A method, system and device for detecting ice formation and breaking ice in a water area of a dam

Abstract

The application provides a kind of ice detection method, ice breaking method and system applied in gate dam water area, belong to the field of automated detection technology, the method is as follows: collect the motion detection data uploaded by the gyroscope installed at the preset water body, the motion detection data includes the rotation angle of X axis, Y axis and Z axis in the first space rectangular coordinate system compared with the X axis, Y axis and Z axis in the second space rectangular coordinate system;According to the rotation angle of X axis, Y axis and Z axis of the first space rectangular coordinate system within a certain time, the absolute value of the angle deviation of X axis, Y axis and Z axis of the first space rectangular coordinate system is determined respectively;Determine whether the absolute value of the angle deviation of X axis, Y axis and Z axis of the first space rectangular coordinate system meets the predetermined condition;If yes, output the result of ice formation;Then start the ice breaking pump according to the ice formation result.The application can realize automatic ice detection and ice breaking, improve the detection accuracy, and avoid the waste of energy and human resources.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic detection technology, and in particular to a method and system for detecting ice formation in a dam water area, and a method and system for breaking ice. BACKGROUND

[0002] In winter, the river channel in the river and lake water area is in a water storage state. In the winter ice formation period or under extreme temperature conditions, the water surface will freeze. After freezing, the ice layer will advance towards the building, and the huge pressure generated by the movement of the ice layer will cause the distortion of the gate, which seriously threatens the safe operation of the gate. In order to eliminate the safety hazards of the gate, anti-freezing measures and ice removal measures need to be taken upstream of the gate during the winter ice formation period to avoid damage to the gate.

[0003] The current ice removal measure uses a single-hole single-pump ice breaking pump. One low-lift submersible pump is installed in front of each gate. The submersible pump is used to pump water to make the water in the local water area in front of the gate flow, preventing the water surface from freezing. The current control method for the ice breaking pump is to manually start the water pump when the gate is closed. After starting, the water pump is in operation regardless of whether there is ice or not, or a dedicated person is configured to start at night and close during the day. The control method is single and has no automatic control function, which causes great waste of electric energy and human resources. SUMMARY

[0004] The present application provides a method and system for detecting ice formation in a dam water area. The present application can realize automatic ice detection and ice breaking, improve detection accuracy, and avoid waste of energy and human resources.

[0005] In a first aspect, an embodiment of the present application provides a method for detecting ice formation in a dam water area, the method comprising:

[0006] Collecting motion detection data uploaded by a gyroscope installed at a predetermined water body;

[0007] The motion detection data includes the rotation angles of the X-axis, Y-axis and Z-axis of the first space rectangular coordinate system compared to the X-axis, Y-axis and Z-axis of the second space rectangular coordinate system. The plane formed by the X-axis and Y-axis of the first space rectangular coordinate system is the plane on which the water surface lies. The second space rectangular coordinate system is a space rectangular coordinate system with the plane on which the calm water surface lies as the X-axis and Y-axis plane. The first space rectangular coordinate system and the second space rectangular coordinate system are both space rectangular coordinate systems with the position of the gyroscope as the origin.

[0008] According to the rotation angles of the X-axis, Y-axis and Z-axis of the first space rectangular coordinate system at the first time and the rotation angles of the X-axis, Y-axis and Z-axis of the first space rectangular coordinate system at the second time after the first time, the absolute values of the angle deviations of the X-axis, Y-axis and Z-axis of the first space rectangular coordinate system are determined respectively.

[0009] determining whether the absolute values of the angle deviations of the X-axis, the Y-axis and the Z-axis of the first space rectangular coordinate system satisfy a predetermined condition;

[0010] if yes, outputting a result of ice surface icing;

[0011] wherein the predetermined condition is that the absolute value of the angle deviation of the X-axis is less than a, the absolute value of the angle deviation of the Y-axis is less than b, and the absolute value of the angle deviation of the Z-axis is equal to 0, a and b are positive real numbers.

[0012] Through the above technical solution, by acquiring water surface movement data collected by a gyroscope, and by analyzing and processing the water surface movement data, automatic icing detection can be realized, the accuracy of icing detection is improved, and unnecessary consumption of energy and waste of human resources are avoided.

