Digitalized intelligent control system and method for starting and stopping equipment of hydropower station

Abstract

The digital intelligent control system comprises a cloud service system and a portal hoist, and the portal hoist is provided with an image recognition system, a data acquisition system, an on-site automatic control system and an Internet of Things module; the image recognition system is used for generating a gate moving track model; the data acquisition system is used for acquiring real-time operation data of the hoist; the image recognition system and the data acquisition system are in communication connection with the field automatic control system through a wireless network; the field automatic control system compares the collected real-time operation data with historical data to judge whether abnormal data exists or not, and whether the hoist operates with load or not is judged through the image recognition system and the data collection system; the field automatic control system is in communication connection with the cloud service system through the Internet of Things module; and the cloud service system is used for receiving and storing the real-time operation image and operation data of the hoist, and generating an equipment operation model and a real-time operation state, so that the operation and maintenance cost is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of hydropower stations, and in particular relates to a digital intelligent control system and method for opening and closing equipment of a hydropower station. Background Art

[0002] With the continuous development of wireless communication technology, image recognition technology and automatic control technology, hydropower stations have higher and higher requirements for the operating efficiency and stability of the digital automatic control system of the opening and closing equipment. As the lifting equipment for the opening and closing of functional gates such as plugging, maintenance, and flood discharge in hydropower stations, the high efficiency and stable operation of the opening and closing equipment of hydropower stations play an important role in the safety of hydropower station power generation. At present, most of the opening and closing equipment adopts the communication method of wired network networking with field logic controller as the core to realize on-site automatic control. When operating the opening and closing equipment, it is often necessary for the commander to command from below, and the operator to receive instructions in the operation room to realize the raising and lowering of the gate. Although this control system uses automatic control to a certain extent, there are still the following shortcomings in the application process: 1. The operation of the opening and closing equipment requires the cooperation of multiple personnel and the command and operation of experienced personnel, resulting in low equipment operation efficiency; 2. The operation signal collected by the opening and closing equipment is single, and it is not possible to timely detect equipment operation problems and then issue warnings and shut down, which poses certain safety hazards; 3. The wired networking lines of the opening and closing equipment are complicated, and the communication line cannot be checked and replaced in time after failure, which affects the stable operation of the equipment; 4. The opening and closing equipment does not have remote diagnosis function. After a failure occurs and the equipment stops, professional maintenance personnel must be contacted to inspect and handle the equipment on site, resulting in high maintenance costs in the later stages. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a digital intelligent control system and method for opening and closing equipment of a hydropower station.

[0004] The specific plan is as follows: A digital intelligent control system for hydropower station hoisting equipment, comprising a cloud service system and a portal hoist control system, wherein the portal hoist control system comprises an image recognition system, a data acquisition system, an on-site automatic control system and an Internet of Things module.

[0005] The image recognition system is used to generate a gate operation trajectory model; the data acquisition system is used to collect real-time operation data of the gate hoist.

[0006] The image recognition system and the data acquisition system are both connected to the on-site automatic control system through a wireless network.

[0007] The on-site automatic control system compares the collected real-time operation data with the historical data to determine whether there is abnormal data, and determines whether the gate hoist is running under load through the image recognition system and the data acquisition system.

[0008] The on-site automatic control system is communicatively connected with the cloud service system via the Internet of Things module.

[0009] The cloud service system is used to receive and store the real-time operation images and operation data of the gate hoist, and generate an equipment operation model and real-time operation status. The image recognition system includes an image processing server, a display and a camera / camera, the camera / camera is electrically connected to the image processing server, the image processing server is electrically connected to the display, the camera / camera is fixed on both sides of the top of the gantry of the gantry hoist, the display is a liquid crystal display, the image processing server is a computer, and the image processing server and the liquid crystal display are both installed in the driver's cab of the gantry hoist.

