0006] The purpose of this invention is to solve the technical problem that the operation and passage of existing ship locks rely on the comprehensive analysis of video monitoring information, voice interaction information and PLC information by humans to obtain corresponding decisions and output instructions. This method cannot guarantee the safety of ship lock operation and passage, and is characterized by high risks and low efficiency.

[0007] An automatic control system for ship locks based on parallel theory includes an integrated platform for parallel ship lock operation and management, a parallel control model for ship lock operation process, a parallel control algorithm module for ship lock operation process, a parallel control model for ship passage through the lock, a parallel management algorithm module for ship passage through the lock, a time-scaled parallel control database for ship locks, a ship lock equipment status monitoring module, a ship passage through the lock plan monitoring module, a ship passage through the lock status monitoring module, and a lock chamber water level monitoring module.

[0008] The input terminals of the lock equipment status monitoring module are connected to the output terminals of the actual lock's working gate operation data module, the actual lock's water supply valve operation data module, the actual lock's gate locking device operation data module, and the actual lock's anti-collision warning device operation data module, respectively. The input terminals of the vessel passage plan monitoring module are connected to the output terminals of the actual lock's vessel passage plan data module and the actual lock's vessel passage gearing data module, respectively. The input terminals of the passing vessel status monitoring module are connected to the output terminals of the vessel position data module, the vessel mooring data module, and the vessel speed data module, respectively. The input terminal of the lock chamber water level monitoring module is connected to the output terminal of the actual lock's lock chamber water level data module. The output terminals of the lock equipment status monitoring module, the vessel passage plan monitoring module, the passing vessel status monitoring module, and the lock chamber water level monitoring module are all connected to the input terminal of the time-scaled lock parallel management and control database.

[0009] The input end of the parallel control algorithm module for the lock operation process is connected to the output end of the time-scaled parallel management and control database for the lock. The output end of the parallel control algorithm module for the lock operation process is connected to the input end of the parallel control model for the lock operation process. The input end of the parallel control model for the lock operation process is connected to the output end of the parallel control algorithm module for the lock operation process. The output end of the parallel control model for the lock operation process is connected to the input end of the integrated platform for parallel lock operation management and control.

[0010] The input end of the parallel management algorithm module for ship passage through the lock is connected to the output end of the time-scaled parallel control database for ship locks; the output end of the parallel management algorithm module for ship passage through the lock is connected to the input end of the parallel control model for ship passage through the lock; and the output end of the parallel control model for ship passage through the lock is connected to the input end of the integrated platform for parallel lock operation and management.

[0011] The output terminals of the integrated parallel lock operation and management platform are connected to the input terminals of the lock industrial control system and the lock scheduling system, respectively.

[0012] The output end of the integrated parallel lock operation and control platform is connected to the input end of the lock industrial control system and the lock scheduling system, and is used to output lock operation suggestions and lock passage vessel operation suggestions.

[0013] The parallel control model of the lock operation process receives the calculation results of the parallel control algorithm module of the lock operation process in real time, and provides the lock simulation operation data, and outputs the data to the integrated platform for parallel lock operation management and control.

[0014] The parallel control algorithm module for the lock operation process receives data from the time-scaled lock parallel management and control database in real time, calculates and provides operation suggestions for the current state of the parallel lock, and transmits them to the lock operation process parallel control model.

[0015] The parallel control model for the ship lock passage process receives the calculation results from the parallel management algorithm module for the ship lock passage process in real time, provides operation suggestions for the current status of the passing ship, and outputs the data to the integrated platform for parallel lock operation and management.

[0016] The parallel management algorithm module for the ship passage through the lock receives data from the time-scaled parallel control database of the lock in real time, calculates and provides optimization suggestions for the current operating status of ships passing through the lock in parallel, and transmits them to the parallel control model for the ship passage through the lock.

[0017] The time-scaled parallel control database for locks receives and stores output data in real time from the lock equipment status monitoring module, the vessel passage plan monitoring module, the vessel passage status monitoring module, and the lock chamber water level monitoring module.

[0018] The lock equipment status monitoring module monitors the real lock equipment operation status in real time and transmits the data from the working gate operation data module, water valve operation data module, gate locking device operation data module, and anti-collision warning device operation data module to the time-scaled lock parallel management and control database.

[0019] The ship passage plan monitoring module detects the actual ship passage status of the lock in real time and transmits the data from the ship passage plan data module and the ship passage schedule data module to the time-scaled lock parallel management database in real time.