[0013] Optionally, the method comprises:

[0014] collecting movement detection data uploaded by the gyroscope installed at the preset water body according to a preset collection period.

[0015] The above technical solution sets a data collection period, so that the data collection device does not need to run all the time, and energy consumption can be further saved.

[0016] Optionally, the method further comprises:

[0017] collecting temperature data of the water surface at the preset water body;

[0018] determining whether the temperature data all satisfy a predetermined condition, wherein the predetermined condition is that the temperature value is less than 0 degrees Celsius;

[0019] if yes, determining to output a result of ice surface icing based on a comprehensive result of the temperature data and the absolute values of the angle deviations of the X-axis, the Y-axis and the Z-axis of the first space rectangular coordinate system all satisfying the predetermined condition.

[0020] Optionally, the method comprises: determining whether the absolute values of the angle deviations of the X-axis, the Y-axis and the Z-axis of the first space rectangular coordinate system satisfy a predetermined condition;

[0021] if yes, continuing to determine whether the temperature value is lower than 0 degrees Celsius;

[0022] if yes, outputting a result of ice surface icing.

[0023] Optionally, the value of a is 0.1, and the value of b is 0.1.

[0024] Through the above technical solution, after determining the angle deviation value, the temperature value of the water body is further determined, which can further improve the accuracy of ice surface icing detection, and avoid starting the ice breaking pump in the case that the water surface has not iced, thereby avoiding waste of energy.

[0025] In a second aspect, embodiments of the present application provide a system for detecting ice formation on a water area of a dam, the system comprising:

[0026] at least one gyroscope device configured to be positioned at a predetermined water area and configured to collect motion detection data of the predetermined water area;

[0027] The motion detection data comprises rotation angles of X, Y and Z axes of a first space rectangular coordinate system of the gyroscope device relative to X, Y and Z axes of a second space rectangular coordinate system. A plane formed by the X and Y axes of the first space rectangular coordinate system is a plane on which the water surface is located. The second space rectangular coordinate system is a space rectangular coordinate system with the plane on which the calm water surface is located as the plane of the X and Y axes. Both the first and second space rectangular coordinate systems are space rectangular coordinate systems with the position of the gyroscope device as the origin.

[0028] a control device configured to receive the motion detection data uploaded by the gyroscope device, and configured to determine absolute values of angle deviations of the X, Y and Z axes of the first space rectangular coordinate system according to rotation angles of the X, Y and Z axes of the first space rectangular coordinate system at a first time and rotation angles of the X, Y and Z axes of the first space rectangular coordinate system at a second time after the first time, and configured to determine whether the absolute values of the angle deviations of the X, Y and Z axes of the first space rectangular coordinate system satisfy predetermined conditions, and configured to output a result of ice formation on the ice surface if the absolute values of the angle deviations of the X, Y and Z axes of the first space rectangular coordinate system satisfy the predetermined conditions.

[0029] The predetermined conditions are that the absolute value of the angle deviation of the X axis is less than α, the absolute value of the angle deviation of the Y axis is less than β, and the absolute value of the angle deviation of the Z axis is equal to 0, where α and β are positive real numbers, and preferably, α is equal to 0.1 and β is equal to 0.1.

[0030] According to the above technical solution, the gyroscope device is configured to acquire motion data of the water surface, so that the motion state of the water surface can be accurately determined, and the temperature sensor can be used to accurately determine whether the water surface is frozen. The whole process can be automatically controlled, thereby saving energy consumption and human resource consumption.

[0031] Optionally, the system further comprises:

[0032] a temperature sensor configured to collect temperature data of the water surface at the predetermined water area;

[0033] a control device configured to determine whether the temperature data satisfy predetermined conditions, wherein the predetermined conditions are that the temperature values are less than 0 degrees Celsius, and configured to output the result of ice formation on the ice surface by combining the result of the absolute values of the angle deviations of the X, Y and Z axes of the first space rectangular coordinate system satisfying the predetermined conditions if the temperature data satisfy the predetermined conditions.

[0034] Optionally, the gyroscope device comprises a gyroscope and a float structure, the gyroscope is arranged on the float structure, and the float structure carries the gyroscope and floats in the preset water body.

