Dam safety intelligent monitoring system based on Beidou positioning

Abstract

The invention discloses a dam safety intelligent monitoring system based on Beidou positioning, and relates to the field of dam safety monitoring, and the system comprises a first monitoring unit which is used for monitoring the osmotic pressure, water flow and dam body deformation of a dam, obtaining monitoring data, and analyzing the monitoring data to obtain a dam body safety monitoring result; the second monitoring unit is used for collecting and obtaining dam water surface floating object image data, analyzing the dam water surface floating object image data, obtaining a dam water surface floating object safety monitoring result, and controlling the floating object cleaning unit based on the dam water surface floating object safety monitoring result; the floating object cleaning unit is used for cleaning floating objects on the water surface of the dam; the third monitoring unit is used for collecting the three-dimensional scanning data of the entrance of the underwater trash rack of the dam, analyzing the three-dimensional scanning data of the entrance of the underwater trash rack of the dam, obtaining a safety monitoring result of the underwater trash rack of the dam, and controlling the trash rack cleaning unit based on the safety monitoring result of the underwater trash rack of the dam; and the trash rack cleaning unit is used for cleaning the entrance of the underwater trash rack of the dam. The system can solve the technical problems that cleaning resources of a dam are wasted or safe operation of a trash rack at a water inlet and normal power generation of a unit are affected due to unreasonable cleaning of an existing dam trash rack.

Description

Technical Field

[0001] The present invention relates to the field of dam safety monitoring, and in particular to a dam safety intelligent monitoring system based on Beidou positioning. Background Art

[0002] Dam safety monitoring is the measurement and observation of the main structure, foundation, slopes on both sides, related facilities and surrounding environment of water conservancy and hydropower projects through instrument observation and patrol inspection; monitoring includes both instrument observation of fixed measuring points of buildings at a certain frequency, and regular or irregular visual inspection and instrument exploration of a large range of objects on the surface and inside of the building.

[0003] Trash racks are one of the most important equipment in water conservancy projects. They are used to intercept and remove debris and pollutants in the water flow to ensure the normal operation of the sluice gate and the cleanliness of the water flow. However, as time goes by, a large amount of dirt and garbage will accumulate on the gate trash racks. If they are not cleaned in time, it will lead to obstruction of water flow, damage to equipment, and even affect the normal operation of the entire water conservancy project. Therefore, the desilting work of the gate trash rack is particularly important.

[0004] In the prior art, the main cleaning method for dam trash racks is regular cleaning, such as cleaning once a month. This cleaning method has the following technical problems: in the non-flood season or when the number of floating objects in the water flow is small, there are not many impurities on the dam trash rack, and frequent cleaning will lead to a waste of cleaning resources. In the flood season or when there are many floating objects in the water flow, there are many impurities on the dam trash rack. Failure to clean it in time will lead to poor drainage of the dam and affect the flow rate, resulting in the unit load cannot be increased, seriously affecting the safe operation of the water inlet trash rack and the normal power generation of the unit. Summary of the invention

[0005] The purpose of the present invention is to solve the technical problems that the existing dam trash rack is not cleaned properly, resulting in waste of cleaning resources or affecting the safe operation of the water inlet trash rack and the normal power generation of the unit.

[0006] To achieve the above object, the present invention provides a dam safety intelligent monitoring system based on Beidou positioning, the system comprising:

[0007] The first monitoring unit is used to monitor the seepage pressure, water flow and deformation of the dam, obtain monitoring data, and analyze the monitoring data to obtain the dam safety monitoring results;

[0008] The second monitoring unit is used to collect and obtain image data of floating objects on the dam water surface, analyze the image data of floating objects on the dam water surface, obtain safety monitoring results of floating objects on the dam water surface, and control the floating object cleaning unit based on the safety monitoring results of floating objects on the dam water surface;

[0009] Floating debris cleaning unit, used to clean floating debris on the dam water surface;

[0010] a third monitoring unit, for collecting three-dimensional scanning data of the entrance of the underwater trash rack of the dam, analyzing the three-dimensional scanning data of the entrance of the underwater trash rack of the dam, obtaining a trash rack safety monitoring result, and controlling the trash rack cleaning unit based on the trash rack safety monitoring result;

[0011] The trash rack cleaning unit is used to clean the trash rack inlet.