[0010] The data acquisition system includes a vibration sensor, an acceleration sensor, a temperature sensor, a liquid level sensor, a pressure sensor, a trolley travel encoder, a trolley travel encoder, a follow-up cable reel speed encoder and an anemometer. The gantry hoist includes a trolley and a trolley. The trolley moves on the trolley. A winch mechanism is provided on the trolley. The winch mechanism includes a motor, a reduction gearbox, a drum and a balancing pulley. The motor drives the drum to rotate through the reduction gearbox. A wire rope is wound on the drum. The wire rope is fixedly connected to the grab beam on the gantry hoist through the balancing pulley. The vibration sensor is fixed at the connection between the motor and the reduction gearbox to measure whether the motor and the reduction gearbox are coaxial. The acceleration sensor is fixed on the motor shaft to measure the rotation speed of the motor, the temperature sensor and the liquid level sensor are fixed in the reduction box to measure the oil temperature and the oil level in the reduction box, the pressure sensor is fixed at the bottom of the pulley shaft to measure the pressure on the balance pulley, the trolley travel encoder is fixed on the trolley travel wheel to measure the movement speed of the trolley or the displacement of the trolley, the trolley travel encoder is fixed on the trolley travel wheel to measure the movement speed of the trolley or the displacement of the trolley, the follow-up cable reel speed encoder is fixed on the follow-up cable reel to measure the speed of the follow-up cable pay-off, and a machine room is also provided on the trolley, and the anemometer is fixed on the top of the machine room to measure the wind speed.

[0011] A wireless module is also correspondingly arranged on each sensor of the data acquisition system, and each sensor of the data acquisition system is electrically connected to the corresponding wireless module. At least one wireless switch is also fixedly arranged on the gate-type gate opener, and the wireless module is wirelessly connected to the wireless switch, and the wireless switch is wirelessly connected to the on-site automatic control system. The Internet of Things module is fixed on the top of the machine room, and the Internet of Things module is an Internet of Things base station.

[0012] The on-site automatic control system includes a logic controller, a touch screen and a frequency converter. The frequency converter and the touch screen are both electrically connected to the logic controller. The image recognition system and the data acquisition system are both communicatively connected to the logic controller via a wireless network.

[0013] The on-site automatic control system determines whether there is abnormal data through the real-time operation data of the data acquisition system. If there is abnormal data, an alarm is issued and the operation of the gate hoist is stopped. If there is no abnormal data, the gate hoist enters the lifting operation. During the lifting operation, the on-site automatic control system adjusts the position of the gate hoist according to the image recognition system so that the gate or the grab beam is opposite to the slot gate opening, and determines whether the grab beam is loaded according to the image recognition system and the data acquisition system to drive the frequency converter to operate. The frequency converter operation includes no-load operation and loaded operation.

[0014] The method for judging data abnormality is that the on-site automatic control system matches the historical dynamic database or the historical static database according to the operating status of the gate hoist, and loads the last normal data collected from the historical dynamic database or the historical static database as the standard value; when the gate hoist is running, the historical dynamic database is loaded as the standard value, and when the gate hoist stops running, the historical static database is loaded as the standard value.

[0015] The on-site automatic control system uploads the real-time operating data on the gate hoist to the cloud service system for backup storage through the data acquisition system. At the same time, the on-site automatic control system compares the collected real-time data with the standard value of the data. If there is abnormal data, an alarm will be issued and the gate hoist will be stopped. If there is no abnormal data, the collected real-time data will be stored in the database and called as the standard value of the data for the next test. The method by which the on-site automatic control system adjusts the position of the gate hoist and drives the inverter according to the image recognition system is to collect data from the on-site camera / camera and upload it to the cloud service system, while at the same time generating a gate operation trajectory model through the image processing server using the camera / camera.

[0016] The image processing server determines whether the gate or the grab beam will collide with the trough entrance according to the gate operation trajectory model. If there is a left-right collision, the image processing server generates a trolley travel control opinion. If there is a front-to-back collision, the image processing server generates a trolley travel control opinion. The display displays the trolley travel control opinion or the trolley travel control opinion. If there is no collision, the on-site automatic control system determines whether the grab beam is connected to the gate according to the camera / camera and the pressure sensor. If the grab beam is connected to the gate, it is a loaded operation for the lifting, and the logic controller drives the frequency converter to load the loaded operation parameters. If the grab beam is not connected to the gate, it is a no-load operation for the lifting, and the logic controller drives the frequency converter to load the no-load operation parameters. The loaded operation parameters are that the hoist runs at a rated speed of 50Hz, and the no-load operation parameters are that the lifting motor runs at a speed of 100Hz.

