Hydropower station gate groove entering position automatic identification device
Through visual recognition and detection technology, automatic identification and accurate alignment control of the entry position of the gate gate in the hydropower station is achieved, solving the problems of low efficiency and poor safety in traditional manual operation, and supporting automated operations of the gate.
Patent Information
- Application Number
- CN202411344353.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-25
- Publication Date
- 2025-02-18
AI Technical Summary
The gate entry operation of traditional hydropower station gates relies on human observation and manual adjustment, resulting in low efficiency and poor safety, and cannot adapt to the needs of gate automation operations.
By using visual identification detection method, through the combination of target, industrial camera and industrial control machine, the relative position dimensions of the gate and the orifice are accurately detected, and the deviation dimensions of the gate and gate slot openings in the horizontal axis direction and the rotation direction are obtained. .
It realizes automatic identification and accurate alignment control of the gate entry position, improves work efficiency, reduces safety risks, and supports automatic operation of the gate.
Smart Images
Figure CN119478805A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of gates, and in particular to an automatic identification device for a gate entry position in a hydropower station. Background Art
[0002] During gate operation at traditional hydropower stations, the gate entry into the slot is manually observed and adjusted to ensure smooth entry into the slot. This has low work efficiency, poses safety risks when personnel observe nearby, and is unable to meet the needs of automated gate operation. Summary of the invention
[0003] The purpose of the present invention is to provide a device for automatically identifying the position of a gate in a hydropower station. The visual recognition detection method adopted can directly and accurately detect the relative position size of the gate and the orifice, and can obtain the deflection size of the gate and the gate slot orifice in the horizontal axis direction and the rotation direction. In order to achieve the above technical features, the purpose of the present invention is achieved as follows: An automatic identification device for the gate entry position of a hydropower station, comprising a target, an industrial camera, and an industrial computer; The target is arranged at the edge of the gate slot opening to mark the edge contour features of the gate slot opening; The two industrial cameras are symmetrically distributed on both sides of the top of the gate slot opening, and are used to take pictures of the edges on both sides of the gate slot opening; The industrial computer is connected to the industrial camera and is used for performing visual recognition and data processing on the pictures taken by the industrial camera.
[0004] The industrial computer is communicatively connected with the door machine control system for data transmission.
[0005] A method for using a device for automatically identifying the position of a gate entering a slot in a hydropower station comprises the following steps: S1: Set an identification target at the edge of the gate slot opening to mark the edge contour features of the opening so that the visual recognition software in the industrial computer can easily read and analyze it; S2: Install two industrial cameras symmetrically on both sides of the gate slot opening to ensure that the industrial camera viewing angle covers the edge areas on both sides of the opening; S3: During gate operation, when the gate crane lifts the gate and runs to the gate slot opening, the gate crane is controlled to stop and the industrial camera is started to shoot the target positions on both sides of the gate slot opening; S4: The industrial camera transmits the captured images to the industrial computer, and the visual recognition software analyzes the captured images, extracts the target position in the image, and identifies the edge feature position of the gate, so as to obtain the relative position size of the gate and the gate slot opening edge in the X and Y directions in the image. From this, the deflection size of the gate and the gate slot opening in the horizontal axis direction and the rotation direction can be calculated, as follows: The offset position of the gate center in the X-axis direction of the orifice is x 3, x 3 = (x 1 + x 2) / 2; The offset position y3 of the gate center in the Y-axis direction of the orifice, y 3 = (y1 + y2) / 2; The gate width is a constant value w1, and the gate produces a deflection angle θ3 in the X-axis direction of the orifice. θ3 = arc sin ((y2-y1) / w1); S5: After measuring the offset x3 and y3 between the gate center and the gate slot opening in the horizontal axis direction, the data is transmitted to the gate machine control system, which controls the trolley and car travel mechanisms to adjust and control the gate position; after measuring the deflection angle θ3 between the gate and the gate slot opening in the X-axis direction, the rotation direction angle can be adjusted and controlled through the auxiliary control equipment.
[0006] The present invention has the following beneficial effects: 1. The visual recognition detection method adopted in this application can directly and accurately detect the relative position size of the gate and the orifice, and obtain the deflection size of the gate and the gate slot orifice in the horizontal axis direction and the rotation direction; 2. The test results of this application can directly provide the control system with accurate gate entry and slot alignment control, solving the problems of low efficiency, poor safety, and inconvenience of automated operation in the traditional method of relying on human observation and manual adjustment; 3. The application of the device of the present application is not limited by the size of the gate or the orifice, and is easy and reliable to use. BRIEF DESCRIPTION OF THE DRAWINGS
[0007] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0008] Figure 1 A schematic diagram of the structure of a gate slot opening provided by an embodiment of the present invention; Figure 2 A schematic diagram of the target position provided by an embodiment of the present invention; Figure 3 A schematic diagram of the relative positions of a gate and a gate slot opening at a gate slot opening entry point provided by an embodiment of the present invention; Figure 4 The embodiment of the present invention provides Figure 3 The middle M part sends a large picture; Figure 5 The embodiment of the present invention provides Figure 3 The N part of the middle is posted in large picture; In the figure: gate slot opening 1, target 2, gate 3. DETAILED DESCRIPTION
[0009] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.
