Screw hoist gate underwater foreign matter sensing and early warning system

Abstract

The invention relates to the technical field of radio wave foreign matter sensing, in particular to a screw hoist gate underwater foreign matter sensing and early warning system. A plurality of underwater detection devices such as sonar and radar sensors are arranged in a gate foreign matter detection range to sense the size, positioning and moving conditions of the underwater foreign matter of the screw hoist gate in real time; then, threat analysis is performed on the information of the underwater foreign matters, and when the threat exceeds an expected range, early warning is triggered and automatic cleaning is started; and finally, underwater foreign matter is cleaned through the automatic processing device, and the underwater detection device is linked to feed back the cleaning state and progress in real time until cleaning is completed. A monitoring and recording unit is further arranged to monitor the working states of the underwater detection device and the automatic processing device, and related information is displayed through an operation interface. By combining various radio wave technical means, the underwater foreign matter can be sensed, analyzed and removed in real time, and the removal effect of the underwater foreign matter on the gate of the screw hoist is improved.

Description

Technical Field

[0001] The present invention relates to the field of radio wave foreign body sensing technology, and in particular to an underwater foreign body sensing and early warning system for a screw-type hoist gate. Background Art

[0002] The screw gate hoist is a kind of opening and closing equipment used to control water flow and water level. Its principle is based on threaded transmission, and the gate is driven to lift and lower by rotating the screw. According to different driving methods and structures, the types of screw gate hoists include manual screw gate hoists, electric screw gate hoists and hydraulic screw gate hoists. Electric screw gate hoists are widely used in modern water conservancy and smart waterways, especially in automatic control and intelligent scheduling. In smart waterways, electric screw gate hoists can not only perform remote control and real-time monitoring, but also work together with other systems to automatically adjust the opening and closing of the gate according to parameters such as water level, flow and passing conditions of ships, thereby improving the passage efficiency of the waterway.

[0003] However, despite the high efficiency and automation level of the electric screw gate hoist, it still faces some problems and challenges in actual operation. As the water flows through the channel and the water level changes, some underwater foreign matter such as deposited sand, floating objects, stones, and large solid pollutants may affect the normal operation of the gate of the gate hoist. Underwater foreign matter may hinder the rotation of the screw, causing the gate hoist to get stuck or overloaded, which in turn affects the opening and closing of the gate. The accumulation of foreign matter may also accelerate the wear and corrosion of the equipment and affect the long-term reliability of the gate hoist. For the above problems, regular cleaning and maintenance and protective devices are the main methods used in actual scenarios, but due to the lack of timely warning and timely treatment, the cleaning efficiency of these two methods is not high.

[0004] Taking the above problems into consideration, the present invention proposes an underwater foreign object sensing and warning system for screw-type gate hoists. Through radio wave foreign object sensing technology, underwater foreign objects in screw-type gate hoists can be detected and warned in time, thereby optimizing the management of smart waterways. Summary of the invention

[0005] The purpose of the present invention is to provide an underwater foreign body sensing and early warning system for a screw-type gate hoist. By deploying a variety of underwater detection devices such as sonar and radar sensors within the gate foreign body detection range, the size, location and movement of underwater foreign bodies in the screw-type gate hoist can be sensed in real time; then the threat analysis of the underwater foreign body information is performed, and when the threat exceeds the expected range, an early warning is triggered and automatic cleaning is started; finally, the underwater foreign bodies are cleaned by an automatic processing device, and the underwater detection device is linked to provide real-time feedback on the cleaning status and progress until the cleaning is completed. The present invention also provides a monitoring and recording unit to monitor the working status of the underwater detection device and the automatic processing device, and displays relevant information through an operation interface.

