Arrangement method of steel fishway structure capable of automatically pulling, stretching and retracting along with change of water level

Abstract

The invention provides an arrangement method of a steel fishway structure capable of automatically pulling and stretching along with water level changes. The arrangement method comprises the steps that the water level difference of an inlet and an outlet of a fishway is monitored in real time; the buoyancy driving assembly is triggered according to the water level difference to drive the steel fishway subsections to move along the rails; calculating the telescopic length based on the water level difference and the fishway base length to ensure that the gradient is within the design range; the track motor is controlled to adjust the cable-stayed angles and gaps of the fishway sections; the gradient error is corrected in real time through the tilt angle sensor; the distribution density and the opening-closing angle of the guide plates are dynamically adjusted according to the flow speed and the water depth, and vortex is inhibited; the water temperature change is monitored, the thermal deformation compensation amount is calculated, and deformation is absorbed through the elastic sealing assembly. The fish passing rate can be increased, the adaptability and stability of the structure are enhanced, and the device is suitable for complex hydrological environments.

Description

Technical Field

[0001] The present invention relates to the technical field of water conservancy projects. More specifically, the present invention relates to a method for arranging a steel fishway structure that automatically obliquely pulls and expands with the change of water level. Background Art

[0002] Fish migration is an important link in maintaining the balance of the river ecosystem. As a key facility to help fish overcome water level differences and obstacles, the rationality of the fishway design directly affects the passing efficiency of fish. When facing water level changes, the traditional fixed fishway structure often cannot dynamically adjust the slope, resulting in difficulties for fish to pass. Especially during the flood season or the dry season when the water level difference fluctuates greatly, the applicability of the fishway is significantly reduced. In the prior art, some fishways adopt mechanical adjustment devices, but their structures are complex, the maintenance cost is high, and it is difficult to achieve real-time precise control. In addition, the flow velocity distribution inside the fishway is uneven, and eddies are easily generated, affecting the passing experience of fish.

[0003] In the process of implementing the embodiments of the present invention, the inventors found that there are at least the following problems or defects in the prior art: the traditional fishway cannot adapt to the dynamic change of water level, resulting in an unstable slope; the existing adjustment devices are complex and difficult to precisely control; the flow velocity distribution inside the fishway is uneven, and the eddy phenomenon is serious, affecting the passing efficiency of fish. Summary of the Invention

[0004] The present invention provides a method for arranging a steel fishway structure that automatically obliquely pulls and expands with the change of water level, including:

[0005] S1. Real-time water level difference monitoring: High-precision water level sensors are respectively arranged at the entrance and exit of the fishway to synchronously collect the upstream water level and the downstream water level, and the real-time water level difference is calculated based on the upstream water level and the downstream water level;

[0006] S2. Response of the buoyancy drive assembly: According to the real-time water level difference, trigger the lifting action of the float in the buoyancy drive assembly, generate a driving force through the change of the submerged volume of the float, and drive the segmented steel fishway to move along the preset track;

[0007] S3. Dynamic calculation of the telescopic length: Based on the real-time water level difference and the length of the fishway base, calculate the required telescopic length of the main body of the steel fishway through the slope constraint equation to ensure that the overall slope of the fishway is maintained within the designed threshold range;

[0008] S4. Track telescopic linkage control: According to the telescopic length and the maximum allowable inclination angle of the hinge points of the fishway segments, control the rotation speed and direction of the track motor, and synchronously adjust the oblique pull angle and the gap expansion amount of the adjacent steel fishway segments;

[0009] S5. Closed-loop feedback correction of slope: The actual slope of the fishway slope is measured in real time by an inclination sensor. If the absolute value of the difference between the actual slope and the target slope is greater than the preset allowable deviation value, the torque output of the track motor is dynamically adjusted until the slope error is eliminated;

[0010] S6. Coordinated adjustment of turbulence suppression structure: According to the real-time flow velocity and water depth, the distribution density and opening angle of the guide vanes are dynamically adjusted on the inner wall of the fishway to suppress the flow velocity fluctuation and form a laminar transition zone;

[0011] S7. Compensation control of environmental parameters: The change of water temperature is monitored by a water temperature sensor. Combining with the thermal expansion coefficient of steel, the thermal deformation compensation amount of the steel fishway section is calculated, and the deformation amount is absorbed by the elastic sealing component.