[0017] The cloud service system includes a cloud server, in which status analysis and early warning software and program online monitoring software are installed. The status analysis and early warning software downloads field operation data from the cloud server and establishes a digital model of the gate hoist according to the field operation data.

[0018] The state analysis and early warning software matches the gate hoist digital model with the expert database strategy to determine whether there is data exceeding the error range in the gate hoist digital model; If there is data beyond the error range, the program online monitoring software is started, and the program online monitoring software generates a gate hoist simulation control program, displays fault information and expert strategies, and notifies on-site personnel to maintain the equipment; If there is no data beyond the error range, the remote operation and maintenance personnel will conduct remote monitoring through the cloud server.

[0019] The present invention discloses a digital intelligent control system and method for the opening and closing equipment of a hydropower station, which applies wireless communication technology, image recognition technology, and data acquisition technology to the traditional automatic control system of the opening and closing equipment, and has the advantages of simplified communication lines, image analysis-assisted operation, remote program diagnosis, and equipment status analysis and early warning.

[0020] The present invention uses wireless signals as the communication network, and uses on-site image recognition technology to analyze the image data collected by the camera in real time, and generates a gate operation trajectory prediction model, so that the operator can change the operating posture of the opening and closing equipment, and reasonably avoid the gate from scratching or hitting the gate slot. The operating parameters of the lifting inverter can also be automatically adjusted according to the load condition of the grab beam, so as to achieve the optimal lifting efficiency; vibration, acceleration, temperature and other sensors are arranged at key positions of the door machine equipment to collect the overall operating status of the door machine in real time, and all the data of the door machine is transmitted to the cloud server through the Internet of Things, so as to realize remote digital modeling of the entire door machine, so that the operation and maintenance personnel can monitor the program at any time, discover the hidden dangers of the door machine operation in advance, and remind the on-site personnel to maintain the opening and closing equipment in time to ensure the safe and stable operation of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is the overall structural block diagram of the present invention.

[0022] Figure 2 It is a schematic diagram of the structure of the grab beam hoisting gate of the gantry hoist.

[0023] Figure 3 This is a schematic diagram of the installation position of the camera / camera on the portal hoist.

[0024] Figure 4 This is a schematic diagram of the positions of the trolley travel encoder, carriage travel encoder, follow-up cable reel speed encoder and anemometer on the gate hoist.

[0025] Figure 5 This is a schematic diagram of the positions of the acceleration sensor, temperature sensor, liquid level sensor and pressure sensor on the gate hoist.

[0026] Figure 6 This is a schematic diagram of the installation position of the wireless switch on the gate hoist.

[0027] Figure 7 It is a flow chart of the operation of the on-site automatic control system.

[0028] Figure 8 It is a flowchart of data anomaly judgment.

[0029] Fig. 9 It is a schematic diagram of the gate hoist position adjustment and lifting control process.

[0030] Fig.10 It is a flow chart of the cloud service system. DETAILED DESCRIPTION

[0031] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the implementation of the present invention, not all of the implementations. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] like Figure 1 As shown, a digital intelligent control system for the hoisting equipment of a hydropower station includes a cloud service system and a gantry hoist control system. The gantry hoist control system includes an image recognition system, a data acquisition system, an on-site automatic control system and an Internet of Things module.

[0033] The image recognition system is used to generate a gate operation trajectory model; the data acquisition system is used to collect real-time operation data of the gate hoist.

[0034] The image recognition system and the data acquisition system are both connected to the on-site automatic control system through a wireless network.