[0006] To achieve the above object, the present invention provides a screw-type hoist gate underwater foreign body sensing and warning system, comprising:

[0007] Radio wave sensing equipment deployment unit: define the foreign body detection range of the screw-type gate hoist, and deploy a number of underwater detection devices; the underwater detection devices are used to sense and detect the underwater foreign bodies; the underwater detection devices include sonar, radar sensors, electromagnetic wave sensors and pressure sensors;

[0008] Foreign object sensing and data collection unit: performs real-time detection of the foreign object detection range through the underwater detection device to collect underwater foreign object information; uses the sonar and radar sensors in the radio wave detection device to locate the underwater foreign object;

[0009] Data analysis and early warning unit: the local control terminal performs real-time analysis on the underwater foreign matter information, and evaluates the operational threat factor of the underwater foreign matter to the screw-type gate hoist; when the operational threat factor exceeds a preset dynamic threshold, the local control terminal triggers an early warning signal to the linkage processing terminal;

[0010] Processing device linkage and cleaning unit: the linkage processing end receives the warning signal and analyzes the warning information; according to the analysis result of the warning information, the automatic processing device is started to process the underwater foreign matter; the automatic processing device is linked to the radio wave detection device in the underwater detection device to provide real-time feedback on the cleaning status and cleaning progress.

[0011] Furthermore, the step of identifying the underwater foreign object includes: detecting the sensing speed of the underwater foreign object by the underwater static pressure change in the foreign object detection range; calculating the reflection time difference of the sonar signal to determine the sensing distance of the underwater foreign object, and detecting the sensing form of the underwater foreign object in combination with the radar wave; detecting whether the underwater foreign object is a metal object by electromagnetic wave signal, and if so, returning the sensing position of the underwater foreign object;

[0012] The sensing speed, sensing distance, sensing form and sensing position are summarized as the underwater foreign object information, and the underwater foreign object information is converted into digital information and transmitted to the local control terminal.

[0013] Furthermore, the local control terminal obtains the operation threat factor through a threat factor model; the threat factor model is defined as follows:

[0014] OTF=ω size ×SIZE obj +ω dis ×DIS obj +ω vel ×VEL obj +ωcur ×CUR;

[0015] Among them, OTF is the operational threat factor, SIZE obj is the size of the underwater foreign object, obtained according to the perception form; DIS obj is the sensing distance of the underwater foreign object, VEL obj is the sensing speed of the underwater foreign object, CUR is the water flow speed in the foreign object detection range; ω size ,ω dis ,ω vel and ω cur They are respectively the dynamic influence weights of the size, the perception distance, the perception speed and the water flow speed.

[0016] Furthermore, the triggering step of the warning signal includes: setting the dynamic threshold T OTF , when the warning trigger condition T is met OTF ≥OTF, the local control terminal generates the warning signal and sends the warning information to the linkage processing terminal;

[0017] The warning information includes a threat level and the underwater foreign object information, and the threat level is determined according to a difference between the operation threat factor and the dynamic threshold.

[0018] Furthermore, the process of the linkage processing end starting the automatic processing device includes:

[0019] The automatic processing device to be activated is selected according to the underwater foreign object information, and the activation priority of the automatic processing device is obtained according to the threat level in the early warning information; the linkage processing end activates the automatic processing device to clean up the underwater foreign object according to the activation priority.

[0020] Furthermore, the cleaning status and the cleaning progress are fed back in real time through the linkage between the automatic processing device and the underwater detection device; the underwater detection device continuously monitors the foreign matter detection range, detects real-time underwater foreign matter information at a set period, obtains the cleaning status and the cleaning progress and feeds back to the automatic processing device;

[0021] The feedback is performed until the cleaning state and the cleaning progress meet the settings. The real-time underwater foreign object information includes real-time sensing speed, real-time sensing distance, real-time sensing shape and real-time sensing position.

[0022] The underwater system sensing and early warning system of the screw-type hoist gate also includes a monitoring and recording unit, which includes a fault detection module and an operation interface;

[0023] The fault detection module is used to monitor the underwater detection device and the automatic processing device, and the operation interface is used to display the underwater foreign matter, the underwater foreign matter information, the cleaning status, the cleaning progress and fault information.

[0024] The fault detection module is used to monitor the underwater detection device and the automatic processing device, and includes:

[0025] The working status monitoring of the underwater detection device: monitoring the response time, acquisition accuracy and transmission status of the underwater detection device. When the acquisition signal of the underwater detection device is abnormal, triggering the device warning and transmitting the fault information to the operation interface;

[0026] The working status monitoring of the automatic processing device: monitor the workload, operating parameters and working position of the automatic processing device, and compare them with the preset working status range; when the comparison result is abnormal, trigger the equipment warning and transmit the fault information to the operation interface for display.