[0012] Among them, the system is provided with a first monitoring unit that can safely monitor the seepage pressure, water flow and deformation of the dam to ensure the safety of the seepage pressure, water flow and deformation of the dam; a second monitoring unit is provided that can analyze the image data of floating objects on the dam water surface to obtain the safety monitoring results of floating objects on the dam water surface. Since floating objects on the dam will affect the safety of the dam, the power generation of the unit and the passage of ships, the floating object cleaning unit is controlled based on the safety monitoring results of floating objects on the dam water surface, and the floating objects are cleaned up in time when the number of floating objects exceeds the standard to ensure the safety of the dam;

[0013] The system is provided with a third monitoring unit to collect the three-dimensional scanning data of the entrance of the underwater trash rack of the dam. By analyzing the three-dimensional scanning data of the entrance of the underwater trash rack of the dam, the safety monitoring results of the trash rack are obtained, and the trash rack cleaning unit is controlled based on the safety monitoring results of the trash rack; the entrance of the trash rack is cleaned by the trash rack cleaning unit. Compared with the traditional regular cleaning of the trash rack, the system obtains the three-dimensional scanning data of the entrance of the underwater trash rack of the dam through scanning, and uses the three-dimensional scanning data to determine the content of debris accumulated at the entrance of the underwater trash rack of the dam. The real-time and accurate content of the debris is used to determine whether to clean the underwater trash rack of the dam, which solves the technical problems of wasting cleaning resources or affecting the safe operation of the trash rack at the water inlet and the normal power generation of the unit caused by traditional regular cleaning.

[0014] Preferably, in order to ensure the normal operation of ships after the dam is built, multiple locks will be set up to allow ships to pass through. In the prior art, when a ship passes through a lock, it will enter the lock chamber and wait for the water level to stabilize before entering the next lock chamber until it reaches the surface of the river.

[0015] During peak shipping periods, many ships will pass through the locks, and it takes a long time for a multi-level lock to pass. For example, it takes about 3 hours for a ship to pass through the 5-level lock at the Three Gorges Dam, and the opening time of the multi-level lock is not open at any time but at a fixed time, such as once every half an hour. This will lead to congestion and even queue jumping. The applicant found that the length and width of the lock chamber are unchanged. When there are too many ships in the lock chamber, it will lead to collisions between ships and ships easily colliding with the inner wall of the lock chamber, causing safety hazards. In a safety accident, two ships were scratched in the lock chamber, and the structures of the two ships were connected, resulting in part of the cargo dumped in the lock chamber, causing the entire lock to stop operating for cleaning, delaying shipping time and reducing shipping efficiency.

[0016] In order to make ships pass through the lock in an orderly manner, improve the efficiency of ships passing through the lock, and ensure the safety of ships and dams passing through the lock, the system of the present invention also includes: a lock safety monitoring unit, which includes:

[0017] The first identification unit is used to identify the ship entering the waiting area, obtain the identity information of the ship, the three-dimensional information of the part of the ship located above the water, and the time information of the ship entering the waiting area; the purpose of obtaining the identity information of the ship is to distinguish the ships so as to sort the ships later; the purpose of obtaining the three-dimensional information of the part of the ship located above the water is to obtain the size information of the ship, so as to reasonably consider the size of the ship and the distance between the ships and the distance between the ship and the inner wall of the lock chamber when the ship enters the lock chamber, reasonably allocate the corresponding parking area for the ship under the premise of ensuring the safety distance, and make full use of the space of the lock chamber;

[0018] The first communication unit is used to establish a communication connection with the ship entering the waiting area to obtain the cargo information transported by the ship; the purpose of obtaining the cargo information is to determine whether the cargo is dangerous goods. If it is dangerous goods, the ship is arranged to pass through the lock chamber alone to ensure the safety of other ships;

[0019] The sorting unit is used to sort the order of ships passing through the locks based on the time sequence of the ships entering the waiting area to obtain a sorting result; the sorting unit can avoid confusion and queue cutting when ships pass through the locks;

[0020] An arrangement unit is used to divide the lock chamber into several parking areas, and allocate a corresponding parking area to each ship entering the lock chamber based on the three-dimensional information, cargo information and the sorting result; the traditional way for ships to pass through the lock chamber is that the ship drives to the lock chamber by itself, and then the following ships see whether they can squeeze into the lock chamber, and squeeze in if they can, and the ship that enters the lock chamber first may occupy more parking areas due to unreasonable parking areas, resulting in subsequent ships being unable to enter the lock chamber, resulting in unreasonable use of the space in the lock chamber, and it is also possible that the ships are parked too crowded in the lock chamber, resulting in easy collisions between ships and between ships and the inner wall of the lock chamber, and easy to cause safety accidents. When a ship anchors in the lock chamber or cargo falls into the lock chamber, the entire lock chamber needs to be stopped, and then a lot of time is spent on salvage and repair, which seriously affects the passage of the dam route. Therefore, the arrangement unit can reasonably, effectively and safely allocate the positions of ships entering the lock chamber to ensure the efficiency, orderliness and safety of ships passing through the lock chamber;

[0021] The fourth monitoring unit is used to monitor whether the ship enters the lock chamber according to the sorting result, and monitor whether the ship is located in the corresponding parking area in the lock chamber, and obtain the lock chamber monitoring result. Through the fourth monitoring unit, it is possible to effectively supervise whether the ship cuts in line to enter the lock chamber, and whether the ship is parked randomly in the lock chamber.