[0035] In a third aspect, embodiments of the present application provide an ice breaking method applied to a water area of a gate dam, the method comprising:

[0036] The ice breaking method applied to the water area of the gate dam according to any one of the first aspect is used to obtain the ice formation result, and after a preset delay time, an ice breaking control signal is outputted to start the ice breaking pump.

[0037] In a fourth aspect, embodiments of the present application provide an ice breaking system applied to a water area of a gate dam, comprising the ice detection system according to any one of the second aspect and at least one ice breaking pump.

[0038] The control device is used to determine the ice formation on the water surface, delay for a preset time, output an ice breaking control signal, and start the ice breaking pump.

[0039] The present application provides an ice detection method, an ice breaking method and an ice breaking system applied to a water area of a gate dam, the method comprising: collecting motion detection data uploaded by a gyroscope installed at a preset water body, the motion detection data comprising rotation angles of X-axis, Y-axis and Z-axis of a first space rectangular coordinate system compared with X-axis, Y-axis and Z-axis of a second space rectangular coordinate system; determining absolute values of angle deviations of X-axis, Y-axis and Z-axis of the first space rectangular coordinate system according to the rotation angles of X-axis, Y-axis and Z-axis of the first space rectangular coordinate system within a certain time; determining whether the absolute values of angle deviations of X-axis, Y-axis and Z-axis of the first space rectangular coordinate system satisfy a predetermined condition; if yes, outputting an ice formation result; and then starting an ice breaking pump according to the ice formation result. The present application can realize automatic ice detection and ice breaking, improve detection accuracy, and avoid waste of energy and human resources.

[0040] It should be understood that the content described in the summary section is not intended to limit the key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0041] The above and other features, advantages, and aspects of embodiments of the present application will become more apparent by describing in detail the following embodiments with reference to the attached drawings. In the drawings, the same or similar reference numerals refer to the same or similar elements.

[0042] Figure 1 A flowchart of an ice detection method applied to a water area of a gate dam according to an embodiment of the present application;

[0043] Figure 2A water body movement state schematic diagram under a water surface construction coordinate system according to an embodiment of the present application is shown.

[0044] Figure 3 A flow chart of a preset condition judging method according to an embodiment of the present application is shown.

[0045] Figure 4 A flow chart of another preset condition judging method according to an embodiment of the present application is shown.

[0046] Figure 5 A structure schematic diagram of an ice detection system applied in a gate dam water area according to an embodiment of the present application is shown.

[0047] Figure 6 A flow chart of an ice breaking method applied in a gate dam water area according to an embodiment of the present application is shown.

[0048] Figure 7 A flow chart of an ice breaking method applied in a gate dam water area according to another embodiment of the present application is shown.

[0049] Figure 8 A structure schematic diagram of an ice breaking system applied in a gate dam water area according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0050] In order to enable persons skilled in the art to better understand the technical solutions in one or more embodiments of the present specification, the technical solutions in one or more embodiments of the present specification will be described clearly and completely in conjunction with the drawings in one or more embodiments of the present specification. Obviously, the described embodiments are only a part of the embodiments of the present specification, rather than all the embodiments. Based on one or more embodiments of the present specification, all other embodiments obtained by persons skilled in the art without creative labor should belong to the protection scope of the present document.

[0051] It should be noted that the embodiments of the present application described are only to make the technical solutions of the embodiments of the present application clearer, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application.

[0052] Figure 1 A flow chart of an ice detection method applied in a gate dam water area according to an embodiment of the present application is shown.

[0053] As shown in Figure 1 , it comprises:

[0054] S101, collect the motion detection data uploaded by the gyroscope installed at the preset water body.

[0055] The motion detection data includes rotation angles of X-axis, Y-axis and Z-axis of the first space rectangular coordinate system compared with X-axis, Y-axis and Z-axis of the second space rectangular coordinate system; the plane formed by X-axis and Y-axis of the first space rectangular coordinate system is the plane where the water surface is located; the second space rectangular coordinate system is a space rectangular coordinate system with the plane where the calm water surface is located as the plane of X-axis and Y-axis; the first space rectangular coordinate system and the second space rectangular coordinate system are both space rectangular coordinate systems with the position of the gyroscope as the origin.