[0012] As a further improvement of the present application, the calculation of the driving force of the buoyancy driving component in step S2 includes:

[0013] The buoyancy driving force is calculated by the following formula:

[0014] ΔF = ρ·g·ΔH·V f

[0015] Where, ΔH is the real-time water level difference, ρ is the water density, g is the acceleration of gravity, and V f is the effective submerged volume of the buoy.

[0016] As a further improvement of the present application, the calculation of the slope constraint equation in step S3 includes:

[0017] The telescopic length is determined by the following formula:

[0018] L = C·(ΔH / (S0·C) - 1)

[0019] Where, C is the length of the fishway base, ΔH is the real-time water level difference, and S0 is the designed reference slope.

[0020] As a further improvement of the present application, the control of the stay angle in step S4 includes:

[0021] The stay angle is calculated by the following formula:

[0022]

[0023] Where, ΔL is the gap expansion amount, is the installation angle between the track plane and the horizontal plane, and l is the length of a single-section steel fishway.

[0024] As a further improvement of the present application, the adjustment of the guide vane distribution density in step S6 includes:

[0025] The guide vane spacing is determined by the following formula:

[0026] d = η·D·(V0 / V)^(1 / 3)

[0027] Wherein, η is the diversion efficiency coefficient, D is the current water depth, V0 is the suitable flow velocity for fish to pass through, V is the real-time flow velocity, and d is the distance between the guide plates.

[0028] As a further improvement of the present application, the calculation of the thermal deformation compensation amount in step S7 includes:

[0029] The thermal deformation amount is determined by the following formula:

[0030] Δx = ε·L·ΔT

[0031] Wherein, ε is the thermal expansion coefficient of the steel, L is the total telescopic length of the steel fishway, and ΔT is the water temperature change amount.

[0032] As a further improvement of the present application, the slope closed-loop feedback correction in step S5 includes:

[0033] The torque correction amount is generated by the following formula:

[0034] ΔTq = K p ·e(t) + K i ·∫e(t)dt + K d ·de(t) / dt

[0035] Wherein, e(t) is the difference between the actual slope and the target slope, and K p 、K i 、K d : Control coefficients dynamically adjusted according to the water level change rate, and ΔTq is the torque correction amount

[0036] As a further improvement of the present application, the calibration of the immersed volume V f of the floating drum includes:

[0037] The volume is calculated by the immersed depth h of the floating drum, and the formula is:

[0038] V f = ∫0 h A(h)dh

[0039] Wherein, A(h) is the cross-sectional area function of the floating drum at the immersed depth h, and h is the immersed depth of the floating drum.

[0040] As a further improvement of the present application, the control of the opening and closing angle of the guide plate includes:

[0041] The opening and closing angle is determined by the following formula:

[0042] β = 15°·ln(V / V0) + 5°

[0043] Among them, V is the real-time flow velocity, and V0 is the suitable flow velocity for fish.

[0044] As a further improvement of this application, the determination of the design threshold S0 includes:

[0045] Based on the target fish migration experiment data, the maximum slope corresponding to a fish passing rate of not less than 90% is selected as S0, and the value range of S0 is from 0.08 to 0.15.

[0046] According to the above embodiments of the present invention, it has at least the following beneficial effects: By real-time monitoring the water level difference and dynamically adjusting the telescopic length and inclined pulling angle of the steel fishway, the present invention can effectively ensure that the fishway slope is always maintained within the range suitable for fish passage, avoiding the problem of unstable slope caused by water level fluctuations. At the same time, through the linkage control of the buoyancy drive component and the track motor, precise adjustment of the fishway segments can be achieved, improving the adaptive ability of the structure, and reducing manual intervention and operation and maintenance costs.