[0022] Preferably, the ship lock safety monitoring unit further includes:

[0023] The fifth monitoring unit is used to monitor the ships in the lock chamber, obtain the first shortest distance information between adjacent ships and the second shortest distance information between the ship outline and the inner wall of the lock chamber, and obtain the collision risk safety monitoring result based on the first shortest distance information and the second shortest distance information.

[0024] Among them, the shortest distance between adjacent ships in the lock chamber and the shortest distance between a ship and the inner wall of the lock chamber can be obtained through the fifth monitoring unit. By comparing the shortest distance with the safe distance, it is determined whether there is a risk of collision between ships and between a ship and the lock chamber.

[0025] Preferably, the analyzing the image data of floating objects on the dam water surface to obtain the safety monitoring results of floating objects on the dam includes:

[0026] The image data of floating objects on the dam surface is analyzed to obtain the area and type of floating objects on the dam surface. The area of ​​floating objects is obtained to estimate the content of floating objects so that floating objects can be cleaned up when the content exceeds the threshold. The purpose of obtaining the type of floating objects is to determine whether there are dangerous objects in the floating objects so that they can be cleaned up in time to avoid safety accidents.

[0027] Preferably, the third monitoring unit includes: a three-dimensional laser scanning system and a computing system, and the third monitoring unit is specifically used for:

[0028] After the underwater trash rack of the dam is installed and before the dam is filled with water, the three-dimensional laser scanning system is used to scan and obtain the first three-dimensional scanning data within the preset range of the entrance of the underwater trash rack of the dam; during the use of the dam, the three-dimensional laser scanning system is used to scan and obtain the second three-dimensional scanning data within the preset range of the entrance of the underwater trash rack of the dam; the computing system calculates and obtains the accumulation information within the preset range of the entrance of the underwater trash rack of the dam based on the first three-dimensional scanning data and the second three-dimensional scanning data, and obtains the trash rack safety monitoring results based on the accumulation information.

[0029] Among them, in order to accurately obtain the accumulation of impurities at the entrance of the underwater trash rack of the dam, the present invention first obtains first three-dimensional scanning data, which corresponds to the entrance of the underwater trash rack of the dam when there are no impurities, and then obtains real-time second three-dimensional scanning data. The second three-dimensional scanning data is obtained by differentiating the three-dimensional scanning data from the first three-dimensional scanning data to quickly and accurately obtain real-time accumulation information within a preset range of the entrance of the underwater trash rack of the dam, and then judge whether to clean the trash rack based on the accumulation information.

[0030] Preferably, the first identification unit is specifically used for:

[0031] A waiting area is respectively demarcated within the preset area range of the upstream and downstream of the dam, and the upstream and downstream waiting areas are respectively used for ships going upstream and downstream through the dam. After the ship completely enters the waiting area, image data of the ship is collected, the image data is analyzed to obtain the coding information of the ship, the three-dimensional information of the above-water part of the ship is analyzed to obtain the maximum length and maximum width of the ship, and the time information of the ship completely entering the waiting area is recorded, and the time information is used to sort the ships entering the waiting area.

[0032] Preferably, the sorting unit is further used to update the sorting result based on the time sequence of the ships entering the waiting area and the real-time ships in the waiting area. The sorting is performed according to the time sequence of the ships entering the waiting area to obtain the sorting result, and the sorting result is updated when a ship enters the lock chamber or a new ship enters the waiting area.