[0027] The underwater detection device transmits the underwater foreign object information and the real-time underwater foreign object information to the local control terminal and the automatic processing device respectively through wireless communication.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The present invention improves the accuracy and coverage of underwater foreign object identification through a variety of underwater detection devices. By deploying a number of underwater detection devices within the foreign object detection range of the screw-type gate hoist, it is possible to provide multi-dimensional perception capabilities for different types of underwater foreign objects. Sonar can accurately identify the distance and direction of underwater foreign objects in turbid waters; radar sensors can accurately measure the size, position and relative movement of foreign objects; electromagnetic wave sensors are mainly used to monitor whether underwater foreign objects are metal objects to prevent metal foreign objects from causing jamming or damage to the gate hoist; pressure sensors can monitor underwater pressure changes, thereby indirectly judging the presence and movement of underwater foreign objects. Through the coordinated work of a variety of underwater detection devices, it is possible to cover complex and multi-type underwater environments, improve the accuracy of underwater foreign object identification, and thus provide reliable data support for subsequent data processing and foreign object cleaning.

[0030] 2. The present invention uses the local control end of the data analysis and early warning unit to conduct real-time analysis on the collected underwater foreign object information, and evaluates the potential operational threat level of underwater foreign objects to the screw-type gate hoist. When the threat exceeds the expected dynamic threshold, the system will trigger a warning signal. The setting of the dynamic threshold adjusts the warning standard in real time according to parameters such as the actual water flow velocity, the size, distance and movement speed of the underwater foreign objects; in addition, the influence coefficient of each parameter can also be dynamically adjusted according to the water environment and water conditions to enhance the flexibility of foreign object monitoring and cleaning. The data analysis and early warning unit of the present invention can promptly detect the potential operational threat of underwater foreign objects to the screw-type gate hoist, take cleaning actions in advance, and reduce the risk of equipment damage and shutdown. The timely transmission of the early warning signal, combined with the subsequent cleaning work, can improve the response speed of the perception and early warning system and ensure the continuous stability of the equipment.

[0031] 3. The present invention uses an automated cleaning and real-time feedback mechanism to start the automatic processing device to clean up underwater foreign objects according to the received warning signal. The operation of the automatic processing device does not rely on human intervention, and can determine the cleaning priority and cleaning plan based on the analysis results of the warning information, ensuring that underwater foreign objects can be fed back and cleaned up in time before causing losses and damage, avoiding the lag and uncertainty of manual cleaning and regular monitoring. The present invention can provide real-time feedback on the cleaning status and progress and monitor the execution of the entire cleaning process through the linkage of the underwater detection device and the automatic processing device, which helps to ensure that underwater foreign objects are thoroughly cleaned and the cleaning strategy is adjusted in time; especially in complex water conditions, it can flexibly respond to underwater foreign objects of different sizes and shapes, and improve cleaning efficiency. The automated cleaning and implementation feedback mechanism proposed in the present invention enhances the autonomous operation capability of the equipment, reduces the risk of equipment failure caused by the accumulation of foreign objects, and improves the operational reliability and safety of the screw-type gate hoist. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a flow chart of the underwater foreign body sensing and warning system for the screw-type gate hoist;

[0033] Figure 2 This is a structural diagram of the underwater foreign body sensing and warning system for the screw-type gate hoist;

[0034] Figure 3 This is a schematic diagram of the layout of underwater detection devices for foreign body detection range of screw-type gate hoist;

[0035] Figure 4 This is a data flow diagram of the underwater foreign object perception and warning system. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of 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 embodiments of the present invention, not all of the embodiments. 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.

[0037] In order to timely discover and clean up underwater foreign objects in the screw-type gate hoist, thereby optimizing the management of the smart waterway, the present invention proposes an underwater foreign object sensing and early warning system for the screw-type gate hoist. For specific flow charts and structure diagrams, refer to Figure 1 and Figure 2 . Figure 1 This is a flow chart of the underwater foreign body sensing and warning system for the screw-type gate hoist. Figure 2 This is a structural diagram of the underwater foreign object sensing and warning system for the screw-type gate hoist.