[0010] See attached Figure 1-5 In order to realize the above technical features, the purpose of the present invention is achieved as follows: A device for automatically identifying the position of a gate in a hydropower station, comprising a target, an industrial camera, and an industrial computer; the target is arranged at the edge of a gate slot opening, and is used to mark the contour features of the edge of the gate slot opening; two industrial cameras are symmetrically distributed on both sides of the top of the gate slot opening, and are used to take pictures of the edges on both sides of the gate slot opening; the industrial computer is connected to the industrial camera, and is used to perform visual recognition and data processing on the pictures taken by the industrial camera.
[0011] Furthermore, the industrial computer is connected to the door machine control system.
[0012] A method for using a device for automatically identifying the position of a gate entering a slot in a hydropower station: S1: First, set the identification target at the edge of the gate slot opening, that is, set the yellow marking area at the four corners of the opening (see Figure 2 , the hatched area in the figure represents the yellow marked area), marking the edge contour features of the orifice so that the visual recognition software in the industrial computer can read and analyze it easily; S2: Install two industrial cameras symmetrically on both sides of the gate slot opening to ensure that the industrial camera viewing angle covers the edge areas on both sides of the opening; S3: During gate operation, when the gate crane lifts the gate and moves to the gate slot, Figure 3 , control the gate machine to stop, start the industrial camera to shoot the target positions on both sides of the gate slot opening, and the image shooting areas of the industrial cameras on both sides are as follows: Figure 4 , Figure 5 As shown; S4: The industrial camera transmits the captured images to the industrial computer, and the visual recognition software analyzes the captured images and extracts the characteristic positions of the yellow areas in the images. Figure 4 , Figure 5, and identify the edge feature position of the gate according to the color factor, and then get the relative position size of the gate and the gate slot opening edge in the X and Y directions in the picture, from which the deflection size of the gate and the gate slot opening in the horizontal axis direction and the rotation direction can be calculated, as follows: The offset position of the gate center in the X-axis direction of the orifice is x 3, x 3 = (x 1 + x 2) / 2; The offset position y3 of the gate center in the Y-axis direction of the orifice, y 3 = (y1 + y2) / 2; The gate width is a constant value w1, and the gate produces a deflection angle θ3 in the X-axis direction of the orifice. θ3 = arc sin ((y2-y1) / w1); S5: After measuring the offset x3 and y3 between the gate center and the gate slot opening in the horizontal axis direction, the data is transmitted to the gate machine control system, which controls the trolley and car travel mechanisms to adjust and control the gate position; after measuring the deflection angle θ3 between the gate and the gate slot opening in the X-axis direction, the rotation direction angle can be adjusted and controlled through auxiliary control equipment (such as AGV, etc.).
[0013] Therefore, through the present application, the relative position size of the gate and the orifice can be directly and accurately detected, and the deflection size of the gate and the gate slot orifice in the horizontal axis direction and the rotation direction can be obtained, and the measured results can directly provide the control system for accurate gate slot positioning control, solving the problems of low efficiency, poor safety and inconvenience for automated operation of the traditional method relying on human observation and manual adjustment.
Claims
1. A device for automatically identifying the position of a gate in a hydropower station, characterized in that: Including targets, industrial cameras, industrial computers; The target is arranged at the edge of the gate slot opening to mark the edge contour features of the gate slot opening; The two industrial cameras are symmetrically distributed on both sides of the top of the gate slot opening, and are used to take pictures of the edges on both sides of the gate slot opening; The industrial computer is connected to the industrial camera and is used for performing visual recognition and data processing on the pictures taken by the industrial camera.
2. The automatic identification device for the gate entry position of a hydropower station according to claim 1 is characterized by: The industrial computer is connected to the door machine control system.
3. The method for using the automatic identification device for the gate entry position of a hydropower station according to claim 1 or 2, characterized in that: The following steps are involved: S1: Set an identification target at the edge of the gate slot opening to mark the edge contour features of the opening so that the visual recognition software in the industrial computer can easily read and analyze it; S2: Install two industrial cameras symmetrically on both sides of the gate slot opening to ensure that the industrial camera viewing angle covers the edge areas on both sides of the opening; S3: During gate operation, when the gate crane lifts the gate and runs to the gate slot opening, the gate crane is controlled to stop and the industrial camera is started to shoot the target positions on both sides of the gate slot opening; S4: The industrial camera transmits the captured images to the industrial computer, and the visual recognition software analyzes the captured images, extracts the target position in the image, and identifies the edge feature position of the gate, so as to obtain the relative position size of the gate and the gate slot opening edge in the X and Y directions in the image. From this, the deflection size of the gate and the gate slot opening in the horizontal axis direction and the rotation direction can be calculated, as follows: The offset position of the gate center in the X-axis direction of the orifice is x 3, x 3 = (x 1 + x 2) / 2; The offset position y3 of the gate center in the Y-axis direction of the orifice, y 3 = (y1 + y2) / 2; The gate width is a constant value w1, and the gate produces a deflection angle θ3 in the X-axis direction of the orifice. θ3 = arc sin ((y2-y1) / w1); S5: After measuring the offset x3 and y3 between the gate center and the gate slot opening in the horizontal axis direction, the data is transmitted to the gate machine control system, which controls the trolley and car travel mechanisms to adjust and control the gate position; after measuring the deflection angle θ3 between the gate and the gate slot opening in the X-axis direction, the rotation direction angle can be adjusted and controlled through the auxiliary control equipment.