[0020] The vessel status monitoring module receives data in real time from the vessel speed data module, vessel position data module, and vessel mooring data module, and transmits it to the time-scaled lock parallel control database.

[0021] The lock chamber water level monitoring module receives data from the lock chamber water level data module in real time and transmits it to the time-scaled lock parallel control database.

[0022] The data in the working gate operation data module includes "gate open to completion", "gate close to completion", and "gate closed"; the data in the water conveyance valve operation data module includes "valve closed to completion" and "valve open to completion"; the data in the gate locking device operation data module includes "locked in place" and "unlocked in place"; the data in the anti-collision warning device operation data module includes "upper in place" and "lower in place".

[0023] The data in the vessel lock passage plan module includes "not executed", "in execution", and "executed"; the data in the vessel lock passage queuing data module includes the vessel entry sequence and the vessel's docking position inside the lock chamber.

[0024] The system is used in the following steps:

[0025] 1) Connect the lock equipment status monitoring module and the lock chamber water level monitoring module to the lock industrial control system to collect data from the lock working gate operation data module, water supply valve operation data module, gate locking device operation data module, anti-collision warning device operation data module and lock chamber water level data module;

[0026] 2) Connect the vessel lock passage plan monitoring module to the lock scheduling system and collect data from the vessel lock passage plan data module and the vessel lock passage schedule data module;

[0027] 3) Connect the vessel status monitoring module to the Beidou system and the lock monitoring camera to collect data from the vessel speed data module, vessel position data module, and vessel mooring data module;

[0028] 4) The lock equipment status monitoring module, lock chamber water level monitoring module, ship passage plan monitoring module, and ship passage status monitoring module transmit the collected data to the time-scaled lock parallel management and control database.

[0029] 5) The parallel control algorithm module for the lock operation process receives data from the time-scaled lock parallel management and control database in real time, calculates and provides optimization suggestions for the current operation status of the parallel lock, and transmits them to the lock operation process parallel control model.

[0030] 6) The parallel control model of the lock operation process receives the calculation results of the parallel control algorithm module of the lock operation process in real time, provides the lock simulation operation data, and outputs the data to the integrated platform for parallel lock operation management and control.

[0031] 7) After receiving the output data of the parallel control model of the lock operation process, the integrated platform for parallel lock operation management and control outputs lock operation suggestions to the lock through the lock industrial control system. The lock automatic control system automatically predicts the next lock operation process by collecting data such as passing ships, lock equipment, and lock chamber water level, and provides operation suggestions to lock staff. This helps to reduce the amount of information processing for lock staff and improve the efficiency of lock passage.

[0032] 8) The parallel management algorithm module for the ship passing through the lock receives data from the lock parallel control database based on time scale in real time, calculates and provides optimization suggestions for the current operating status of ships passing through the lock in parallel, and transmits the data to the parallel control model for the ship passing through the lock.

[0033] 9) The parallel control model for the ship lock passage process receives the calculation results from the parallel management algorithm module for the ship lock passage process, provides simulated operation data of ships passing through the lock in parallel, and outputs the data to the integrated platform for parallel lock operation and management.

[0034] 10) After receiving the output data of the parallel control model of the ship passing through the lock, the integrated platform for parallel lock operation and management automatically outputs ship operation suggestions to the ship passing through the lock through the lock scheduling system; the automatic lock control system automatically predicts the next passage process of the ship passing through the lock by collecting data such as the ship passing through the lock, the lock equipment, and the water level in the lock chamber, and provides operation suggestions to the ship passing through the lock, which helps to improve the safety and efficiency of the ship passing through the lock.

[0035] In step 5), the parallel control algorithm module for the lock operation process includes the following steps when in use:

[0036] 5-1) Assume that the vessel passing through the lock moves from the lock chamber above the Nth lock head to the next lock chamber / enters / exits the lock; N≥1 and is an integer;

[0037] 5-2) Receive lock chamber water level data from the time-scaled parallel control database of the lock. Calculate the water level difference between the upper and lower lock chambers of the Nth lock head. When the water level difference is lower than the preset default horizontal water level difference, determine that the two lock chambers are in a horizontal state.