[0056] Optionally, as shown in Figure 2

[0057] When the surface of the water body is in a state without ice, each point on the water surface is in a state of motion in X-axis, Y-axis and Z-axis.

[0058] Based on this, the gyroscope can be used to detect the motion data of the water body, and the specific motion condition of the water body can be determined by establishing a coordinate system and judging the rotation angles of X-axis, Y-axis and Z-axis in the coordinate system.

[0059] Optionally, the preset water body position is divided according to the size of the water area of the gate dam and the size of the gate dam, and then the gyroscope device is arranged at the preset water body position to obtain the motion detection data of the water body.

[0060] S102, according to the rotation angles of X-axis, Y-axis and Z-axis of the first space rectangular coordinate system at the first time and the rotation angles of X-axis, Y-axis and Z-axis of the first space rectangular coordinate system at the second time after the first time, the angle deviation absolute values of X-axis, Y-axis and Z-axis of the first space rectangular coordinate system are determined respectively.

[0061] Specifically, first, the rotation angles formed by X-axis, Y-axis and Z-axis of the first space rectangular coordinate system at the first time and X-axis, Y-axis and Z-axis of the second space rectangular coordinate system are calculated respectively, then the rotation angles formed by X-axis, Y-axis and Z-axis of the first space rectangular coordinate system at the second time and X-axis, Y-axis and Z-axis of the second space rectangular coordinate system are calculated respectively, and finally, the difference value is calculated according to the two calculation results to determine the angle deviation absolute values of X-axis, Y-axis and Z-axis of the first space rectangular coordinate system respectively.

[0062] S103, judging whether the angle deviation absolute values of X-axis, Y-axis and Z-axis of the first space rectangular coordinate system satisfy the predetermined condition; if yes, outputting the result of ice formation on the ice surface.

[0063] The predetermined condition is that the absolute value of the angle deviation of X-axis is less than α; the absolute value of the angle deviation of Y-axis is less than β; the absolute value of the angle deviation of Z-axis is equal to 0, and α and β are positive real numbers.

[0064] ​Exemplarily, the value of α can be 0.1, the value of β can be 0.1, the absolute value of the time difference between the first time and the second time is t minutes, and t = 3-10 minutes; wherein, α, β and t are not limited to the values in the embodiment.

[0065] Optionally, by acquiring historical motion detection data and analyzing the same, it can be obtained that, when there is no ice formation on the water surface and when it is the calmest, taking the second rectangular coordinate system as the reference coordinate system, the minimum rotation angle of the X-axis and the Y-axis in the first spatial rectangular coordinate system is 0.2 degrees, and the maximum rotation angle of the Z-axis is 0.05 degrees; when the water surface is frozen, taking the second rectangular coordinate system as the reference coordinate system, the minimum rotation angle of the X-axis and the Y-axis in the first rectangular coordinate system is 0.1 degrees, and the maximum rotation angle of the Z-axis is 0 degrees.

[0066] It should be noted that the values of α and β can be obtained by using the above analysis method according to the environment of the local dam water area; the value of t can be obtained by analyzing the climate factors of the local dam water area, and the value of t can be the time required for the water surface to change from a flowing state to a completely frozen state when the environmental temperature is below 0 degrees Celsius.

[0067] Exemplarily, Figure 3 A flowchart of a preset condition judgment method of an embodiment of the application is shown as follows: Figure 3

[0068] The motion data of the water body is collected by the gyroscope, the collected data is analyzed, the absolute value of the angle deviation is calculated according to the X-axis data at the current time and the X-axis data after 3 minutes in the first spatial rectangular coordinate system, it is judged whether the absolute value of the angle deviation is less than 0.1 degrees, if greater than 0.1 degrees, the judgment process is re-executed after receiving the next data collection instruction;

[0069] If less than 0.1 degrees, the absolute value of the angle deviation is calculated according to the Y-axis data at the current time and the Y-axis data after 3 minutes in the first spatial rectangular coordinate system, it is judged whether the absolute value of the angle deviation is less than 0.1 degrees, if greater than 0.1 degrees, the judgment process is re-executed after receiving the next data collection instruction;

[0070] If less than 0.1 degrees, the absolute value of the angle deviation is calculated according to the Z-axis data at the current time and the Z-axis data after 3 minutes in the first spatial rectangular coordinate system, it is judged whether the absolute value of the angle deviation is equal to 0 degrees, if not equal to 0 degrees, the judgment process is re-executed after receiving the next data collection instruction;

[0071] If equal to 0, the result of ice formation is output.