[0035] The on-site automatic control system compares the collected real-time operation data with the historical data to determine whether there is abnormal data, and determines whether the gate hoist is running under load through the image recognition system and the data acquisition system; in this embodiment, the on-site intelligent control system receives field information processed by the image recognition system and the data acquisition system through the wireless network to assist the operation of the gate hoist.

[0036] The on-site automatic control system is communicatively connected with the cloud service system via the Internet of Things module.

[0037] The cloud service system is used to receive and store the real-time operation images and operation data of the gate hoist, and generate an equipment operation model and real-time operation status. The image recognition system includes an image processing server, a display and a camera / camera, the camera / camera is electrically connected to the image processing server, the image processing server is electrically connected to the display, the camera / camera is fixed on both sides of the top of the gantry of the gantry hoist, the display is a liquid crystal display, the image processing server is a computer, and the image processing server and the liquid crystal display are both installed in the driver's cab of the gantry hoist.

[0038] like Figures 2 to 3As shown, the gantry of the gantry gate hoist includes a trolley 7 and a small trolley 8. The trolley 7 moves along the dam to reach the position of the gate slot 4. The small trolley 8 moves on the trolley 7, and the moving direction of the small trolley 8 on the trolley 7 is perpendicular to the moving direction of the trolley 7. The movement of the small trolley 8 is used to adjust the position of the grab beam 2 or the gate 3 so as not to scratch the slot door 4. A machine room 9 is arranged on the trolley 8, and an Internet of Things base station 10 is arranged on the machine room 9. The on-site automatic control system is connected to the cloud service system through the Internet of Things base station 10.

[0039] The trolley 7 includes four support arms 1, each support arm 1 is provided with a travel wheel at the bottom end, and each support arm 1 is provided with a camera / camera 11 at the top end. In this embodiment, the number of cameras / cameras 11 is four, and the four cameras / cameras 11 can completely cover the lifting operation area of ​​the gantry hoist. Figure 3 The dotted line in the figure is the area covered by the camera / camera head 11.

[0040] In this embodiment, a driver's cab 5 and an electrical room 6 are also installed on the trolley 7. The driver's cab 5 is used to manually control the translation of the gate-type opening and closing equipment and the lifting and lowering of the gate 3.

[0041] When the gate hoist lifts the gate 3 through the grab beam 2 or lowers the gate 3 through the grab beam 2, the image captured by the camera / camera 11 is synthesized into video image information through the image processing server, and displayed in real time through the liquid crystal display in the driver's cab 5. The image processing server uses the image processing algorithm to synthesize the video data collected by the camera / camera 5 to generate the running trajectory model of the gate 3, and perceives in advance whether the gate 3 will scratch the gate groove 4 or hit the gate groove 4 during the lifting and lowering process. If there is a scratch or collision with the gate groove 4, the image processing server outputs a control command to the display to assist the operator to correct the running posture of the gate hoist in time, so as to ensure the safety and stability of the opening and closing process.

[0042] In addition, the on-site automatic control system also determines whether the grab beam 2 is running with the gate 3 through image recognition combined with the current load detection data, and automatically adjusts the no-load and loaded operation modes of the lifting inverter to improve the operating efficiency of the opening and closing equipment.

[0043] There are multiple slot gates 4 on the dam. Sometimes the gate hoist needs to translate the gate 3 from one slot gate 4 to another slot gate 4, which is called the translation movement of the gate hoist with the gate 3. The translation movement with the gate 3 is divided into two modes: automatic and normal. In the normal mode, the gate hoist moves horizontally with the gate 3, and the driver needs to observe the dam surface conditions and adjust the equipment operation status in time. In this mode, the driver's attention and operating level are required to be high, and there are visual blind spots, which can easily lead to safety accidents.

[0044] In automatic mode, the image recognition system automatically generates avoidance instructions by reading and analyzing video data, and transmits the instructions to the on-site automatic control system. The on-site automatic control system receives the instructions and controls the movement of the gate hoist trolley. During the movement, it can automatically avoid objects on the dam, greatly improving the operating efficiency and safety of the gate hoist equipment and preventing the occurrence of safety accidents.