[0038] 5-3) Receive the lock equipment operation status from the time-stamped parallel control database. The N-level lock head working gate operation data is "Gate open end", the water supply valve operation data is "Valve closed end", the working gate locking device operation data is "Locked in position", and the anti-collision warning device operation data is "Up in position"; the N+1 level lock head working gate operation data is "Gate closed end", the water supply valve operation data is "Valve closed end", and the anti-collision warning device operation data is "Down in position"; the N-1 level lock head working gate operation data is "Gate closed end", and the water supply valve operation data is "Valve closed end", indicating that the N-level lock head lock equipment meets the conditions for closing the working gate.

[0039] 5-4) Receive the speed data, position data, and mooring status data of vessels passing through the lock from the time-stamped parallel control database of the lock. When the speed of all vessels in this lock session is 0, the position of all vessels is in the nth lock chamber and none of them have crossed the no-stopping zone, and all vessels have completed berthing, it is determined that all vessels have completed the transfer.

[0040] 5-5) The parallel control algorithm module of the lock operation process calculates that when the following three conditions are met simultaneously: the upper and lower lock chambers of the Nth lock head are in a horizontal state, the lock equipment of the Nth lock head is ready to close the gate, and all ships have completed the transfer, the parallel control algorithm module of the lock operation process considers the Nth lock head to be ready to close the working gate.

[0041] In step 8), the parallel management algorithm module for ship lock passage includes the following steps when in use:

[0042] 8-1) Assume that a vessel passing through the lock moves from one lock chamber to the next at the N-level lock head; Note: N≥1 and is an integer;

[0043] 8-2) Receive data from the vessel position data module and the vessel passage plan data module in the time-stamped parallel control database of the lock, and determine the vessel passage status;

[0044] 8-3) Receive lock chamber water level data and upstream and downstream water level data from the time-scaled parallel control database of the lock. Calculate the water level difference between the upper and lower lock chambers of the Nth lock head. When the water level difference is lower than the preset default horizontal water level difference, determine that the two lock chambers are in a horizontal state.

[0045] 8-4) Receive the lock equipment operation status from the time-stamped lock parallel control database. The operation data of the N-level lock head working gate is "Gate open end", the operation data of the water supply valve is "Valve closed end", the operation data of the working gate locking device is "Locked in place", and the operation data of the anti-collision warning device is "Up in place"; the operation data of the N+1 level lock head working gate is "Gate closed end", the operation data of the water supply valve is "Valve closed end", and the operation data of the anti-collision warning device is "Down in place"; the operation data of the N-1 level lock head working gate is "Gate closed end", and the operation data of the water supply valve is "Valve closed end", indicating that the N-level lock head lock equipment is ready for ships to enter / move through the lock.

[0046] 8-5) The parallel management algorithm module for the ship passage through the lock process calculates that when the following three conditions are met simultaneously: the ship has the conditions to enter or move through the lock, the lock chamber above and below the Nth lock head is in a horizontal state, and the lock equipment of the Nth lock head has the conditions for the ship to enter or move through the lock, the parallel management algorithm module considers the Nth lock head to have the conditions for the ship to enter or move through the lock.

[0047] Step 8-2) includes the following sub-steps:

[0048] s1) When a vessel is located in the lock chamber above the Nth lock head and the vessel's lock passage plan data for that lock session is "in progress", it is determined that the vessel has the conditions for moving.

[0049] s2) When a vessel is located upstream / downstream, the vessel's lock passage plan data for this lock session is "not executed", and the previous lock session's lock passage data is "executed", then it is determined that the vessel has the conditions to enter the lock.

[0050] Compared with the prior art, the present invention has the following technical effects:

[0051] 1) This invention utilizes a parallel lock operation and control integrated platform to receive real-time data on the current operating status of real locks and real vessels passing through the locks. Through built-in models and algorithms, it provides operational suggestions and instructions for the current status, which are then sent to the real locks and real vessels passing through the locks via the real lock industrial control system and the vessel scheduling system, effectively improving the integration and intelligence of vessel passage information.

[0052] 2) This invention collects data on real ships passing through the lock, real lock equipment, and real lock chamber water levels, and uses a parallel control algorithm for the lock operation process to automatically predict the next lock operation process and provide operation suggestions to lock staff. This helps reduce the amount of information processing required by lock staff and improves the efficiency of lock passage.