[0072] Optionally, the method further comprises:

[0073] ​Collect motion detection data uploaded by the gyroscope installed at the preset water body according to a preset collection period.

[0074] Exemplarily, the gyroscope and the temperature sensor can continuously collect motion detection data and water surface temperature data, and the required data can be collected according to a preset period when ice detection is needed.

[0075] Optionally, the motion detection data and the water surface temperature data collected by the gyroscope and the temperature sensor can be used as historical data to analyze the threshold of the absolute value of the angle deviation and the temperature threshold in the judgment process.

[0076] Exemplarily, the collection of the motion detection data and the water surface temperature data can be performed in different time periods, for example, the gyroscope and the temperature sensor can be started at night and stopped in the daytime.

[0077] Optionally, the collection of the motion detection data and the water surface temperature data in different time periods can save energy consumption.

[0078] Optionally, Figure 4 A flowchart of another preset condition judgment method of the embodiment of the application is shown as follows: Figure 4

[0079] Collect motion data of the water body by the gyroscope and collect temperature data of the water surface at the preset water body by the temperature sensor; after the judgment step shown in the following figure is performed, it is further judged whether the water temperature at the preset water body is less than 0 degrees Celsius, if not, the judgment process is re-executed after the next data collection instruction is received; Figure 3

[0080] If yes, the result of the ice surface icing is output.

[0081] The embodiment of the application provides an ice detection method applied to a gate dam water area, and the method is as follows: collecting motion detection data uploaded by a gyroscope installed at a preset water body, the motion detection data including rotation angles of X-axis, Y-axis and Z-axis of a first space rectangular coordinate system compared with X-axis, Y-axis and Z-axis of a second space rectangular coordinate system; determining absolute values of angle deviations of the X-axis, the Y-axis and the Z-axis of the first space rectangular coordinate system respectively according to the rotation angles of the X-axis, the Y-axis and the Z-axis of the first space rectangular coordinate system within a certain time; judging whether the absolute values of the angle deviations of the X-axis, the Y-axis and the Z-axis of the first space rectangular coordinate system satisfy a predetermined condition; if yes, outputting a result of ice surface icing. The application can realize automatic ice detection, improve detection accuracy, and avoid waste of energy and human resources.

[0082] The following will be described in combination with Figure 5 ​​The embodiment of the present application provides a system for detecting ice formation in a dam water area.

[0083] Exemplarily, Figure 5 FIG. 1 is a structural schematic diagram of a system for detecting ice formation in a dam water area according to an embodiment of the present application; Figure 5 As shown in the figure, the detection system 50 comprises:

[0084] at least one gyroscope device 501 configured at a preset water body, for collecting motion detection data at the preset water body;

[0085] The motion detection data comprises rotation angles of X-axis, Y-axis and Z-axis of a first space rectangular coordinate system in which the gyroscope is located, relative to X-axis, Y-axis and Z-axis of a second space rectangular coordinate system; a plane formed by the X-axis and Y-axis of the first space rectangular coordinate system is a plane in which a water surface is located; the second space rectangular coordinate system is a space rectangular coordinate system in which a plane in which a calm water surface is located is taken as the plane of X-axis and Y-axis; both the first space rectangular coordinate system and the second space rectangular coordinate system are space rectangular coordinate systems with the position of the gyroscope as the origin;

[0086] a temperature sensor 502, for collecting temperature data of the water surface at the preset water body;

[0087] a control device 503, receiving the motion detection data uploaded by the gyroscope device, for determining angle deviation absolute values of the X-axis, Y-axis and Z-axis of the first space rectangular coordinate system respectively according to the rotation angles of the X-axis, Y-axis and Z-axis of the first space rectangular coordinate system at a first time and the rotation angles of the X-axis, Y-axis and Z-axis of the first space rectangular coordinate system at a second time after the first time; judging whether the angle deviation absolute values of the X-axis, Y-axis and Z-axis of the first space rectangular coordinate system satisfy a predetermined condition; if yes, outputting a result of ice formation on the ice surface;

[0088] The predetermined condition is that the angle deviation absolute value of the X-axis is less than alpha, the angle deviation absolute value of the Y-axis is less than beta, and the angle deviation absolute value of the Z-axis is equal to 0, alpha and beta are positive real numbers, and preferably, the value of alpha is 0.1 and the value of beta is 0.1.