[0047] In addition, by dynamically adjusting the distribution density and opening and closing angle of the guide plates, the present invention can effectively suppress the flow velocity fluctuations inside the fishway, form a stable laminar flow transition zone, and provide a smoother passage environment for fish. Combining water temperature monitoring and thermal deformation compensation mechanism can further reduce the deformation impact of steel caused by temperature changes, ensuring the long-term stability and reliability of the fishway structure, and being applicable to complex and changeable hydrological environments. Description of the Drawings

[0048] By reading the following detailed description with reference to the drawings, the above and other purposes, features, and advantages of the exemplary embodiments of the present invention will become easily understood. In the drawings, several embodiments of the present invention are shown in an exemplary rather than restrictive manner, wherein:

[0049] Figure 1 It is a flow schematic diagram of the method for arranging the structure of a steel fishway with automatic inclined pulling and telescoping according to the water level change provided by an embodiment of the present invention. Detailed Embodiments

[0050] The principles and spirits of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are given only to enable those skilled in the art to better understand and then implement the present invention, rather than limiting the scope of the present invention in any way. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to be able to convey the scope of the present invention fully to those skilled in the art.

[0051] Those skilled in the art know that the embodiments of the present invention can be implemented as a system, a device, equipment, a method, or a computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: completely hardware, completely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0052] It should be noted that any number of elements in the drawings is for illustration rather than limitation, and any naming is only for distinction and does not have any limiting meaning.

[0053] It should be noted that the fishway structure of this application includes the following parts:

[0054] Segmented steel fishway main body: composed of multiple prefabricated steel troughs hinged together, each trough is 5 - 8 m in length, 2 - 3 m in width, 1.2 - 1.5 m in sidewall height, and has anti-slip patterns at the bottom;

[0055] Buoyancy - driven component: a group of floating cylinders installed on both sides of the fishway, the floating cylinders are made of sealed stainless steel, 0.8 - 1.2 m in diameter, 2 - 3 m in height, and are connected to the fishway segments through a linkage mechanism;

[0056] Track telescoping mechanism: a linear guide rail system laid along the fishway base, the guide rail spacing matches the trough width, and the driving motor uses a waterproof servo motor (such as Siemens 1FL6 series or equivalent performance models);

[0057] Turbulence - suppressing guide plate: an adjustable guide plate group on the inner wall, with a plate thickness of 6 - 10 mm and an opening ratio of 30% - 50% on the plate surface, and the opening and closing angle can be adjusted through an electric push rod (such as Festo ADN series);

[0058] Multi - layer elastic gasket at the segmented connection: made of EPDM rubber, with a compression ratio of 10% - 15% and a temperature resistance range of - 30°C to 80°C.

[0059] This structure can be adapted to common fishway models on the market in the following ways:

[0060] Floating cylinder component: can be replaced with a standard floating box for hydraulic engineering (such as a rectangular floating box with the specification of GB / T13657 - 2021), and it is required to meet the buoyancy calculation formula ΔF≥1.5G (G is the self - weight of the fishway segment);

[0061] Track system: compatible with linear guide rail models THK SR series or HIWIN HGW series, and the installation inclination angle of the guide rail needs to meet (S o is the designed slope);

[0062] Flow deflector: A diamond-shaped flow deflector commonly used in hydraulic engineering can be adopted (such as the recommended type in the "Code for Design of Hydraulic Structures" SL 191-2008), and the opening and closing angle β needs to be adapted to the flow velocity feedback signal;

[0063] Control unit: Supports a PLC controller (such as Siemens S7-1200) or an IoT embedded controller (such as the Huawei OceanConnect platform).

[0064] The following refers to Figure 1 , Figure 1 which is a schematic flowchart of the layout method of a steel fishway structure that automatically tilts and stretches with the water level change provided by an embodiment of the present invention. As Figure 1 shown, a layout method 100 of a steel fishway structure that automatically tilts and stretches with the water level change includes:

[0065] S1. Real-time water level difference monitoring: High-precision water level sensors are respectively arranged at the inlet and outlet of the fishway to synchronously collect the upstream water level and the downstream water level, and the real-time water level difference is calculated based on the upstream water level and the downstream water level;

[0066] S2. Buoyancy drive component response: According to the real-time water level difference, trigger the lifting action of the float in the buoyancy drive component, generate a driving force through the change in the submerged volume of the float, and drive the steel fishway segments to move along the preset track;