[0053] 3) This invention collects data on real vessels passing through the lock, real lock equipment, and real lock chamber water levels, and uses a parallel management algorithm for the vessel passage process to automatically determine the next operation procedure for the vessel passing through the lock, providing guidance for the operation of the vessel and helping to improve the efficiency and safety of vessel passage through the lock. Attached Figure Description

[0054] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0055] Figure 1 This is a schematic diagram of the parallel lock system structure of the present invention;

[0056] Figure 2 This is a flowchart of the present invention. Detailed Implementation

[0057] like Figures 1 to 2 As shown, an automatic control system and method for a ship lock based on parallel theory is disclosed. The system includes an integrated platform for parallel ship lock operation and management 1, a parallel control model for ship lock operation process 2, a parallel control algorithm module for ship lock operation process 3, a parallel control model for ship passage through the lock 4, a parallel management algorithm module for ship passage through the lock 5, a time-scaled parallel control database for the ship lock 6, a ship lock equipment status monitoring module 7, a ship passage through the lock plan monitoring module 8, a ship passage through the lock status monitoring module 9, and a lock chamber water level monitoring module 10.

[0058] The lock equipment status monitoring module 7 collects real lock equipment operation data through cameras and limit switches and transmits it to the lock parallel management and control database 6 based on time scales. The ship passage plan monitoring module 8 reads the data of ships passing through the lock scheduling system and transmits it to the lock parallel management and control database 6 based on time scales. The ship passage status monitoring module 9 collects the operation data of ships passing through the lock through the Beidou system and cameras and transmits it to the lock parallel management and control database 6 based on time scales. The lock chamber water level monitoring module 10 collects the water level data of the lock chamber and the upstream and downstream of the lock through water level gauges and transmits it to the lock parallel management and control database 6 based on time scales. The input of the parallel control algorithm module 3 for the lock operation process is connected to the output of the lock parallel management and control database 6 based on time scale, and the output is connected to the input of the lock operation process parallel control model 2; the output of the lock operation process parallel control model 2 is connected to the input of the integrated parallel lock operation management and control platform 1; the input of the parallel management algorithm module 5 for the ship passage process is connected to the lock parallel management and control database 6 based on time scale, and the output is connected to the input of the lock passage process parallel control model 4; the output of the lock passage process parallel control model 4 is connected to the input of the integrated parallel lock operation management and control platform 1.

[0059] The output end of the parallel lock operation and control integrated platform 1 is connected to the lock industrial control system 11 and the lock scheduling system 12, and is used for outputting lock operation suggestions and lock passage vessel operation suggestions.

[0060] The parallel control model 2 for the lock operation process receives the calculation results of the parallel control algorithm for the lock operation process in real time and outputs the data to the integrated parallel lock operation management and control platform 1.

[0061] The parallel control algorithm module 3 for the lock operation process receives data from the time-scaled lock parallel management and control database 6 in real time, calculates and provides optimization suggestions for the current operation status of the parallel lock, and transmits them to the lock operation process parallel control model 2.

[0062] The parallel control model 4 for the ship passing through the lock receives the calculation results from the parallel management algorithm module 5 for the ship passing through the lock in real time, and outputs the data to the integrated platform 1 for parallel lock operation and management.

[0063] The parallel management algorithm module 5 for the ship passing through the lock receives data from the time-scaled parallel control database 6 in real time, calculates and provides optimization suggestions for the current operating status of ships passing through the lock in parallel, and transmits them to the parallel control model 4 for the ship passing through the lock.

[0064] The time-scaled parallel control database for locks 6 receives and stores the output data of the lock equipment status detection module 7, the ship passage plan monitoring module 8, the ship passage status monitoring module 9, the lock chamber water level monitoring module 10 in real time.

[0065] The lock equipment status monitoring module 7 receives data in real time from the working gate operation data module 14, the water supply valve operation data module 15, the gate locking device operation data module 16, and the anti-collision warning device operation data module 17, and transmits it to the lock parallel management and control database 6 based on time stamp.

[0066] The ship passage plan monitoring module 8 receives real-time ship passage plan data and ship passage scheduling data from the ship lock industrial control system 11 and the ship passage schedule data module 19, and transmits them to the time-scaled ship lock parallel management and control database 6.

[0067] The lock-passing vessel status monitoring module 9 receives real-time data on vessel speed, position, and mooring status from the Beidou system and lock cameras, and transmits it to the lock parallel control database 6 based on time stamps.

[0068] The lock chamber water level monitoring module 10 receives real-time water level data from each lock chamber of the lock and transmits it to the time-scaled lock parallel management and control database 6.