[0045] like Figures 4 to 5 As shown, the data acquisition system includes a vibration sensor, an acceleration sensor 19, a temperature sensor 18, a liquid level sensor 17, a pressure sensor 23, a trolley travel encoder 15, a trolley travel encoder 13, a follow-up cable reel speed encoder 14 and an anemometer 12. The gantry hoist includes a trolley 7 and a trolley 8. The trolley 8 moves on the trolley 7. A hoisting mechanism is provided on the trolley 8. The hoisting mechanism includes a motor 20, a reduction box 17, a drum 21 and a balancing pulley 22. The motor 20 drives the drum 21 to rotate through the reduction box 17. A wire rope is wound around the drum 21. The wire rope is fixedly connected to the grab beam 2 on the gantry hoist through the balancing pulley 22. The vibration sensor is fixed at the connection between the motor 20 and the reduction box 17 to measure whether the motor 20 and the reduction box 17 are coaxial. If not coaxial, vibration will occur. The vibration sensor can obtain the vibration amount. The sensor is fixed on the rotating shaft of the motor 20 to measure the rotation speed of the motor 20, the temperature sensor 18 and the liquid level sensor 16 are fixed in the reduction box 17 to measure the oil temperature and oil level in the reduction box 17, the pressure sensor 23 is fixed at the bottom of the pulley shaft to measure the pressure on the balance pulley 22, the trolley travel encoder 15 is fixed on the travel wheel of the trolley to measure the moving speed of the trolley 7 or the displacement of the trolley 7, the trolley travel encoder 13 is fixed on the travel wheel of the trolley to measure the moving speed of the trolley 8 or the displacement of the trolley 8, the follow-up cable reel speed encoder 14 is fixed on the follow-up cable reel to measure the speed of the follow-up cable pay-off, when the trolley 7 is moving, the follow-up cable reel will adapt the corresponding pay-off speed according to the moving speed of the trolley 7, so that the cable moves with the trolley 7, and the trolley 8 is also provided with a machine room 9, and the anemometer 12 is fixed on the top of the machine room 9 to measure the wind speed.

[0046] like Figure 6 As shown, each sensor of the data acquisition system is also correspondingly provided with a wireless module, and each sensor of the data acquisition system is electrically connected to the corresponding wireless module. The door-type gate opener is also fixedly provided with at least one wireless switch 24, and the wireless module is wirelessly connected to the wireless switch 24, and the wireless switch 24 is wirelessly connected to the on-site automatic control system, and the Internet of Things module is fixed on the top of the machine room, and the Internet of Things module is an Internet of Things base station 10.

[0047] In this embodiment, the wireless module is a wifi module, and the wireless switch 24 is respectively installed next to the vehicle travel encoder 15, in the driver's cab 5, in the electrical room 6, on the machine room 9 and on the mobile platform of the trolley 8. The wireless switch 24 is installed at different positions of the gate hoist to ensure the temperature coverage of the wireless network signal of the whole machine. At the same time, the data collected on-site only needs to be wired to the nearby wireless switch to quickly complete the networking, avoiding long-distance wired network wiring and supporting the subsequent expansion of wireless devices. The Internet of Things base station 10 ensures the stable transmission of on-site operation and video surveillance data to the cloud service system.

[0048] The on-site automatic control system includes a logic controller, a touch screen and a frequency converter. The frequency converter and the touch screen are both electrically connected to the logic controller. The image recognition system and the data acquisition system are both communicatively connected to the logic controller via a wireless network.

[0049] like Figure 7 As shown, the on-site automatic control system determines whether there is abnormal data through the real-time operation data of the data acquisition system. If there is abnormal data, an alarm is issued and the operation of the gate hoist is stopped. If there is no abnormal data, the gate hoist enters the lifting operation. During the lifting operation, the on-site automatic control system adjusts the position of the gate hoist according to the image recognition system so that the gate or the grab beam is opposite to the slot gate opening, and determines whether the grab beam is loaded according to the image recognition system and the data acquisition system to drive the frequency converter to operate. The frequency converter operation includes no-load operation and loaded operation.