[0038] Embodiment 1

[0039] The canal channel A adopts the underwater foreign body sensing and early warning system for the screw-type gate hoist proposed in the present invention, including an underwater detection device deployment unit, a foreign body detection and data acquisition unit, a data analysis and early warning unit, a cleaning device linkage and removal unit, and a monitoring and recording unit.

[0040] In this embodiment, the foreign object detection range of the screw-type gate hoist is defined by an underwater detection device deployment unit, and a number of underwater detection devices are deployed within the foreign object detection range, including sonar, radar sensors, electromagnetic wave sensors and pressure sensors.

[0041] First, the foreign object detection range of the screw gate is defined based on the flow characteristics of the canal waterway and the source of underwater foreign objects. The foreign object detection range includes but is not limited to the front of the gate, the sides, and the water flow concentrated area. In order to fully cover the effective monitoring area of ​​the gate, this embodiment defines the 250-meter area around the gate as the foreign object detection range of the screw gate, and deploys underwater detection devices in the gate area in the form of a detection device group; the deployment methods are but not limited to fixed, adjustable, and distributed.

[0042] The form of the detection device group is to deploy sonar, radar sensor, electromagnetic wave sensor and pressure sensor at each deployment point, such as Figure 4 As shown, Figure 4 Schematic diagram of the layout of the underwater detection device for the foreign object detection range of the screw-type gate hoist.

[0043] Figure 4In the figure, the gray shaded area represents the screw-type gate, the black part represents the channel wall, and the wavy line represents the water surface; the pattern "★" represents sonar, the pattern " " represents radar sensor, the pattern "▲" represents electromagnetic wave sensor, and the pattern "■" represents pressure sensor.

[0044] Sonar can detect the position and distance of underwater objects and can effectively sense larger foreign objects. It is suitable for sensing the distance and location of underwater foreign objects.

[0045] Radar sensors can detect the size and shape of underwater objects over a large range, are suitable for environments with fast water flow, and also help identify underwater foreign objects at a distance;

[0046] Electromagnetic wave sensors can detect metallic foreign bodies and are particularly suitable for identifying the presence of metal components (such as ship hull fragments and pipeline debris);

[0047] Pressure sensors can sense the impact of underwater foreign objects on water pressure, and are particularly advantageous when detecting objects in confined areas or near the bottom of the water.

[0048] Further, refer to Figure 3 , Figure 3 Schematic diagram of the data flow of the underwater foreign object sensing and warning system, wherein the dotted line represents the linkage between the automatic processing device and the underwater detection device. In this embodiment, the foreign object detection and data acquisition unit detects the underwater environment in the foreign object detection range in real time, identifies underwater foreign objects and collects underwater foreign object information.

[0049] The steps to identify underwater foreign objects include:

[0050] The perception speed of underwater foreign objects is detected through the change of underwater static pressure in the foreign object detection range; the perception distance of underwater foreign objects is determined by calculating the reflection time difference of sonar signals, and the perception form of underwater foreign objects is detected in combination with radar waves; the electromagnetic wave signal is used to detect whether the underwater foreign object is a metal object, and if so, the perception position of the underwater foreign object is returned.

[0051] The sensing speed, sensing distance, sensing shape and sensing position are summarized as underwater foreign object information, and the underwater foreign object information is converted into digital information and transmitted to the local control terminal.

[0052] In this embodiment, an underwater detection device is deployed in the canal channel A, and the sensor data collected is shown in Table 1.

[0053] Table 1 Some examples of data collected by underwater detection devices

[0054]

[0055] According to the data in Table 1, the underwater foreign matter information obtained in this embodiment is given in Table 2.

[0056] Table 2 Underwater foreign body information

[0057]

[0058] This embodiment can accurately identify the characteristics of underwater foreign objects through comprehensive analysis of the sensing speed, sensing distance, sensing shape and sensing position of underwater foreign objects. This information helps the subsequent data analysis and early warning modules to assess the threat of foreign objects to the screw-type gate hoist, thereby effectively avoiding the risk of foreign objects affecting the operation of the equipment.