[0069] The operating data of the working gate includes "gate open to completion", "gate close to completion", and "gate closed"; the operating data of the water conveyance valve includes "valve close to completion" and "valve open to completion"; the operating data of the working gate locking device includes "locked in place" and "unlocked in place"; the operating data module 17 of the anti-collision warning device includes "upper in place" and "lower in place".

[0070] The vessel lock passage plan data 18 includes “not executed”, “in execution”, and “executed”; the vessel lock passage queuing data includes the vessel entry sequence and the vessel's docking position in the lock chamber.

[0071] The system is used in the following steps:

[0072] 1) Connect the lock equipment status detection module and the lock chamber water level monitoring module to the lock industrial control system to collect the lock working gate operation data, water supply valve operation data, gate locking device operation data, anti-collision warning device operation data and lock chamber water level data;

[0073] 2) Integrate the vessel lock passage plan monitoring module into the vessel dispatching system to collect vessel lock passage plan data and vessel lock passage schedule data;

[0074] 3) Connect the vessel status monitoring module to the Beidou system and the lock camera to collect vessel speed data, vessel position data, and mooring status data;

[0075] 4) The lock equipment status detection module, lock chamber water level monitoring module, ship passage plan monitoring module, and ship passage status monitoring module transmit the collected data to the time-scaled lock parallel management and control database.

[0076] 5) The parallel control algorithm module for the lock operation process receives data from the time-scaled lock parallel management and control database in real time, calculates and provides optimization suggestions for the current operation status of the parallel lock, and transmits them to the lock operation process parallel control model.

[0077] 6) The parallel control model of the lock operation process receives the calculation results of the parallel control algorithm of the lock operation process in real time, provides the lock simulation operation data, and outputs the data to the integrated platform for parallel lock operation management and control.

[0078] 7) After receiving the output data from the parallel control model of the lock operation process, the integrated platform for parallel lock operation management automatically outputs lock operation suggestions to the lock through the lock industrial control system.

[0079] 8) The parallel management algorithm module for the ship passing through the lock receives data from the lock parallel control database based on time scale in real time, calculates and provides optimization suggestions for the current operating status of ships passing through the lock in parallel, and transmits the data to the parallel control model for the ship passing through the lock.

[0080] 9) The parallel control model for the ship lock passage process receives the calculation results of the parallel management algorithm for the ship lock passage process, provides the simulated operation data of ships passing through the lock in parallel, and outputs the data to the integrated platform for parallel lock operation and management.

[0081] 10) After receiving the output data of the parallel control model of the ship passing through the lock, the integrated platform for parallel lock operation and management automatically outputs ship operation suggestions to the ships passing through the lock through the ship scheduling system.

[0082] In step 5), the parallel control algorithm module for the lock operation process includes the following steps when in use:

[0083] 5-1) Assume that the vessel passing through the lock moves from the lock chamber above the Nth lock head to the next lock chamber / enters / exits the lock; Note: N≥1 and is an integer.

[0084] 5-2) Receive lock chamber water level data from the time-scaled parallel control database of the lock. Calculate the water level difference between the upper and lower lock chambers of the Nth lock head. When the water level difference is lower than the preset default horizontal water level difference, determine that the two lock chambers are in a horizontal state.

[0085] 5-3) Receive lock equipment operation data from the time-scaled parallel control database. For the N-level lock head, the working gate operation data is "Gate open end", the water supply valve operation data is "Valve closed end", the working gate locking device operation data is "Locked in position", and the anti-collision warning device operation data is "Up in position". For the N+1 level lock head, the working gate operation data is "Gate closed end", the water supply valve operation data is "Valve closed end", and the anti-collision warning device operation data is "Down in position". For the N-1 level lock head, the working gate operation data is "Gate closed end", and the water supply valve operation data is "Valve closed end". This indicates that the N-level lock head lock equipment is ready to close its working gate.

[0086] 5-4) Receive the speed data, position data, and mooring status data of vessels passing through the lock from the time-stamped parallel control database of the lock. When the speed of all vessels in this lock session is 0, the position of all vessels is in the nth lock chamber and none of them have crossed the no-stopping zone, and all vessels have completed berthing, it is determined that all vessels have completed the transfer.

[0087] 5-5) After calculation, the parallel control algorithm module of the lock operation process determines that three conditions (the nth lock chamber and the (n-1th lock chamber are in a horizontal state, the Nth lock head lock equipment is ready to close the gate, and all ships have completed the transfer) are met simultaneously. The algorithm output by the parallel control algorithm module of the lock operation process considers that the Nth lock head is ready to close the working gate.