[0033] Preferably, the arrangement unit is specifically used for:

[0034] Divide the lock chamber into several evenly distributed sub-areas and encode each sub-area; encode the sub-areas so that the parking area of ​​the ship in the lock chamber can be accurately located according to the number;

[0035] Determine whether the cargo information is dangerous cargo. If it is dangerous cargo, the corresponding parking area of ​​the ship is the entire lock chamber; if it is not dangerous cargo, obtain the length and width of the ship based on the three-dimensional information; based on the length and width of the ship, calculate the number of sub-areas required for the ship to park in the lock chamber;

[0036] Based on the length and width of the ship, respectively calculate and obtain a first number of sub-areas required in the length direction and a second number of sub-areas required in the width direction for parking the ship;

[0037] Obtaining a third number of sub-areas in the length direction of the current lock chamber where no ships are parked, and a fourth number of sub-areas in the width direction of the current lock chamber where no ships are parked; obtaining a parking area allocation requirement based on the third number and the fourth number; in the traditional method, ships are parked randomly and the space in the lock chamber is not reasonably utilized. By calculating the remaining number of sub-areas in the length and width of the lock chamber, the ship with the first ranking matching the number of remaining sub-areas is selected from the remaining ships that have not entered the lock chamber, so that the lock chamber space is reasonably utilized;

[0038] A set of ships that meet the requirements for allocating the berthing area is obtained from the sorting results. If the set of ships is empty, the lock chamber is closed, and the lock chamber is opened after all the ships in the lock chamber have sailed out of the lock chamber. If the set of ships is not empty, the ship ranked first in the set of ships is selected and the corresponding berthing area is allocated to it.

[0039] Preferably, the fourth monitoring unit is also used to monitor whether any object falls into the water of the lock chamber from the ship in the lock chamber. The ship will stay in the lock chamber for a relatively long time, and the cargo or personnel on the ship may fall into the water in the lock chamber. Through the monitoring of the fourth monitoring unit, the cargo or personnel can be salvaged in time when they fall into the water to ensure safety.

[0040] Preferably, the system further comprises a sixth monitoring unit for monitoring the fire condition of the dam machine room. The sixth monitoring unit can be used to monitor the fire condition of the dam machine room to improve safety.

[0041] Preferably, the conventional trash rack is cleaned regularly, and the cleaning is unreasonable. The trash rack is installed at the entrance of the flow channel. The applicant has found that when there are more impurities on the trash rack, the water flow velocity of the flow channel corresponding to the trash rack will decrease. Therefore, the accumulation of impurities on the trash rack can be indirectly, quickly and accurately obtained by detecting the water flow velocity of the flow channel. The trash rack cleaning unit also includes: a flow velocity sensor, a transmission unit, a controller and a trash rack cleaner; the flow velocity sensor is installed in the flow channel to detect the flow velocity value in the flow channel after the gate of the flow channel is opened; the transmission unit is used to transmit the flow velocity value to the controller, and the controller is used to control the start and stop of the trash rack cleaner based on the flow velocity value. For example, when the flow velocity is low, the trash rack cleaner is turned on for cleaning.

[0042] Preferably, the first monitoring unit includes:

[0043] Osmometer, used to monitor the seepage pressure of the dam and obtain seepage pressure monitoring data;

[0044] Water weir meter, used to monitor the water flow of the dam and obtain water flow monitoring data;

[0045] The GNSS monitoring station is used to monitor the deformation of the dam body and obtain dam body deformation monitoring data.

[0046] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0047] The system can solve the technical problems of waste of cleaning resources or impact on safe operation of the trash rack at the water inlet and normal power generation of the unit caused by unreasonable cleaning of the existing dam trash rack, and can reasonably clean the dam trash rack to ensure safe operation of the trash rack and normal power generation of the unit.

[0048] This system can enable ships to pass through the lock in an orderly manner, improve the efficiency of ships passing through the lock, and ensure the safety of ships and dams passing through the lock. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of the present invention, and do not constitute a limitation on the embodiments of the present invention;

[0050] Figure 1 Schematic diagram of the composition of the dam safety intelligent monitoring system based on Beidou positioning. DETAILED DESCRIPTION

[0051] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0052] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those within the scope of this description. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0053] Embodiment 1;

[0054] Please refer to Figure 1 , Figure 1 The present invention provides a dam safety intelligent monitoring system based on Beidou positioning, and the system includes:

[0055] The first monitoring unit is used to monitor the seepage pressure, water flow and deformation of the dam, obtain monitoring data, and analyze the monitoring data to obtain the dam safety monitoring results;

[0056] The second monitoring unit is used to collect and obtain image data of floating objects on the dam water surface, analyze the image data of floating objects on the dam water surface, obtain safety monitoring results of floating objects on the dam water surface, and control the floating object cleaning unit based on the safety monitoring results of floating objects on the dam water surface;

[0057] A floating object cleaning unit is used to clean floating objects on the water surface of the dam; the floating object cleaning unit can be a floating object salvaging ship or a floating object salvaging device, which is not specifically limited in the embodiment of the present invention;