[0089] The control device 503 is further configured to judge whether the temperature data all satisfy a predetermined condition, wherein the predetermined condition is that the temperature value is less than 0; if yes, outputting the result of ice formation on the ice surface by comprehensively considering the result that the angle deviation absolute values of the X-axis, Y-axis and Z-axis of the first space rectangular coordinate system satisfy the predetermined condition.

[0090] Optionally, the gyroscope device 501 comprises a gyroscope and a floating structure, the gyroscope is arranged on the floating structure, the floating structure carries the gyroscope, and the floating structure floats at the preset water body.

[0091] Exemplarily, a floating structure can be arranged at a preset position of the water area, which is not limited in specific, and the principle is to use the principle of floating on the water surface to carry the gyroscope so as to keep it on the water surface all the time. The floating structure can be a box structure, and the gyroscope is integratedly arranged in the box. The data transmission of the gyroscope can be wireless or wired transmission. When the data is transmitted by the wire, the wire can also be used as the 'rope' of the floating structure to ensure that the floating structure does not drift away from the preset water body. Of course, the fixing of the floating structure can be fixed by the rope alone, and any fixing mode that ensures the natural floating of the floating structure in the water body can be used.

[0092] Optionally, the control device 503 is further configured to collect the motion detection data uploaded by the gyroscope arranged at the preset water body according to a preset collection period.

[0093] Figure 6 A flow chart of an ice breaking method applied to a water area of a dam is shown in Figure 6 .

[0094] The steps S601-S603 can refer to the specific steps in Figure 1 , which will not be repeated here.

[0095] S604, after determining that the water area is frozen, the ice breaking pump is started after a preset time.

[0096] Exemplarily, after determining that the water area is frozen, the ice breaking pump is started after 10 minutes of delay and after confirming that the water area is completely frozen.

[0097] Optionally, the delay of 10 minutes can ensure that the water area near the dam has been frozen, avoid starting the ice breaking pump before the water area is completely frozen and thus failing to achieve the expected ice breaking effect, and also avoid the need to repeatedly start the ice breaking pump and save energy consumption.

[0098] Optionally, the number of ice breaking pumps to be used and the installation positions of the ice breaking pumps in the water area to be detected can be determined according to the range of the water area to be detected and the power of the ice breaking pump to be applied.

[0099] Exemplarily, the ice breaking pump is arranged at the water area near the dam, and after detecting that the water area near the dam is frozen, the control device 503 can send an instruction ice breaking control signal to start the ice breaking pump near the water area of the dam.

[0100] Figure 7 A flow chart of an ice breaking method applied to a water area of a dam is shown in Figure 7 .

[0101] The steps before judging the temperature of the water body can refer to the specific steps in Figure 4 , which will not be repeated here.

[0102] If the water temperature is less than 0 degrees Celsius, the ice breaking pump is started after a delay of 10 minutes, and if the ice breaking pump fails to start, an alarm is sounded for inspection;

[0103] If the ice breaking pump starts successfully, the gyroscope device and the temperature sensor are used to collect data after a delay of 20 minutes, and the ice detection and ice breaking process is ended after 20 minutes, and the gyroscope device and the temperature sensor are restarted to collect data, which can avoid the inaccuracy of the gyroscope device and the temperature sensor and save energy consumption.

[0104] The embodiment of the application provides an ice breaking method applied to a gate dam water area, which can accurately determine the water movement state of the water surface by setting a gyroscope to obtain the motion data of the water surface, and can accurately determine whether the water surface is frozen by combining a temperature sensor, and then uses an ice breaking pump after confirming that the water surface is frozen, so that the whole process can be automatically controlled, and energy consumption and human resource consumption are saved.

[0105] The following will be described in detail Figure 8 The embodiment of the application provides a system that can execute the ice breaking method applied to the gate dam water area.