[0050] The on-site automatic control system uses an image recognition system to analyze whether the gate or grab beam is aligned with the gate slot opening, reducing safety risks caused by unexpected equipment shutdown or improper operation, and ensuring safe and efficient operation of opening and closing the gate.

[0051] like Figure 8 As shown, the method for judging data abnormality is that the on-site automatic control system matches the historical dynamic database or the historical static database according to the operating status of the gate hoist, and loads the last normal data collected from the historical dynamic database or the historical static database as the standard value; when the gate hoist is running, the historical dynamic database is loaded as the standard value, and when the gate hoist stops running, the historical static database is loaded as the standard value.

[0052] The on-site automatic control system uploads the real-time operating data on the gate hoist to the cloud service system for backup storage through the data acquisition system. At the same time, the on-site automatic control system compares the collected real-time data with the standard value of the data. If there is abnormal data, an alarm will be issued and the gate hoist will be stopped. If there is no abnormal data, the collected real-time data will be stored in the database and called as the standard value of the data for the next test.

[0053] The method by which the on-site automatic control system adjusts the position of the gate hoist and drives the inverter to operate according to the image recognition system is to collect data from the on-site camera / camera and upload it to the cloud service system, while generating a gate operation trajectory model through the camera / camera through the image processing server; like Fig. 9 As shown, the image processing server determines whether the gate or the grab beam will collide with the slot door according to the gate operation trajectory model. If there is a left-right collision, the image processing server generates a trolley travel control opinion. If there is a front-back collision, the image processing server generates a trolley travel control opinion. The display displays the trolley travel control opinion or the trolley travel control opinion. If there is no collision, the on-site automatic control system determines whether the grab beam is connected to the gate according to the camera / camera and the pressure sensor. If the grab beam is connected to the gate, it is a loaded operation for the lifting, and the logic controller drives the frequency converter to load the loaded operation parameters. If the grab beam is not connected to the gate, it is a no-load operation for the lifting, and the logic controller drives the frequency converter to load the no-load operation parameters. The loaded operation parameters are that the hoist runs at a rated speed of 50Hz, and the no-load operation parameters are that the lifting motor runs at a speed of 100Hz.

[0054] After the gate position is adjusted, the on-site automatic control system executes the lifting control program. During the operation of the equipment, the data acquisition system continuously collects dynamic operation data. When abnormal data is found, an alarm is issued to shut down. During the lifting process, the height encoder and load sensor data are converted into actual height and weight data and displayed on the operator's touch screen. If the equipment reaches the set limit or the predetermined height position, the lifting operation is terminated, otherwise the lifting command continues to be executed.

[0055] The cloud service system includes a cloud server, in which state analysis and early warning software and program online monitoring software are installed. The state analysis and early warning software downloads field operation data from the cloud server and establishes a digital model of the gate hoist according to the field operation data, such as Fig.10 shown.

[0056] The state analysis and early warning software matches the gate hoist digital model with the expert database strategy to determine whether there is data exceeding the error range in the gate hoist digital model; If there is data beyond the error range, the program online monitoring software is started, and the program online monitoring software generates a gate hoist simulation control program, displays fault information and expert strategies, and notifies on-site personnel to maintain the equipment; If there is no data beyond the error range, the remote operation and maintenance personnel will conduct remote monitoring through the cloud server.

[0057] In this embodiment, when the opening and closing device is working, the image recognition system generates the opening and closing device operation trajectory model and control instructions, automatically avoids objects on the dam surface, and effectively solves the occurrence of safety accidents caused by visual blind spots; at the same time, it can also generate automatic alignment instructions for the gate and the orifice, and automatically adjust the descent trajectory of the gate of the opening and closing device to avoid collisions between the gate and the orifice caused by manual command errors, thereby improving command accuracy and operating efficiency and reducing the labor cost of using operating equipment.

[0058] By installing a variety of sensors on the opening and closing equipment, the state changes of accelerometers, stress, temperature, etc. at key positions of the equipment can be analyzed in real time, equipment defects can be discovered in advance, and the safety risks caused by equipment failures can be reduced.