[0058] The third monitoring unit is used to collect the three-dimensional scanning data of the entrance of the underwater trash rack of the dam, which can be specifically processed by an underwater three-dimensional laser scanner or an underwater three-dimensional laser scanning system, which is not specifically limited in the embodiment of the present invention, analyze the three-dimensional scanning data of the entrance of the underwater trash rack of the dam, which can be specifically processed by three-dimensional scanning data processing software, which is not specifically limited in the present invention to the specific type and implementation method of the software, obtain the safety monitoring result of the underwater trash rack of the dam, and control the trash rack cleaning unit based on the safety monitoring result of the underwater trash rack of the dam;

[0059] The trash rack cleaning unit is used to clean the entrance of the underwater trash rack of the dam. An automated trash rack cleaner can be used for cleaning, or a crane can be used to lift the underwater trash rack of the dam for cleaning, and then put it back for installation after cleaning. Cleaning personnel can also dive underwater to clean, and the embodiments of the present invention do not make specific limitations.

[0060] The system may further include a storage unit for storing the monitoring data and intermediate processing data collected in the system for later retrieval, and may also include a display for displaying the monitoring status of the system in real time.

[0061] The second monitoring unit is implemented by a camera and a processor. The camera is used to capture images and transmit them to the processor for image analysis. The processor is equipped with an image processing model or image processing software for analyzing the image data of floating objects on the dam water surface. The safety monitoring results of floating objects on the dam water surface are obtained by analyzing the image data of floating objects on the dam water surface to obtain the area of ​​floating objects on the dam water surface and the type of floating objects. The area of ​​floating objects on the dam water surface can be obtained by the following method: first, a first image is captured when there is no floating object on the dam, and then the first image is dimensioned, and a second image is captured when there is floating object on the dam. The first image and the second image are input into the image processing software to obtain the difference area of ​​the two images. Based on the difference area and the dimensioning result, the area of ​​floating objects on the dam water surface can be calculated, and the type of floating objects can be realized by the target recognition function or model in the image processing software. The image processing software in the present invention is an existing software, and the present invention does not specifically limit the specific type and implementation method of the software.

[0062] Preferably, the system further comprises: a ship lock safety monitoring unit, the ship lock safety monitoring unit comprising:

[0063] The first recognition unit is used to recognize the ship entering the waiting area, obtain the identity information of the ship, the three-dimensional information of the part of the ship located above the water, and the time information of the ship entering the waiting area; the first recognition unit includes a camera for shooting an image of the waiting area, and obtains the ship newly entering the waiting area by comparing it with the previous frame image, and then recognizes the code on the hull of the ship to obtain the identity information of the ship, and the first recognition unit also includes a three-dimensional laser scanner, which scans the ship by the three-dimensional laser scanner to obtain the three-dimensional information of the part of the ship located above the water, and obtains the time information of the ship entering the waiting area by comparing the shooting time of the corresponding image of the ship entering the waiting area;

[0064] The first communication unit is used to establish a communication connection with the ship entering the waiting area to obtain cargo information transported by the ship; wherein a connection can be established with the communication equipment of the ship through 4G or 5G or radio communication equipment to obtain the cargo information of the ship;

[0065] The sorting unit is used to sort the order of ships passing through the lock based on the time sequence of the ships entering the waiting area to obtain a sorting result; for example, the time when ship A enters the waiting area is 09:23:55, the time when ship B enters the waiting area is 08:33:25, the time when ship C enters the waiting area is 07:43:56, the time when ship D enters the waiting area is 10:12:42, and the time when ship E enters the waiting area is 09:43:33; the sorting result is: CBAED.

[0066] an arrangement unit, used for dividing the lock chamber into a plurality of ship parking areas, and assigning a corresponding ship parking area to each ship entering the lock chamber based on the three-dimensional information, cargo information and the sorting result;

[0067] The fourth monitoring unit is used to monitor whether the ship enters the lock chamber according to the sorting result, and monitor whether the ship is located in the corresponding parking area in the lock chamber to obtain the lock chamber monitoring result. The fourth monitoring unit obtains images through a camera or a monitor, and then analyzes the images, and performs identity recognition and sequence recognition on the ships entering the lock chamber, so as to determine whether the ship enters the lock chamber according to the sorting result. By analyzing the images in the lock chamber and collecting the division and marking of the parking areas in the lock chamber, the parking area of ​​each ship in the lock chamber can be obtained. By comparing the actual parking area with the corresponding assigned parking area, it can be determined whether each ship entering the lock chamber is parked in the corresponding parking area. Since the width of the lock chamber is narrow and the ship body is long, it is difficult to turn around and change the parking position in the lock chamber. Therefore, after generating the corresponding parking area, the system in the present invention transmits the parking area to the corresponding ship through the communication module, and performs parking area navigation for the corresponding ship to avoid the ship parking in the wrong area and being unable to change the parking area.