[0088] In step 8), the parallel management algorithm module for ship lock passage includes the following steps when in use:

[0089] 8-1) Assume that a vessel passing through the lock moves from one lock chamber to the next at the N-level lock head; Note: N≥1 and is an integer;

[0090] 8-2) Receive vessel position data and vessel passage plan data from the time-stamped parallel control database of the locks, and determine the vessel passage status; step 8-2) includes the following sub-steps:

[0091] 1) When a vessel is located in lock chamber n-1 and the vessel's lock passage plan data for that lock session is "in progress", it is determined that the vessel is ready to move.

[0092] 2) If a vessel is located upstream / downstream of the lock, the lock passage plan data for this lock session is "not executed", and the lock passage data for the previous lock session is "executed", then it is determined that the vessel meets the conditions for entering the lock.

[0093] 8-3) Receive lock chamber water level data from the time-scaled parallel control database of the lock. Calculate the water level difference between the upper and lower lock chambers of the N-level lock head. When the water level difference is lower than the preset default horizontal water level difference, determine that the two lock chambers are in a horizontal state.

[0094] 8-4) Receive the lock equipment operating status from the time-stamped parallel control database. For the N-level lock head, the operating data for the working gate is "Gate Open Ended," the water supply valve is "Valve Closed Ended," the working gate locking device is "Locked In Position," and the anti-collision warning device is "Up in Position." For the N+1-level lock head, the operating data for the working gate is "Gate Closed Ended," the water supply valve is "Valve Closed Ended," and the anti-collision warning device is "Down in Position." For the N-1-level lock head, the operating data for the working gate is "Gate Closed Ended," and the water supply valve is "Valve Closed Ended." This indicates that the N-level lock head lock equipment is ready for vessels to enter / move through the lock.

[0095] 8-5) The parallel management algorithm for the ship passage process calculates that when the following three conditions are met simultaneously: the ship has the conditions to enter or move through the lock, the lock chamber above and below the N-level lock head is in a horizontal state, and the lock equipment of the N-level lock head has the conditions for the ship to enter or move through the lock, the parallel management algorithm for the ship passage process considers the N-level lock head to have the conditions for the ship to enter or move through the lock.

Claims

1. An automatic lock control system based on parallel theory, characterized in that, It includes an integrated platform for parallel lock operation and management, a parallel control model for lock operation process, a parallel control algorithm module for lock operation process, a parallel control model for ship passage through the lock, a parallel management algorithm module for ship passage through the lock, a time-scaled parallel lock management and control database, a lock equipment status monitoring module, a ship passage through the lock plan monitoring module, a ship passage through the lock status monitoring module, and a lock chamber water level monitoring module. The input terminals of the lock equipment status monitoring module are connected to the output terminals of the actual lock's working gate operation data module, the actual lock's water supply valve operation data module, the actual lock's gate locking device operation data module, and the actual lock's anti-collision warning device operation data module, respectively. The input terminals of the vessel passage plan monitoring module are connected to the output terminals of the actual lock's vessel passage plan data module and the actual lock's vessel passage gearing data module, respectively. The input terminals of the passing vessel status monitoring module are connected to the output terminals of the vessel position data module, the vessel mooring data module, and the vessel speed data module, respectively. The input terminal of the lock chamber water level monitoring module is connected to the output terminal of the actual lock's lock chamber water level data module. The output terminals of the lock equipment status monitoring module, the vessel passage plan monitoring module, the passing vessel status monitoring module, and the lock chamber water level monitoring module are all connected to the input terminal of the time-scaled lock parallel management and control database. The input end of the parallel control algorithm module for the lock operation process is connected to the output end of the lock parallel management and control database based on time scale, and the output end of the parallel control algorithm module for the lock operation process is connected to the input end of the lock operation process parallel control model. The input end of the parallel control model for the lock operation process is connected to the output end of the parallel control algorithm module for the lock operation process, and the output end of the parallel control model for the lock operation process is connected to the input end of the integrated platform for parallel lock operation management and control. The input end of the parallel management algorithm module for ship passage through the lock is connected to the output end of the time-scaled parallel control database for ship locks; the output end of the parallel management algorithm module for ship passage through the lock is connected to the input end of the parallel control model for ship passage through the lock; and the output end of the parallel control model for ship passage through the lock is connected to the input end of the integrated platform for parallel lock operation and management. The output terminals of the integrated parallel lock operation and management platform are connected to the input terminals of the lock industrial control system and the lock scheduling system, respectively.