[0059] The communication between the opening and closing equipment uses wireless network switches and Internet of Things modules, which simplifies the equipment communication network, makes the communication equipment easier to maintain, and facilitates the subsequent expansion of the communication equipment.

[0060] The data of the opening and closing equipment is synchronized to the cloud server in real time, so that the operation and maintenance personnel can remotely connect to read the equipment operating status, discover equipment operation problems through video monitoring and software analysis, quickly generate treatment opinions based on the expert database, and promptly notify on-site personnel to maintain the equipment, thereby reducing operation and maintenance costs.

[0061] The technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical schemes composed of any combination of the above-mentioned technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims

1. A digital intelligent control system for opening and closing equipment of a hydropower station, characterized by: It includes a cloud service system and a gate hoist control system, wherein the gate hoist control system includes an image recognition system, a data acquisition system, an on-site automatic control system and an Internet of Things module; The image recognition system is used to generate a gate operation trajectory model; the data acquisition system is used to collect real-time operation data of the gate hoist; The image recognition system and the data acquisition system are both connected to the on-site automatic control system through a wireless network; The on-site automatic control system compares the collected real-time operation data with the historical data to determine whether there is abnormal data, and determines whether the gate hoist is running under load through the image recognition system and the data acquisition system; The on-site automatic control system is connected to the cloud service system through the Internet of Things module; The cloud service system is used to receive and store the real-time operation images and operation data of the gate hoist, and generate an equipment operation model and real-time operation status.

2. The digital intelligent control system for opening and closing equipment of a hydropower station according to claim 1 is characterized in that: The image recognition system includes an image processing server, a display and a camera / camera, the camera / camera is electrically connected to the image processing server, the image processing server is electrically connected to the display, the camera / camera is fixed on both sides of the top of the gantry of the gantry hoist, the display is a liquid crystal display, the image processing server is a computer, and the image processing server and the liquid crystal display are both installed in the driver's cab of the gantry hoist.

3. The digital intelligent control system for opening and closing equipment of a hydropower station according to claim 1 is characterized in that: The data acquisition system includes a vibration sensor, an acceleration sensor, a temperature sensor, a liquid level sensor, a pressure sensor, a trolley travel encoder, a trolley travel encoder, a follow-up cable reel speed encoder and an anemometer. The gantry hoist includes a trolley and a trolley. The trolley moves on the trolley. A winch mechanism is provided on the trolley. The winch mechanism includes a motor, a reduction gearbox, a drum and a balancing pulley. The motor drives the drum to rotate through the reduction gearbox. A wire rope is wound on the drum. The wire rope is fixedly connected to the grab beam on the gantry hoist through the balancing pulley. The vibration sensor is fixed at the connection between the motor and the reduction gearbox to measure whether the motor and the reduction gearbox are coaxial. The acceleration sensor is fixed on the motor shaft to measure the rotation speed of the motor, the temperature sensor and the liquid level sensor are fixed in the reduction box to measure the oil temperature and the oil level in the reduction box, the pressure sensor is fixed at the bottom of the pulley shaft to measure the pressure on the balance pulley, the trolley travel encoder is fixed on the trolley travel wheel to measure the movement speed of the trolley or the displacement of the trolley, the trolley travel encoder is fixed on the trolley travel wheel to measure the movement speed of the trolley or the displacement of the trolley, the follow-up cable reel speed encoder is fixed on the follow-up cable reel to measure the speed of the follow-up cable pay-off, and a machine room is also provided on the trolley, and the anemometer is fixed on the top of the machine room to measure the wind speed.

4. The digital intelligent control system for opening and closing equipment of a hydropower station according to claim 3 is characterized in that: A wireless module is also correspondingly arranged on each sensor of the data acquisition system, and each sensor of the data acquisition system is electrically connected to the corresponding wireless module. At least one wireless switch is also fixedly arranged on the gate-type gate opener, and the wireless module is wirelessly connected to the wireless switch, and the wireless switch is wirelessly connected to the on-site automatic control system. The Internet of Things module is fixed on the top of the machine room, and the Internet of Things module is an Internet of Things base station.