[0106] Exemplarily, Figure 8 The structure of the ice breaking system applied to the gate dam water area is shown in the figure. Figure 8 As shown in the figure, the ice breaking system 80 includes:

[0107] At least one gyroscope device 801 is arranged at a predetermined water body to collect motion detection data at the predetermined water body.

[0108] The motion detection data includes the rotation angle of the X-axis, the Y-axis and the Z-axis of the first space rectangular coordinate system in which the gyroscope is located compared with the X-axis, the Y-axis and the Z-axis of the second space rectangular coordinate system; the plane formed by the X-axis and the Y-axis of the first space rectangular coordinate system is the plane on which the water surface is located; the second space rectangular coordinate system is a space rectangular coordinate system with the plane on which the calm water surface is located as the X-axis and Y-axis plane; the first space rectangular coordinate system and the second space rectangular coordinate system are both space rectangular coordinate systems with the position of the gyroscope as the origin.

[0109] A temperature sensor 802 is arranged to collect temperature data of the water surface at the predetermined water body.

[0110] The control device 803 receives the motion detection data uploaded by the gyroscope device, and is used for determining the absolute value of the angle deviation of the X axis, the Y axis and the Z axis of the first space rectangular coordinate system according to the rotation angle of the X axis, the Y axis and the Z axis of the first space rectangular coordinate system at the first time and the rotation angle of the X axis, the Y axis and the Z axis of the first space rectangular coordinate system at the second time after the first time; judging whether the absolute value of the angle deviation of the X axis, the Y axis and the Z axis of the first space rectangular coordinate system satisfies a predetermined condition; if yes, outputting the result of the ice surface icing;

[0111] Wherein, the predetermined condition is that the absolute value of the X axis angle deviation is less than α; the absolute value of the Y axis angle deviation is less than β; the absolute value of the Z axis angle deviation is equal to 0, and α and β are positive real numbers, preferably, the value of α is 0.1, and the value of β is 0.1.

[0112] Wherein, the control device 803 is used for judging whether the water surface is iced after delaying for a preset time, outputting an ice breaking control signal, and starting at least one ice breaking pump 804.

[0113] The above description is only the preferred embodiment of the present application and the explanation of the applied technical principles. It should be understood by those skilled in the art that the scope of the present application is not limited to the technical solutions formed by the specific combination of the above technical features, and also covers other technical solutions formed by the arbitrary combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features disclosed in the present application (but not limited to) having similar functions to form the technical solutions.

Claims

1. A method for detecting ice formation in dam waters, characterized in that: The method includes: Collecting motion detection data uploaded by a gyroscope installed at a preset water body, the motion detection data including the rotation angles of the X-axis, Y-axis, and Z-axis in a first spatial rectangular coordinate system where the gyroscope is located compared to the X-axis, Y-axis, and Z-axis in a second spatial rectangular coordinate system, the rotation angles being used to determine the motion of the water body; The plane formed by the X-axis and the Y-axis in the first rectangular coordinate system is the plane of the water surface; the second rectangular coordinate system is a rectangular coordinate system with the plane of the calm water surface as the X-axis and the Y-axis; and both the first and second rectangular coordinate systems are rectangular coordinate systems with the location of the gyroscope as the origin. determining, based on the rotation angles of the X-axis, Y-axis, and Z-axis of the first spatial rectangular coordinate system at a first moment and the rotation angles of the X-axis, Y-axis, and Z-axis of the first spatial rectangular coordinate system at a second moment after the first moment, the absolute values ​​of the angular deviations of the X-axis, Y-axis, and Z-axis of the first spatial rectangular coordinate system, respectively, where the absolute value of the time difference between the first moment and the second moment is the time required for the water surface to change from a flowing state to a completely frozen state when the ambient temperature is below 0 degrees Celsius; Determining whether the absolute values ​​of the angular deviations of the X-axis, Y-axis, and Z-axis of the first spatial rectangular coordinate system meet predetermined conditions; If so, output the result of ice surface freezing; The predetermined conditions are that the absolute value of the X-axis angle deviation is less than α; the absolute value of the Y-axis angle deviation is less than β; the absolute value of the Z-axis angle deviation is equal to 0, α and β are positive real numbers, the α value is 0.1, and the β value is 0.

1.

2. The ice detection method for use in dam waters according to claim 1, characterized in that: The method includes: The motion detection data uploaded by the gyroscope installed at the preset water body is collected according to the preset collection period.