2. The system according to claim 1, characterized in that, The output end of the integrated parallel lock operation and control platform is connected to the input end of the lock industrial control system and the lock scheduling system, and is used to output lock operation suggestions and lock passage vessel operation suggestions. The parallel control model of the lock operation process receives the calculation results of the parallel control algorithm module of the lock operation process in real time, and provides the lock simulation operation data, and outputs the data to the integrated platform for parallel lock operation management and control. The parallel control algorithm module for the lock operation process receives data from the time-scaled lock parallel management and control database in real time, calculates and provides operation suggestions for the current state of the parallel lock, and transmits them to the lock operation process parallel control model. The parallel control model for the ship lock passage process receives the calculation results from the parallel management algorithm module for the ship lock passage process in real time, provides operation suggestions for the current status of the passing ship, and outputs the data to the integrated platform for parallel lock operation and management. The parallel management algorithm module for the ship passage through the lock receives data from the time-scaled parallel control database of the lock in real time, calculates and provides optimization suggestions for the current operating status of ships passing through the lock in parallel, and transmits them to the parallel control model for the ship passage through the lock. The time-scaled parallel control database for locks receives and stores output data in real time from the lock equipment status monitoring module, the vessel passage plan monitoring module, the vessel passage status monitoring module, and the lock chamber water level monitoring module.

3. The system according to claim 1 or 2, characterized in that, The lock equipment status monitoring module monitors the real lock equipment operation status in real time and transmits the data from the working gate operation data module, water valve operation data module, gate locking device operation data module, and anti-collision warning device operation data module to the time-scaled lock parallel management and control database. The ship passage plan monitoring module detects the actual ship passage status of the lock in real time and transmits the data from the ship passage plan data module and the ship passage schedule data module to the time-scaled lock parallel management database in real time. The vessel status monitoring module receives data in real time from the vessel speed data module, vessel position data module, and vessel mooring data module, and transmits it to the time-scaled lock parallel control database. The lock chamber water level monitoring module receives data from the lock chamber water level data module in real time and transmits it to the time-scaled lock parallel control database.

4. The system according to claim 3, characterized in that, The data in the working gate operation data module includes "gate open end", "gate close end", and "gate closed"; the data in the water conveyance valve operation data module includes "valve close end" and "valve open end"; the data in the gate locking device operation data module includes "locked in position" and "unlocked in position"; the data in the anti-collision warning device operation data module includes "upper in position" and "lower in position". The data in the vessel lock passage plan module includes "not executed", "in execution", and "executed"; the data in the vessel lock passage queuing data module includes the vessel entry sequence and the vessel's docking position inside the lock chamber.

5. The system according to claim 1, characterized in that, The system is used in the following steps: 1) Connect the lock equipment status monitoring module and the lock chamber water level monitoring module to the lock industrial control system to collect data from the lock working gate operation data module, water supply valve operation data module, gate locking device operation data module, anti-collision warning device operation data module and lock chamber water level data module; 2) Connect the vessel lock passage plan monitoring module to the lock scheduling system and collect data from the vessel lock passage plan data module and the vessel lock passage schedule data module; 3) Connect the vessel status monitoring module to the Beidou system and the lock monitoring camera to collect data from the vessel speed data module, vessel position data module, and vessel mooring data module; 4) The lock equipment status monitoring module, lock chamber water level monitoring module, ship passage plan monitoring module, and ship passage status monitoring module transmit the collected data to the time-scaled lock parallel management and control database. 5) The parallel control algorithm module for the lock operation process receives data from the time-scaled lock parallel management and control database in real time, calculates and provides optimization suggestions for the current operation status of the parallel lock, and transmits them to the lock operation process parallel control model. 6) The parallel control model of the lock operation process receives the calculation results of the parallel control algorithm module of the lock operation process in real time, provides the lock simulation operation data, and outputs the data to the integrated platform for parallel lock operation management and control. 7) After receiving the output data of the parallel control model of the lock operation process, the integrated platform for parallel lock operation management and control outputs lock operation suggestions to the lock through the lock industrial control system. 8) The parallel management algorithm module for the ship passing through the lock receives data from the lock parallel control database based on time scale in real time, calculates and provides optimization suggestions for the current operating status of ships passing through the lock in parallel, and transmits the data to the parallel control model for the ship passing through the lock. 9) The parallel control model for the ship lock passage process receives the calculation results from the parallel management algorithm module for the ship lock passage process, provides simulated operation data of ships passing through the lock in parallel, and outputs the data to the integrated platform for parallel lock operation and management. 10) After receiving the output data of the parallel control model of the ship passing through the lock, the integrated platform for parallel lock operation and management automatically outputs ship operation suggestions to the passing ships through the lock through the lock scheduling system.