[0059] Furthermore, in this embodiment, the local control end of the data analysis and early warning unit performs real-time analysis on the underwater foreign matter information, and evaluates the operational threat factor of the underwater foreign matter to the screw-type gate hoist; when the operational threat factor exceeds the preset dynamic threshold, the local control end triggers an early warning signal to the linkage processing end;

[0060] The local control end obtains the operation threat factor through the threat factor model; the threat factor model is defined as follows:

[0061] OTF=ω size ×SIZE obj +ω dis ×DIS obj +ω vel ×VEL obj +ω cur ×CUR;

[0062] Among them, OTF is the operational threat factor, SIZE obj The size of the underwater foreign object is obtained based on the estimated size in the perceived form; DIS obj VEL is the sensing distance of underwater foreign objects. obj is the sensing speed of underwater foreign objects, CUR is the water flow velocity in the foreign object detection range; ω size ,ω dis ,ω vel and ω cur They are the dynamic influence weights of size, perception distance, perception speed and water flow speed.

[0063] This embodiment calculates the threat factor for the underwater foreign object information in Table 2, obtains the operational threat factors of multiple underwater foreign objects, and gives examples in Table 3.

[0064] Table 3 Operation threat factors of underwater foreign objects

[0065]

[0066] Since the water environment is not very different when collecting underwater foreign object information in Canal Channel A in this embodiment, when calculating the operation threat factors in Table 3, the dynamic influence weights of size, perception distance, perception speed and water flow speed are set to 0.4, 0.3, 0.2 and 0.1 respectively.

[0067] This embodiment introduces a dynamic threat factor model, which can dynamically evaluate the threat based on the actual water environment and the characteristics of the underwater foreign objects by weighted calculation of factors such as the size, sensing distance, sensing speed, and water flow speed of the underwater foreign objects. The introduction of this model greatly improves the accuracy and reliability of the early warning system, so that different types of underwater foreign objects can trigger early warnings based on the actual threat level, avoiding false alarms and missed alarms.

[0068] The triggering steps of the early warning signal include: setting the dynamic threshold T OTF , dynamic threshold T OTF The setting methods include but are not limited to based on historical experience and professionals.

[0069] When the warning trigger condition OTF≥T is met OTF When the local control terminal generates an early warning signal and sends the early warning information to the linkage processing terminal; this embodiment sets the dynamic threshold T OTF It is 3.0, that is, in Table 3, the foreign body detection range of the screw gate hoist of Canal Channel A, the operational threat factor of the underwater foreign bodies detected by sensor group numbers A036 and A044 meets the early warning triggering conditions.

[0070] The warning information includes the threat level and underwater foreign object information. The threat level is determined based on the difference between the operational threat factor and the dynamic threshold. In this embodiment:

[0071] The underwater foreign object threat factor detected by sensor group A036 is 3.706, which is consistent with the dynamic threshold T OTF The difference is 0.706, so the underwater foreign body threat level detected by sensor group number A036 is high risk;

[0072] The underwater foreign object threat factor detected by sensor group number A044 is 3.530, which is consistent with the dynamic threshold T OTF The difference is 0.530, and the underwater foreign object threat level detected by sensor group number A044 is medium risk.

[0073] The triggering of the warning signal is based on a preset dynamic threshold. When the threat factor of underwater foreign objects exceeds the threshold, the system can generate and send a warning signal to the cleaning end in real time. The warning information includes the threat level and underwater foreign object information. This refined warning method can effectively guide the work priority of the cleaning device and ensure that the system responds to the threat of underwater foreign objects in a timely manner.

[0074] Furthermore, in this embodiment, the cleaning device is linked to the linkage processing end of the clearing unit to receive the warning signal and analyze the warning information, and an example is given in Table 4.

[0075] Table 4 Example of warning information

[0076] Sensor group number Threat Level Underwater foreign body size Types of underwater foreign objects A036 High risk 2.0×1.8×1.0(m) Metal objects A044 Medium risk 1.8×1.5×1.0(m) Metal objects

[0077] According to the analysis result of the early warning information, the automatic processing device to be activated is selected, and the activation priority of the automatic processing device is obtained according to the threat level in the early warning information. In this embodiment, the higher the threat level, the higher the activation priority of the cleaning device.