[0068] Wherein, in the embodiment of the present invention, the ship lock safety monitoring unit further includes:

[0069] The fifth monitoring unit is used to monitor the ships in the lock chamber, obtain the first shortest distance information between adjacent ships and the second shortest distance information between the ship outline and the inner wall of the lock chamber, and obtain the collision risk safety monitoring result based on the first shortest distance information and the second shortest distance information.

[0070] Among them, the fifth monitoring unit includes an image acquisition module and a processing module. The image acquisition module can be a camera or a video camera or a monitor. By acquiring images in the lock chamber and marking the dimensions, the image of the ship in the lock chamber is identified, and the outline size and coordinates of the ship are obtained based on the dimensioning results. The first shortest distance information can be calculated based on the coordinate information corresponding to the adjacent nearest contour points of adjacent ships, and the second shortest distance information can be calculated based on the coordinates of the closest point between the ship and the inner wall of the lock chamber and the coordinate information of the inner wall of the lock chamber. Alternatively, the size calculation function in the image processing software can also be used to quickly calculate and obtain the above two shortest distances. The embodiment of the present invention does not limit the calculation method of the shortest distance.

[0071] In the embodiment of the present invention, the third monitoring unit includes: a three-dimensional laser scanning system and a computing system, and the third monitoring unit is specifically used for:

[0072] After the installation of the underwater trash rack of the dam and before the dam is filled with water, the 3D laser scanning system is used to scan and obtain the first 3D scanning data within the preset range of the entrance of the underwater trash rack of the dam; during the use of the dam, the 3D laser scanning system is used to scan and obtain the second 3D scanning data within the preset range of the entrance of the underwater trash rack of the dam; the computing system calculates and obtains the accumulation information within the preset range of the entrance of the underwater trash rack of the dam based on the first 3D scanning data and the second 3D scanning data, and obtains the safety monitoring result of the trash rack based on the accumulation information. The 3D laser scanning system can be equipped with corresponding 3D scanning data processing software for the 3D laser scanner, and the 3D laser scanner is used to scan and obtain the 3D scanning data and then transmit it to the 3D laser scanning data processing software for processing. The present invention does not specifically limit the 3D laser scanning data processing software.

[0073] In this embodiment of the present invention, the first identification unit is specifically used for:

[0074] A waiting area is respectively demarcated within the preset area range upstream and downstream of the dam. The size and position of the waiting area can be adjusted according to actual needs. The embodiment of the present invention does not make specific limitations. Usually, a water surface image can be captured and then the corresponding waiting area is marked in the image. After the ship completely enters the waiting area, image data of the ship is collected, the image data is analyzed to obtain the ship's coding information such as the ship identification number, the three-dimensional information of the ship's above-water part is analyzed to obtain the maximum length and maximum width of the ship, and the time information when the ship completely enters the waiting area is recorded.

[0075] In the embodiment of the present invention, the sorting unit is further used to update the sorting result based on the time sequence of the ships entering the waiting area and the real-time ships in the waiting area.

[0076] In this embodiment of the present invention, the arrangement unit is specifically used for:

[0077] The lock chamber is divided into several evenly distributed sub-areas, and each sub-area is encoded; usually the plane shape of the lock chamber is a rectangle with a fixed length and width, usually 280 meters long, 34 meters wide and a minimum water depth of 5 meters, and the width of the sub-area is 8.5 meters and the length is 10 meters. Therefore, a lock chamber can be divided into 112 sub-areas. The specific sub-area size can be adjusted according to actual needs, and the embodiment of the present invention does not make a specific limitation.

[0078] Determine whether the cargo information is dangerous cargo, such as dangerous chemicals, flammable and explosive items, etc. If it is dangerous cargo, the corresponding parking area of ​​the ship is the entire lock chamber; if it is not dangerous cargo, the length and width of the ship are obtained based on the three-dimensional information;

[0079] Based on the length and width of the ship, a first number of sub-areas required in the length direction and a second number of sub-areas required in the width direction for parking the ship are calculated respectively; for example, if the length of the ship K is 55 meters and the width of the ship is 7 meters, then the first number of sub-areas required in the length direction for parking the ship is 6, and the second number of sub-areas required in the width direction is 1;