6. The system according to claim 5, characterized in that, In step 5), the parallel control algorithm module for the lock operation process includes the following steps when in use: 5-1) Assume that the vessel passing through the lock moves from the lock chamber above the Nth lock head to the next lock chamber / enters / exits the lock; N≥1 and is an integer; 5-2) Receive lock chamber water level data from the time-scaled parallel control database of the lock. Calculate the water level difference between the upper and lower lock chambers of the Nth lock head. When the water level difference is lower than the preset default horizontal water level difference, determine that the two lock chambers are in a horizontal state. 5-3) Receive the lock equipment operation status from the time-stamped parallel control database. The N-level lock head working gate operation data is "Gate open end", the water supply valve operation data is "Valve closed end", the working gate locking device operation data is "Locked in position", and the anti-collision warning device operation data is "Up in position"; the N+1 level lock head working gate operation data is "Gate closed end", the water supply valve operation data is "Valve closed end", and the anti-collision warning device operation data is "Down in position"; the N-1 level lock head working gate operation data is "Gate closed end", and the water supply valve operation data is "Valve closed end", indicating that the N-level lock head lock equipment meets the conditions for closing the working gate. 5-4) Receive the speed data, position data, and mooring status data of vessels passing through the lock from the time-stamped parallel control database of the lock. When the speed of all vessels in this lock session is 0, the position of all vessels is in the nth lock chamber and none of them have crossed the no-stopping zone, and all vessels have completed berthing, it is determined that all vessels have completed the transfer. 5-5) The parallel control algorithm module of the lock operation process calculates that when the following three conditions are met simultaneously: the upper and lower lock chambers of the Nth lock head are in a horizontal state, the lock equipment of the Nth lock head is ready to close the gate, and all ships have completed the transfer, the parallel control algorithm module of the lock operation process considers the Nth lock head to be ready to close the working gate.

7. The system according to claim 5 or 6, characterized in that, In step 8), the parallel management algorithm module for ship lock passage includes the following steps when in use: 8-1) Assume that a vessel passing through the lock moves from one lock chamber to the next at the N-level lock head; Note: N≥1 and is an integer; 8-2) Receive data from the vessel position data module and the vessel passage plan data module in the time-stamped parallel control database of the lock, and determine the vessel passage status; 8-3) Receive lock chamber water level data and upstream and downstream water level data from the time-scaled parallel control database of the lock. Calculate the water level difference between the upper and lower lock chambers of the Nth lock head. When the water level difference is lower than the preset default horizontal water level difference, determine that the two lock chambers are in a horizontal state. 8-4) Receive the lock equipment operation status from the time-stamped parallel control database. The operation data of the N-level lock head working gate is "Gate open end", the operation data of the water supply valve is "Valve closed end", the operation data of the working gate locking device is "Locked in place", and the operation data of the anti-collision warning device is "Up in place"; the operation data of the N+1 level lock head working gate is "Gate closed end", the operation data of the water supply valve is "Valve closed end", and the operation data of the anti-collision warning device is "Down in place"; the operation data of the N-1 level lock head working gate is "Gate closed end", and the operation data of the water supply valve is "Valve closed end", indicating that the N-level lock head lock equipment is ready for ships to enter / move through the lock. 8-5) The parallel management algorithm module for the ship passage through the lock process calculates that when the following three conditions are met simultaneously: the ship has the conditions to enter or move through the lock, the lock chamber above and below the Nth lock head is in a horizontal state, and the lock equipment of the Nth lock head has the conditions for the ship to enter or move through the lock, the parallel management algorithm module considers the Nth lock head to have the conditions for the ship to enter or move through the lock.

8. The system according to claim 7, characterized in that, Step 8-2) includes the following sub-steps: s1) When a vessel is located in the lock chamber above the Nth lock head and the vessel's lock passage plan data is "in progress", it is determined that the vessel is ready to move. s2) When a vessel is located upstream / downstream, the vessel's lock passage plan data for this lock session is "not executed", and the previous lock session's lock passage data is "executed", then it is determined that the vessel has the conditions to enter the lock.

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