[0078] The linkage processing end starts the automatic processing device to clean up underwater foreign objects according to the starting priority. The automatic processing device involved in the present invention includes the following main components:

[0079] Cleaning robot arm: mainly used to grab and remove underwater foreign objects. According to the size and type of foreign objects, the robot arm can adjust its operation mode (such as adsorption, grabbing and crushing, etc.); if it is a metal object, you can choose a robot arm with a strong grabber. If it is a smaller object, choose a lightweight adsorption robot arm.

[0080] Propulsion device: used to move the cleaning device so that the automatic processing device can move smoothly in the water area to the location of the underwater foreign matter; Sensor and radar navigation equipment: used to provide real-time positioning and obstacle detection for the automatic processing device.

[0081] The automatic processing device is linked to the underwater detection device to provide real-time feedback on the cleaning status and progress.

[0082] Through the linkage processing end, the threat level of underwater foreign objects is analyzed according to the early warning signal and the appropriate cleaning device is dynamically selected and started. The priority of the cleaning device is determined according to the threat level to avoid resource waste and optimize the cleaning process, thereby improving the efficiency and response speed of underwater foreign object cleaning.

[0083] Through the linkage between the automatic processing device and the underwater detection device, the cleaning status and progress are fed back in real time.

[0084] This embodiment sets 30 seconds as a monitoring cycle, triggers data collection operations at a frequency of once every 30 seconds, and re-analyzes real-time underwater foreign object information through the local control terminal, including real-time perception speed, real-time perception distance, real-time perception shape and real-time perception position.

[0085] The real-time underwater foreign matter information is used as the cleaning status, and the cleaning progress is calculated by calculating the difference between the perceived form and the real-time perceived form. The cleaning status and cleaning progress are fed back to the automatic processing device.

[0086] The above feedback is looped until the cleaning state and cleaning progress meet the settings. Specifically, when the real-time estimated size in the cleaning state is zero, the difference between the perceived shape and the real-time perceived shape is equal to the perceived shape.

[0087] In this embodiment, the system can provide real-time feedback on the cleaning status and progress through the linkage between the automatic processing device and the underwater detection device. This feedback mechanism ensures the continuity and timeliness of the cleaning work, and can adjust the cleaning strategy according to the real-time monitoring data, further improving the effect of underwater foreign body cleaning.

[0088] The real-time feedback of underwater foreign body information includes key data such as real-time sensing speed, sensing distance, sensing shape and sensing position. Through these precise feedbacks, the system can timely grasp the dynamic changes of underwater foreign bodies, so as to more accurately adjust the cleaning strategy and ensure the efficient execution of the cleaning work.

[0089] Embodiment 2

[0090] This embodiment monitors and displays the equipment status through a monitoring and recording unit, including a fault detection module and an operation interface; the fault detection module is used to monitor the underwater detection device and the automatic processing device, and the operation interface is used to display underwater foreign matter, underwater foreign matter information, cleaning status, cleaning progress and fault information.

[0091] This embodiment can monitor the working status of the underwater detection device and the automatic cleaning device in real time through the monitoring and recording unit, detect faults in time and issue early warnings to ensure stable operation of the equipment. At the same time, the operation interface provides intuitive underwater foreign matter information and cleaning progress display, which is convenient for operators to quickly grasp the system status, assist in optimizing decisions and improve work efficiency.

[0092] Working status monitoring of underwater detection devices: monitor the response time, acquisition accuracy and transmission status of underwater detection devices. When the acquisition signal of the underwater detection device is abnormal (signal sudden fluctuation, signal disconnection, data beyond the reasonable range, etc.), the device warning is triggered and the fault information is transmitted to the operation interface to display;

[0093] Working status monitoring of automatic processing devices: monitor the workload, operating parameters and working position of the automatic processing devices, and compare them with the preset working status range; when the comparison result is abnormal, the equipment warning is triggered and the fault information is transmitted to the operation interface to display.

[0094] This embodiment introduces a fault detection module to comprehensively monitor the underwater detection device and the automatic processing device. By monitoring their working status, response time, acquisition accuracy, operating parameters, etc., it is ensured that the system can operate stably at any time. If a fault occurs, the system can issue an early warning in time and display the fault information through the operation interface, thereby improving the reliability and maintenance efficiency of the system.