[0080] Obtaining a third number of sub-areas of the current lock chamber in the length direction where no ships are parked, and a fourth number of sub-areas of the current lock chamber in the width direction where no ships are parked; obtaining a parking area allocation requirement based on the third number and the fourth number; if the third number is less than 6 or the fourth number is less than 1, the ship K cannot enter the current lock chamber for parking, otherwise, the ship can enter the lock chamber for parking;

[0081] A set of ships that meet the requirements for allocating the parking area is screened from the sorting results. If the set of ships is empty, the lock chamber is closed, and the lock chamber is opened after all the ships in the lock chamber have sailed out of the lock chamber. If the set of ships is not empty, the ship with the highest ranking is screened from the set of ships and a corresponding parking area is allocated to it. If the remaining parking area is not large and subsequent large ships cannot enter for parking, subsequent small ships with the highest ranking can be parked to make full use of the parking area.

[0082] Among them, in the embodiment of the present invention, the fourth monitoring unit is also used to monitor whether there is an object falling into the water of the lock chamber from the ship in the lock chamber. By analyzing the captured image or video, it can be determined whether a target moves into the water. The specific implementation method can be implemented using corresponding image or video processing software, and the embodiment of the present invention does not specifically limit it.

[0083] In the embodiment of the present invention, the system further comprises a sixth monitoring unit for monitoring the fire in the dam machine room. The sixth monitoring unit can be implemented using a fire monitoring system or a fire alarm system, which is not specifically limited in the present invention.

[0084] Among them, in an embodiment of the present invention, the trash rack is installed at the entrance of the flow channel, and the trash rack cleaning unit also includes: a flow velocity sensor, a transmission unit, a controller and a trash rack cleaner; the flow velocity sensor is installed in the flow channel for detecting the flow velocity value in the flow channel after the gate of the flow channel is opened; the transmission unit is used to transmit the flow velocity value to the controller, and the controller is used to control the start and stop of the trash rack cleaner based on the flow velocity value.

[0085] In this embodiment of the present invention, the first monitoring unit includes:

[0086] Osmometer, used to monitor the seepage pressure of the dam and obtain seepage pressure monitoring data;

[0087] Water weir meter, used to monitor the water flow of the dam and obtain water flow monitoring data;

[0088] The GNSS monitoring station is used to monitor the deformation of the dam body and obtain dam body deformation monitoring data.

[0089] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0090] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. The intelligent monitoring system for dam safety based on Beidou positioning is characterized by: The system comprises: The first monitoring unit is used to monitor the seepage pressure, water flow and deformation of the dam, obtain monitoring data, and analyze the monitoring data to obtain the dam safety monitoring results; The second monitoring unit is used to collect and obtain image data of floating objects on the dam water surface, analyze the image data of floating objects on the dam water surface, obtain safety monitoring results of floating objects on the dam water surface, and control the floating object cleaning unit based on the safety monitoring results of floating objects on the dam water surface; Floating debris cleaning unit, used to clean floating debris on the dam water surface; The third monitoring unit is used to collect the three-dimensional scanning data of the entrance of the underwater trash rack of the dam, analyze the three-dimensional scanning data of the entrance of the underwater trash rack of the dam, obtain the safety monitoring result of the underwater trash rack of the dam, and control the trash rack cleaning unit based on the safety monitoring result of the underwater trash rack of the dam; Trash rack cleaning unit, used to clean the underwater trash rack inlet of the dam.

2. The intelligent dam safety monitoring system based on Beidou positioning according to claim 1 is characterized in that: The system further comprises: a ship lock safety monitoring unit, the ship lock safety monitoring unit comprising: The first identification unit is used to identify the vessel entering the waiting area, obtain the identity information of the vessel, the three-dimensional information of the above-water part of the vessel and the time information of the vessel entering the waiting area; The first communication unit is used to establish a communication connection with the ship entering the waiting area to obtain cargo information transported by the ship; A sorting unit, used to sort the order of ships passing through the locks based on the time sequence of the ships entering the waiting area to obtain a sorting result; an arrangement unit, for dividing the lock chamber into a plurality of berthing areas, and assigning a corresponding berthing area to each ship entering the lock chamber based on the three-dimensional information, cargo information and the sorting result; The fourth monitoring unit is used to monitor whether the ship enters the lock chamber according to the sorting result, and monitor whether the ship is located in the corresponding parking area in the lock chamber, so as to obtain the lock chamber monitoring result.

3. The intelligent dam safety monitoring system based on Beidou positioning according to claim 2 is characterized in that: The ship lock safety monitoring unit also includes: The fifth monitoring unit is used to monitor the ships in the lock chamber, obtain the first shortest distance information between adjacent ships and the second shortest distance information between the ship outline and the inner wall of the lock chamber, and obtain the collision risk safety monitoring result based on the first shortest distance information and the second shortest distance information.