[0067] S3. Dynamic calculation of the telescopic length: Based on the real-time water level difference and the length of the fishway base, calculate the required telescopic length of the main body of the steel fishway through the slope constraint equation to ensure that the overall slope of the fishway remains within the design threshold range;

[0068] S4. Track telescopic linkage control: According to the telescopic length and the maximum allowable inclination angle of the hinge points of the fishway segments, control the rotation speed and direction of the track motor, and synchronously adjust the tilting angle and the gap expansion amount of the adjacent steel fishway segments;

[0069] S5. Slope closed-loop feedback correction: The actual slope of the fishway slope is measured in real time through an inclination sensor. If the absolute value of the difference between the actual slope and the target slope is greater than the preset allowable deviation value, the torque output of the track motor is dynamically adjusted until the slope error is eliminated;

[0070] S6. Turbulence suppression structure collaborative adjustment: According to the real-time flow velocity and water depth, dynamically adjust the distribution density and opening and closing angle of the flow deflectors on the inner wall of the fishway to suppress the flow velocity fluctuation and form a laminar flow transition zone;

[0071] S7. Environmental parameter compensation control: Monitor the change in water temperature of the water body through a water temperature sensor, calculate the thermal deformation compensation amount of the steel fishway segments in combination with the thermal expansion coefficient of the steel, and absorb the deformation amount through the elastic sealing component.

[0072] It should be noted that the real-time water level difference monitoring is achieved by deploying high-precision water level sensors at the entrance and exit of the fishway respectively. The high-precision water level sensors can synchronously collect the data of the upstream water level and the downstream water level, and calculate the real-time water level difference based on these data. The real-time water level difference refers to the height difference between the upstream water level and the downstream water level, which is a key parameter for adjusting the slope of the fishway. By monitoring the water level difference in real time, accurate data support can be provided for the subsequent buoyancy drive components and slope adjustment.

[0073] Specifically, the high-precision water level sensors can adopt ultrasonic water level gauges or pressure water level gauges, and their measurement accuracy can reach the millimeter level to ensure the accuracy of the water level difference data. The acquisition frequency of the upstream water level and the downstream water level can be set according to actual needs, such as once per second or once per minute, to meet the real-time requirements in different scenarios. The calculation of the real-time water level difference can be achieved through simple subtraction operations, but in order to reduce errors, the data collected multiple times is usually filtered, such as using the moving average method or the Kalman filtering algorithm.

[0074] Preferably, the response of the buoyancy drive component can be automatically triggered according to the real-time water level difference. The buoyancy drive component includes a floating cylinder and a driving device. The lifting action of the floating cylinder can generate a driving force through the change of the immersed volume, so as to drive the segmented steel fishway to move along the preset track. In order to ensure the smooth and reliable lifting action of the floating cylinder, a buffer mechanism, such as a spring or a hydraulic damper, can be set between the floating cylinder and the driving device. In addition, the immersed volume of the floating cylinder can be calculated based on the geometric shape and the immersion depth of the floating cylinder to ensure that the driving force is proportional to the change of the water level difference.

[0075] In some embodiments, the calculation of the driving force of the buoyancy drive component in step S2 includes:

[0076] The buoyancy driving force is calculated by the following formula:

[0077] ΔF = ρ·g·ΔH·V f

[0078] where, ΔH: real-time water level difference, ρ: water density, g: acceleration due to gravity, V f : effective immersed volume of the floating cylinder.

[0079] It should be noted that the calculation of the driving force of the buoyancy drive component is determined based on the real-time water level difference, water density, acceleration due to gravity, and the effective immersed volume of the floating cylinder. The buoyancy driving force refers to the force generated by the change of the buoyancy received by the floating cylinder in water, which is the key power source for driving the segmented movement of the steel fishway. By calculating the buoyancy driving force, it can be ensured that the segmented fishway can adjust its position smoothly and accurately when the water level changes, so as to maintain the slope of the fishway within the designed range.

