Underwater foreign object sensing and warning system for screw-type gate hoist

Abstract

The present invention relates to the field of radio wave foreign body sensing technology, specifically to an underwater foreign body sensing and 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 information on the underwater foreign bodies is analyzed for threat, 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 operating interface. By combining a variety of radio wave technical means, the present invention can sense, analyze and remove underwater foreign bodies in real time, thereby improving the removal effect of underwater foreign bodies in the screw-type gate hoist.

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 warning system for a screw-type hoist gate. Background Art

[0002] A screw gate hoist is a type of opening and closing device 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. Depending on the drive mode and structure, 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 terms of automated control and intelligent scheduling. In smart waterways, electric screw gate hoists can not only perform remote control and real-time monitoring, but also interact with other systems to automatically adjust the opening and closing of the gate according to parameters such as water level, flow, and passing ship conditions, 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 sedimentary 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, thereby affecting the opening and closing of the gate. The accumulation of foreign matter may also accelerate the wear and corrosion of the equipment, affecting 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, it can timely detect and warn of underwater foreign objects in screw-type gate hoists, thereby optimizing the management of smart waterways. Summary of the Invention

[0005] The purpose of the present invention is to provide a screw-type gate hoist underwater foreign object sensing and warning system. By deploying multiple underwater detection devices such as sonar and radar sensors within the gate foreign object detection range, the system can sense the size, location, and movement of underwater foreign objects in the screw-type gate hoist in real time. The system then performs a threat analysis on the information of the underwater foreign objects, triggering an early warning and initiating automatic cleaning when the threat exceeds the expected range. Finally, the system cleans the underwater foreign objects through an automatic processing device, and links the underwater detection device 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-mentioned purpose, the present invention provides a screw-type gate hoist underwater foreign body sensing and warning system, comprising:

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

[0008] Foreign object sensing and data acquisition unit: performs real-time detection of the foreign object detection range through the underwater detection device to collect underwater foreign object information; and 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: performs real-time analysis of the underwater foreign object information through the local control terminal, and evaluates the operational threat factor of the underwater foreign object 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 early warning signal and analyzes the early warning information; based on the analysis results of the early 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 change of underwater static pressure 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 velocity 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 When ≥OTF, the local control terminal generates the warning signal and sends the warning information to the linkage processing terminal;

[0017] The early 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 terminal 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 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 status 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 screw-type gate hoist underwater system perception and warning system 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, including:

[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 for display;

[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 device 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 matter information, and evaluates the potential operational threat posed by underwater foreign matter to the screw-type gate hoist. When the threat exceeds the expected dynamic threshold, the system will trigger an early warning signal. The setting of the dynamic threshold adjusts the early 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 matter; in addition, the influence coefficient of each parameter can also be dynamically adjusted according to the water environment and water body conditions to enhance the flexibility of foreign matter monitoring and cleaning. The data analysis and early warning unit of the present invention can promptly detect the potential operational threat posed by underwater foreign matter 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 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 activate an automatic processing device to clean underwater foreign objects based on the received early 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 early 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, thereby improving 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 opening and closing machine. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0034] Figure 3 This is a schematic diagram of the layout of underwater detection equipment for foreign body detection in the gate of a 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

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

[0038] Example 1

[0039] Canal Channel A adopts the underwater foreign object sensing and warning system for the screw-type gate hoist proposed in the present invention, which includes an underwater detection device deployment unit, a foreign object detection and data acquisition unit, a data analysis and 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-type gate hoist 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 area directly in front of the gate, on both sides, and in areas with concentrated water flow. To fully cover the effective monitoring area of the gate, this embodiment defines a 250-meter area around the gate as the foreign object detection range for the screw-type gate hoist, and deploys underwater detection devices in the gate area in the form of detection device groups; deployment methods include, but are 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 underwater detection equipment for foreign object detection range of 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 the sonar, the pattern " " represents the radar sensor, the pattern "▲" represents the electromagnetic wave sensor, and the pattern "■" represents the 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 wide range, are suitable for environments with fast water flow, and can also help identify underwater foreign objects at a distance;

[0046] Electromagnetic wave sensors can detect metallic foreign objects 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 Figure 1 is a data flow diagram of the underwater foreign object sensing and warning system. The dashed line represents the linkage between the automatic processing device and the underwater detection device. This embodiment uses a foreign object detection and data acquisition unit to perform real-time detection of the underwater environment within the foreign object detection range, identify underwater foreign objects, and collect information about them.