4. The intelligent monitoring system for dam safety based on Beidou positioning according to claim 1 is characterized in that: The analysis of the image data of floating objects on the dam water surface to obtain the safety monitoring results of floating objects on the dam includes: The image data of floating objects on the dam water surface are analyzed to obtain the area and type of floating objects on the dam water surface.

5. The intelligent dam safety monitoring system based on Beidou positioning according to claim 1 is characterized in that: The third monitoring unit includes: a three-dimensional laser scanning system and a computing system, and the third monitoring unit is specifically used for: After the underwater trash rack of the dam is installed and before the dam is filled with water, the three-dimensional laser scanning system is used to scan and obtain the first three-dimensional scanning data within the preset range of the entrance of the underwater trash rack of the dam; during the use of the dam, the three-dimensional laser scanning system is used to scan and obtain the second three-dimensional scanning data within the preset range of the entrance of the underwater trash rack of the dam; the computing system calculates and obtains the accumulation information within the preset range of the entrance of the underwater trash rack of the dam based on the first three-dimensional scanning data and the second three-dimensional scanning data, and obtains the trash rack safety monitoring results based on the accumulation information.

6. The intelligent dam safety monitoring system based on Beidou positioning according to claim 1 is characterized in that: The first identification unit is specifically used for: A waiting area is respectively demarcated within the preset area range upstream and downstream of the dam, and image data of the ship is collected after the ship completely enters the waiting area. The image data is analyzed to obtain the coding information of the ship, the three-dimensional information of the above-water part of the ship is analyzed to obtain the maximum length and maximum width of the ship, and the time information when the ship completely enters the waiting area is recorded.

7. The intelligent monitoring system for dam safety based on Beidou positioning according to claim 1 is characterized in that: The sorting unit is further used to update the sorting result based on the time sequence of the ships entering the waiting area and the real-time ships in the waiting area.

8. The intelligent monitoring system for dam safety based on Beidou positioning according to claim 1 is characterized in that: The arrangement unit is specifically used for: Divide the lock chamber into several evenly distributed sub-areas and encode each sub-area; Determine whether the cargo information is dangerous cargo. If it is dangerous cargo, the corresponding parking area of ​​the ship is the entire lock chamber; if it is not dangerous cargo, obtain the length and width of the ship based on the three-dimensional information; Based on the length and width of the ship, respectively calculate and obtain a first number of sub-areas required in the length direction and a second number of sub-areas required in the width direction for parking the ship; Obtaining a third number of sub-areas in the length direction of the current lock chamber where no ships are parked, and a fourth number of sub-areas in the width direction of the current lock chamber where no ships are parked; obtaining a parking area allocation requirement based on the third number and the fourth number; A set of ships that meet the requirements for allocating the berthing area is obtained from the sorting results. If the set of ships is empty, the lock chamber is closed, and the lock chamber is opened after all the ships in the lock chamber have sailed out of the lock chamber. If the set of ships is not empty, the ship ranked first in the set of ships is selected and the corresponding berthing area is allocated to it.

9. The intelligent monitoring system for dam safety based on Beidou positioning according to claim 1 is characterized in that: The fourth monitoring unit is also used to monitor whether there are objects falling into the water of the lock chamber from the ship in the lock chamber.

10. The intelligent dam safety monitoring system based on Beidou positioning according to claim 1 is characterized in that: The system also includes a sixth monitoring unit, which is used for monitoring the fire situation of the dam machine room.

11. The intelligent dam safety monitoring system based on Beidou positioning according to claim 1 is characterized in that: The trash rack is installed at the entrance of the flow channel, and the trash rack cleaning unit also includes: a flow rate sensor, a transmission unit, a controller and a trash rack cleaner; the flow rate sensor is installed in the flow channel for detecting the flow rate value in the flow channel after the gate of the flow channel is opened; the transmission unit is used to transmit the flow rate value to the controller, and the controller is used to control the start and stop of the trash rack cleaner based on the flow rate value.

12. The intelligent dam safety monitoring system based on Beidou positioning according to claim 1 is characterized in that: The first monitoring unit comprises: Osmometer, used to monitor the seepage pressure of the dam and obtain seepage pressure monitoring data; Water weir meter, used to monitor the water flow of the dam and obtain water flow monitoring data; The GNSS monitoring station is used to monitor the deformation of the dam body and obtain dam body deformation monitoring data.

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