[0095] The underwater detection device transmits underwater foreign body information and real-time underwater foreign body information to the local control terminal and the automatic processing device respectively through wireless communication.

[0096] The underwater detection device transmits underwater foreign body information and real-time underwater foreign body information to the local control terminal and automatic processing device through wireless communication, ensuring the real-time and accuracy of data transmission. The use of wireless communication simplifies the sensor layout, improves the flexibility and scalability of the system, and reduces the complexity and maintenance cost of cable layout.

[0097] In the actual operation of the screw gate hoist, underwater foreign objects caused by changes in water flow and water level will affect the normal operation of the gate of the gate hoist, such as hindering the rotation of the screw, causing the gate hoist to get stuck or overloaded, and then affecting the opening and closing of the gate; it may also accelerate the wear and corrosion of the equipment, affecting the long-term reliability of the gate hoist. Based on the above problems, the main existing methods generally include regular cleaning and maintenance and the installation of protective devices, but due to the diversity of underwater foreign objects and underwater environments, especially in waters with rapid water flow, deep depth or poor visibility, it is impossible to timely warn and deal with foreign objects, and the cleaning efficiency of these methods is not high. Therefore, the present invention proposes an underwater foreign object sensing and warning system for screw gate hoists, which not only solves the timeliness and accuracy problems of underwater foreign object monitoring and cleaning, but also provides auxiliary support for the management and development of smart waterways.

[0098] This system monitors the underwater environment within the foreign object detection range in real time by deploying a variety of underwater detection devices, such as sonar and radar sensors, and detects underwater foreign objects efficiently and accurately. Through accurate measurement of the real-time perception speed, perception distance, shape and position of underwater foreign objects, the system can accurately evaluate the threat factor of underwater foreign objects to the screw-type gate hoist, calculate the threat level in real time, and trigger early warning in time according to the preset dynamic threshold. The system will transmit the early warning signal to the linkage processing end, and according to the different threat levels, it will give priority to starting the automatic processing device to remove underwater foreign objects in time. The cleaning device is linked with the underwater detection device, and can provide real-time feedback on the cleaning progress and status to ensure that the cleaning work continues to follow up until the foreign objects are completely removed.

[0099] In addition, the system's fault detection module can monitor the working status of sensors and cleaning devices in real time to ensure that the equipment is always in normal working condition. Once a device failure occurs, the system will automatically trigger an alarm and transmit the fault information to the operation interface, so that the staff can repair it in time and minimize the impact of the failure on the operation of the equipment.

[0100] In summary, the implementation of this system not only improves the efficiency and accuracy of underwater foreign body monitoring and cleaning, but also reduces the risk of manual operation through intelligent operation and real-time feedback, and improves the automation and intelligence level of the system. This provides a strong guarantee for the safe operation of water facilities such as reservoirs, rivers, and ports, and can extend the service life of the screw-type gate hoist and ensure the long-term stable operation of water facilities.

[0101] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. The underwater foreign body sensing and warning system for the screw-type gate hoist is characterized by: include: Radio wave sensing equipment deployment unit: define the foreign body detection range of the screw-type gate hoist and deploy several underwater detection devices; The underwater detection device is used to sense and detect the underwater foreign object; the underwater detection device includes a sonar, a radar sensor, an electromagnetic wave sensor and a pressure sensor; Foreign object sensing and data collection unit: performs real-time detection of the foreign object detection range through the underwater detection device to collect underwater foreign object information; uses the sonar and radar sensors in the radio wave detection device to locate the underwater foreign object; Data analysis and early warning unit: the local control terminal performs real-time analysis on the underwater foreign matter information, and evaluates the operational threat factor of the underwater foreign matter to the screw-type gate hoist; when the operational threat factor exceeds a preset dynamic threshold, the local control terminal triggers an early warning signal to the linkage processing terminal; Processing device linkage and cleaning unit: the linkage processing end receives the warning signal and analyzes the warning information; according to the analysis result of the warning information, the automatic processing device is started to process the underwater foreign matter; the automatic processing device is linked to the radio wave detection device in the underwater detection device to provide real-time feedback on the cleaning status and cleaning progress.