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

[0050] The perception speed of underwater foreign objects is detected by 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 the sonar signal, 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, underwater detection devices are deployed in the canal channel A, and the sensor data collected are shown in Table 1.

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

[0054]

[0055] Based on the data in Table 1, the underwater foreign object information obtained in this embodiment is given in Table 2.

[0056] Table 2 Underwater foreign body information

[0057]

[0058] This embodiment uses a comprehensive analysis of the speed, distance, shape, and location of underwater foreign objects to accurately identify their characteristics. This information helps subsequent data analysis and early warning modules assess the threat posed by foreign objects to the screw gate hoist, effectively mitigating the risk of foreign objects impacting equipment operation.

[0059] Furthermore, this embodiment uses the local control terminal of the data analysis and early warning unit to perform real-time analysis on underwater foreign matter information and evaluate 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;

[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 within 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 respectively.

[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 Operational threat factors of underwater foreign objects

[0065]

[0066] Since the water environment is not much different when collecting underwater foreign object information in Canal Channel A in this embodiment, 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 when calculating the operation threat factors in Table 3.

[0067] This embodiment introduces a dynamic threat factor model. By weighting factors such as underwater foreign object size, detection distance, detection speed, and water flow velocity, it dynamically assesses the threat based on the actual water environment and the characteristics of the underwater foreign object. This model significantly improves the accuracy and reliability of the early warning system, enabling different types of underwater foreign objects to trigger warnings based on their actual threat level, avoiding false alarms and missed alerts.

[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-type gate hoist of Canal Channel A, the operational threat factor of the underwater foreign body 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 threat level of underwater foreign objects 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 If the difference is 0.530, the threat level of underwater foreign objects detected by sensor group number A044 is medium risk.

[0073] The triggering of warning signals is based on preset dynamic thresholds. When the threat factor of underwater foreign objects exceeds the threshold, the system generates and sends 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 effectively guides the cleaning equipment's work priorities and ensures the system responds promptly to underwater foreign object threats.

[0074] Furthermore, this embodiment receives the warning signal through the linkage processing end of the cleaning device and the clearing unit, and analyzes the warning information, an example of which is given in Table 4.

[0075] Table 4 Example of warning information

[0076] Sensor group number Threat Level Underwater foreign body size Type of underwater foreign body 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 terminal, the threat level of underwater foreign objects is analyzed based on early warning signals and the appropriate cleaning device is dynamically selected and activated. The cleaning device is prioritized based on the threat level, avoiding resource waste and optimizing the cleaning process, improving the efficiency and response speed of underwater foreign object removal.

[0083] Through the linkage of automatic processing equipment and underwater detection equipment, real-time feedback on cleaning status and progress is provided. Specifically:

[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 perception morphology and the real-time perception morphology. The cleaning status and cleaning progress are fed back to the automatic processing device.

[0086] The above feedback loop continues until the cleaning status and cleaning progress meet the settings. Specifically, when the real-time estimated size in the cleaning status 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 provides 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 based on real-time monitoring data, further improving the effectiveness of underwater foreign body cleaning.

[0088] Real-time feedback on underwater foreign objects includes key data such as speed, distance, shape, and location. Through this precise feedback, the system can promptly understand the dynamic changes of underwater foreign objects, allowing for more precise adjustments to cleaning strategies and ensuring efficient execution.

[0089] Example 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 uses a monitoring and recording unit to monitor the operating status of the underwater detection device and automatic cleaning device in real time, promptly detecting faults and issuing warnings to ensure stable equipment operation. Furthermore, the operation interface provides intuitive underwater foreign object information and cleaning progress display, allowing operators to quickly understand system status, assist in optimizing decision-making, 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 (sudden signal fluctuation, signal disconnection, data outside the reasonable range, etc.), the device will trigger an early warning and transmit the fault information to the operation interface for display;

[0093] Working status monitoring of automatic processing devices: 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, the equipment warning is triggered and the fault information is transmitted to the operation interface for display.

[0094] This embodiment introduces a fault detection module to comprehensively monitor the underwater detection device and automatic processing device. By monitoring their operating status, response time, acquisition accuracy, and operating parameters, the system ensures stable operation at all times. If a fault occurs, the system issues a timely warning and displays fault information on the user interface, thereby improving system reliability and maintenance efficiency.