3. The ice detection method for use in dam waters according to claim 1, characterized in that: The method further includes: Collect temperature data of the water surface at the preset water body; Determining whether the temperature data all meet a predetermined condition, wherein the predetermined condition is that the temperature value is less than 0 degrees Celsius; If so, based on the comprehensive result that the temperature data and the absolute values ​​of the angular deviations of the X-axis, Y-axis and Z-axis of the first spatial rectangular coordinate system all meet the predetermined conditions, the output result of ice surface freezing is determined.

4. The ice detection method for use in dam waters according to claim 3, characterized in that: The method includes: determining whether the absolute values ​​of the angular deviations of the X-axis, the Y-axis, and the Z-axis of the first spatial rectangular coordinate system meet predetermined conditions; If yes, continue to determine whether the temperature value is lower than 0 degrees Celsius; If so, output the result that the ice surface is frozen.

5. An ice detection system used in dam waters, characterized in that: The system includes: At least one gyroscope device, disposed at a predetermined water body, for collecting motion detection data at the predetermined water body; The motion detection data includes the rotation angles of the X-axis, Y-axis, and Z-axis in a first spatial rectangular coordinate system where the gyroscope is located compared to the X-axis, Y-axis, and Z-axis in a second spatial rectangular coordinate system, and the rotation angles are used to determine the movement of the water body; the plane formed by the X-axis and Y-axis in the first spatial rectangular coordinate system is the plane where the water surface is located; the second spatial rectangular coordinate system is a spatial rectangular coordinate system with the plane where the calm water surface is located as the X-axis and Y-axis plane; the first spatial rectangular coordinate system and the second spatial rectangular coordinate system are both spatial rectangular coordinate systems with the location of the gyroscope as the origin, and the absolute value of the time difference between the first moment and the second moment is the time required for the water surface to go from a flowing state to a completely frozen state when the ambient temperature is below 0 degrees Celsius; a control device, receiving motion detection data uploaded by the gyroscope device, and configured to determine absolute values ​​of angular deviations of the X-axis, Y-axis, and Z-axis of the first spatial rectangular coordinate system based on the rotation angles of the X-axis, Y-axis, and Z-axis of the first spatial rectangular coordinate system at a first moment and the rotation angles of the X-axis, Y-axis, and Z-axis of the first spatial rectangular coordinate system at a second moment after the first moment; determine whether the absolute values ​​of the angular deviations of the X-axis, Y-axis, and Z-axis of the first spatial rectangular coordinate system meet predetermined conditions; and if so, output a result of ice formation on the ice surface; The predetermined conditions are that the absolute value of the X-axis angle deviation is less than α; the absolute value of the Y-axis angle deviation is less than β; the absolute value of the Z-axis angle deviation is equal to 0, α and β are positive real numbers, the α value is 0.1, and the β value is 0.

1.

6. The ice detection system for use in sluice and dam waters according to claim 5, characterized in that: The system also includes: A temperature sensor is used to collect temperature data of the water surface at a preset water body; The control device is used to determine whether the temperature data all meet predetermined conditions, wherein the predetermined condition is that the temperature value is less than 0 degrees Celsius; if so, the control device is used to output the result of ice surface freezing based on the result that the absolute values ​​of the angular deviations of the X-axis, Y-axis and Z-axis of the first spatial rectangular coordinate system meet the predetermined conditions.

7. The ice detection system for use in dam waters according to claim 5, characterized in that: The gyroscope device includes: a gyroscope and a floating structure. The gyroscope is arranged on the floating structure. The floating structure carries the gyroscope and floats in the preset water body.

8. An ice-breaking method used in sluice dam waters, characterized in that: The method includes: Applying the ice detection method for use in sluice and dam waters as described in any one of claims 1 to 4, a result of water surface ice formation is obtained, and after a preset delay time, an ice breaking control signal is output to start an ice breaking pump.

9. An ice breaking system used in dam waters, characterized in that: comprising the ice detection system according to any one of claims 5 to 7 and at least one ice breaking pump; Among them, the control device is used to determine that after the water surface is frozen, delay for a preset time, output an ice-breaking control signal, and start the ice-breaking pump.

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