2. The underwater foreign body sensing and warning system for the screw-type gate hoist according to claim 1 is characterized in that: The steps of identifying the underwater foreign object include: Detecting the sensing speed of the underwater foreign object through the change of underwater static pressure in the foreign object detection range; The reflection time difference of the sonar signal is calculated to determine the sensing distance of the underwater foreign object, and the sensing form of the underwater foreign object is detected in combination with the radar wave; the electromagnetic wave signal is used to detect whether the underwater foreign object is a metal object, and if so, the sensing position of the underwater foreign object is returned; The sensing speed, sensing distance, sensing form and sensing position are summarized as the underwater foreign object information, and the underwater foreign object information is converted into digital information and transmitted to the local control terminal.

3. The underwater foreign body sensing and warning system for the screw-type gate hoist according to claim 1 is characterized in that: The local control terminal obtains the operation threat factor through a threat factor model; the threat factor model is defined as follows: OTF=ω size ×SIZE obj +oh dis ×DIS obj +oh vel ×VEL obj +oh cur ×CUR; Among them, OTF is the operational threat factor, SIZE obj is the size of the underwater foreign object, obtained according to the perception form; DIS obj is the sensing distance of the underwater foreign object, VEL obj is the sensing speed of the underwater foreign object, CUR is the water flow speed in the foreign object detection range; ω size ,ω dis ,ω vel and ω cur They are respectively the dynamic influence weights of the size, the perception distance, the perception speed and the water flow speed.

4. The underwater foreign body sensing and warning system for the screw-type gate hoist according to claim 1 is characterized in that: The triggering step of the early warning signal includes: Set the dynamic threshold T OTF , when the warning trigger condition OTF≥T is met OTF When the local control terminal generates the warning signal and sends the warning information to the linkage processing terminal; The warning information includes a threat level and the underwater foreign object information, and the threat level is determined according to a difference between the operation threat factor and the dynamic threshold.

5. The underwater foreign body sensing and warning system for the screw-type gate hoist according to claim 1 is characterized in that: The process of the linkage processing end starting the automatic processing device includes: The automatic processing device to be activated is selected according to the underwater foreign object information, and the activation priority of the automatic processing device is obtained according to the threat level in the early warning information; the linkage processing end activates the automatic processing device to clean up the underwater foreign object according to the activation priority.

6. The underwater foreign body sensing and warning system for the screw-type gate hoist according to claim 1 is characterized in that: Through the linkage between the automatic processing device and the underwater detection device, the cleaning status and the cleaning progress are fed back in real time; The underwater detection device continuously monitors the foreign matter detection range, detects real-time underwater foreign matter information at a set period, obtains the cleaning state and the cleaning progress, and feeds back to the automatic processing device; The feedback is performed until the cleaning state and the cleaning progress meet the settings.

7. The underwater foreign body sensing and warning system for the screw-type hoist gate according to claim 6 is characterized in that: The real-time underwater foreign object information includes real-time sensing speed, real-time sensing distance, real-time sensing shape and real-time sensing position.

8. The underwater foreign body sensing and warning system for the screw-type hoist gate according to claim 1 is characterized in that: It also includes monitoring and recording units; It includes a fault detection module and an operation interface; the fault detection module is used to monitor the underwater detection device and the automatic processing device, and the operation interface is used to display the underwater foreign matter, the underwater foreign matter information, the cleaning status, the cleaning progress and fault information.

9. The underwater foreign body sensing and warning system for the screw-type hoist gate according to claim 8 is characterized in that: The steps of the fault detection module monitoring the underwater sensor and the automatic cleaning device include: The working status monitoring of the underwater detection device: monitoring the response time, acquisition accuracy and transmission status of the underwater detection device. When the acquisition signal of the underwater detection device is abnormal, triggering the device warning and transmitting the fault information to the operation interface; The working status monitoring of the automatic processing device: monitor the workload, operating parameters and working position of the automatic processing device, and compare them with the preset working status range; when the comparison result is abnormal, trigger the equipment warning and transmit the fault information to the operation interface for display.

10. The underwater foreign body sensing and warning system for the screw-type gate hoist according to claim 1 is characterized in that: The underwater detection device transmits the underwater foreign object information and the real-time underwater foreign object information to the local control terminal and the automatic processing device respectively through wireless communication.

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