[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 object information and real-time underwater foreign object information to the local control terminal and automatic processing device via wireless communication, ensuring real-time and accurate data transmission. The use of wireless communication simplifies sensor deployment, improves system flexibility and scalability, and reduces the complexity and maintenance costs of cabling.

[0097] During the actual operation of the screw-type gate hoist, underwater foreign matter 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 become stuck or overloaded, thereby 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 matter 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 matter, and the cleaning efficiency of these methods is not high. Therefore, the present invention proposes an underwater foreign matter sensing and warning system for the gate of a screw-type gate hoist, which not only solves the timeliness and accuracy problems of underwater foreign matter monitoring and cleaning, but also provides auxiliary support for the management and development of smart waterways.

[0098] This system deploys a variety of underwater detection devices underwater, such as sonar and radar sensors, to monitor the underwater environment within the foreign object detection range in real time and detect underwater foreign objects efficiently and accurately. By accurately measuring the real-time perception speed, perception distance, shape, and position of underwater foreign objects, the system can accurately assess the threat factor of underwater foreign objects to the screw-type gate hoist, calculate the threat level in real time, and trigger an early warning in a timely manner based on the preset dynamic threshold. The system will transmit the early warning signal to the linkage processing end and, depending on the threat level, prioritize the activation of the automatic processing device to promptly remove underwater foreign objects. The cleaning device is linked to the underwater detection device to provide real-time feedback on the cleaning progress and status, ensuring that the cleaning work continues to follow up until the foreign objects are completely removed.

[0099] Furthermore, the system's fault detection module monitors the operating status of sensors and cleaning devices in real time, ensuring the equipment remains in working order. In the event of a malfunction, the system automatically triggers an alarm and transmits the fault information to the operator interface, enabling prompt repairs and minimizing the impact on equipment operation.

[0100] In summary, the implementation of this system not only improves the efficiency and accuracy of underwater foreign object monitoring and removal, but also reduces the risks of manual operation through intelligent operation and real-time feedback, thereby enhancing the system's automation and intelligence. This provides a strong guarantee for the safe operation of water facilities such as reservoirs, rivers, and ports, extends the service life of screw-type gate hoists, and ensures the long-term stable operation of water facilities.

[0101] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. The underwater foreign body sensing and warning system for screw-type gate hoist is characterized by: include: Radio wave sensing equipment deployment unit: defines the foreign object detection range of the screw-type gate hoist and deploys 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 acquisition unit: performs real-time detection of the foreign object detection range through the underwater detection device, collects underwater foreign object information composed of the sensing speed detected by underwater static pressure changes, the sensing distance determined by sonar signals, and the sensing form detected by radar waves; and locates the underwater foreign object using the sonar and radar sensors in the radio wave sensing device; Data analysis and early warning unit: The local control terminal performs real-time analysis on the underwater foreign object information and uses a threat factor model to evaluate the operational threat factor of the underwater foreign object 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 and sends the early warning information including the threat level and the underwater foreign object information to the linkage processing terminal. The threat factor model is defined as follows: ； in, To run the threat factor, The size of underwater foreign objects obtained based on the perceived form; To perceive distance, To perceive speed, The water flow velocity within the foreign body detection range; 、 、 and are the dynamic influence weights of underwater foreign object size, sensing distance, sensing speed and water flow speed respectively; Processing device linkage and cleaning unit: the linkage processing end receives the warning signal and analyzes the warning information; based on the analysis results 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 sensing 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 hoist gate 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 the underwater foreign object according to the activation priority.

3. The underwater foreign body sensing and warning system for the screw-type hoist gate 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 status and the cleaning progress, and feeds back to the automatic processing device; The feedback is performed until the cleaning status and the cleaning progress meet the settings.

4. The underwater foreign body sensing and warning system for the screw-type hoist gate according to claim 3 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.

5. 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.

6. The underwater foreign body sensing and warning system for the screw-type hoist gate according to claim 5 is characterized in that: The steps of the fault detection module monitoring the underwater detection device and the automatic processing 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 for display; 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 device warning and transmit the fault information to the operation interface for display.

7. The underwater foreign body sensing and warning system for the screw-type hoist gate 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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