5. The digital intelligent control system for opening and closing equipment of a hydropower station according to claim 1 is characterized in that: The on-site automatic control system includes a logic controller, a touch screen and a frequency converter. The frequency converter and the touch screen are both electrically connected to the logic controller. The image recognition system and the data acquisition system are both communicatively connected to the logic controller via a wireless network.

6. The control method of the digital intelligent control system of the hydropower station opening and closing equipment according to any one of claims 1 to 5 is characterized in that: The on-site automatic control system determines whether there is abnormal data through the real-time operation data of the data acquisition system. If there is abnormal data, an alarm is issued and the operation of the gate hoist is stopped. If there is no abnormal data, the gate hoist enters the lifting operation. During the lifting operation, the on-site automatic control system adjusts the position of the gate hoist according to the image recognition system so that the gate or the grab beam is opposite to the slot gate opening, and determines whether the grab beam is loaded according to the image recognition system and the data acquisition system to drive the frequency converter to operate. The frequency converter operation includes no-load operation and loaded operation.

7. The control method of the digital intelligent control system of the hydropower station opening and closing equipment according to claim 6 is characterized by: The method for judging data abnormality is that the on-site automatic control system matches the historical dynamic database or the historical static database according to the operating status of the gate hoist, and loads the normal data collected last time from the historical dynamic database or the historical static database as the standard value; when the gate hoist is running, the historical dynamic database is loaded as the standard value, and when the gate hoist stops running, the historical static database is loaded as the standard value; The on-site automatic control system uploads the real-time operating data on the gate hoist to the cloud service system for backup storage through the data acquisition system. At the same time, the on-site automatic control system compares the collected real-time data with the standard value of the data. If there is abnormal data, an alarm will be issued and the gate hoist will be stopped. If there is no abnormal data, the collected real-time data will be stored in the database and called as the standard value of the data for the next test.

8. The control method of the digital intelligent control system of the hydropower station opening and closing equipment according to claim 6 is characterized by: The method by which the on-site automatic control system adjusts the position of the gate hoist and drives the inverter to operate according to the image recognition system is to collect data from the on-site camera / camera and upload it to the cloud service system, while generating a gate operation trajectory model through the camera / camera through the image processing server; The image processing server determines whether the gate or the grab beam will collide with the trough entrance according to the gate operation trajectory model. If there is a left-right collision, the image processing server generates a trolley travel control opinion. If there is a front-to-back collision, the image processing server generates a trolley travel control opinion. The display displays the trolley travel control opinion or the trolley travel control opinion. If there is no collision, the on-site automatic control system determines whether the grab beam is connected to the gate according to the camera / camera and the pressure sensor. If the grab beam is connected to the gate, it is a loaded operation for the lifting, and the logic controller drives the frequency converter to load the loaded operation parameters. If the grab beam is not connected to the gate, it is a no-load operation for the lifting, and the logic controller drives the frequency converter to load the no-load operation parameters. The loaded operation parameters are that the hoist runs at a rated speed of 50Hz, and the no-load operation parameters are that the lifting motor runs at a speed of 100Hz.

9. The control method of the digital intelligent control system of the hydropower station opening and closing equipment according to claim 6 is characterized by: The cloud service system includes a cloud server, in which status analysis and early warning software and program online monitoring software are installed. The status analysis and early warning software downloads field operation data from the cloud server and establishes a digital model of the gate hoist according to the field operation data. The state analysis and early warning software matches the gate hoist digital model with the expert database strategy to determine whether there is data exceeding the error range in the gate hoist digital model. If there is data beyond the error range, the program online monitoring software is started, and the program online monitoring software generates a gate hoist simulation control program, displays fault information and expert strategies, and notifies on-site personnel to maintain the equipment; If there is no data beyond the error range, the remote operation and maintenance personnel will conduct remote monitoring through the cloud server.

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