[0080] Specifically, the effective submerged volume of the buoy refers to the volume of the actual submerged part of the buoy in water, which is closely related to the geometric shape and submerged depth of the buoy. The water density and gravitational acceleration are constants, representing the density of water and the gravitational acceleration of the earth respectively, and usually take the values of 1000 kg / m³ and 9.8 m / s². The real-time water level difference refers to the height difference between the upstream water level and the downstream water level, which is the core variable for calculating the buoyancy driving force. To ensure the accuracy of the calculation, the submerged volume of the buoy can be calculated by integrating the cross-sectional area function of the buoy and the submerged depth.

[0081] Preferably, the submerged depth of the buoy can be monitored in real time by a high-precision water level sensor, and the submerged volume can be dynamically calculated in combination with the geometric shape of the buoy. To ensure the smooth output of the buoyancy driving force, a feedback control mechanism can be set between the buoy and the driving device, for example, the force on the buoy can be monitored in real time by a pressure sensor, and the working state of the driving device can be adjusted according to the force change. In addition, the geometric shape of the buoy can be designed as a cylinder or a cone to optimize the distribution of buoyancy and the driving effect.

[0082] In some embodiments, the calculation of the slope constraint equation in step S3 includes:

[0083] The telescopic length is determined by the following formula:

[0084] L = C·(ΔH / (S0·C) - 1)

[0085] Where, C: the length of the fishway base, ΔH: the real-time water level difference, S0: the design reference slope. When ΔH exceeds the critical value corresponding to 0.5 times the design reference slope, L is forced to be no more than 0.7C.

[0086] It should be noted that the slope constraint equation is used to calculate the telescopic length required for the main body of the steel fishway to ensure that the overall slope of the fishway is maintained within the design threshold range. The slope constraint equation is determined based on the real-time water level difference, the length of the fishway base, and the design reference slope. The real-time water level difference refers to the height difference between the upstream water level and the downstream water level, the length of the fishway base refers to the basic length of the fishway in the horizontal direction, and the design reference slope refers to the maximum slope that fish can pass through smoothly. Through the slope constraint equation, the telescopic length of the fishway can be dynamically adjusted to ensure that the slope is always within the range suitable for fish to pass through.

[0087] Specifically, the length of the fishway base can be set according to the actual terrain and the design requirements of the fishway, usually ranging from dozens of meters to hundreds of meters. The design reference slope is determined through experimental data, and usually takes a value range of 0.08 to 0.15 to ensure that the fish passing rate is not less than 90%. The change of the real-time water level difference will directly affect the telescopic length of the fishway. When the water level difference exceeds the critical value corresponding to the design reference slope, the telescopic length will be forcibly limited within 0.7 times the length of the fishway base to prevent too large a slope from affecting the passage of fish.

[0088] Preferably, the calculation of the slope constraint equation can be realized by an automatic control system. The system will automatically calculate the required telescopic length according to the real-time water level difference and the length of the fishway base, and control the track motor for adjustment. To ensure the accuracy of the adjustment, inclination sensors can be set between the fishway segments to monitor the actual slope of the fishway in real time, compare it with the target slope, and dynamically adjust the rotation speed and direction of the track motor. In addition, the value of the design reference slope can be adjusted according to the migration ability of different fish species to meet the ecological needs of different waters.

[0089] In some embodiments, the control of the stay angle in step S4 includes:

[0090] The stay angle is calculated by the following formula:

[0091]

[0092] where, ΔL: gap expansion amount, the installation angle between the track plane and the horizontal plane, l: the length of a single-section steel fishway, and the stay angle θ does not exceed 35°.

[0093] It should be noted that the control of the stay angle is achieved by calculating the gap expansion amount, the installation angle between the track plane and the horizontal plane, and the length of a single-section steel fishway. The stay angle refers to the angle formed between the steel fishway segments and the horizontal plane during the adjustment process, and it is a key parameter to ensure the stability of the fishway slope. The gap expansion amount refers to the change amount of the gap between adjacent fishway segments. The installation angle between the track plane and the horizontal plane refers to the fixed angle between the track and the horizontal plane. The length of a single-section steel fishway refers to the standard length of each section of the fishway. By calculating the stay angle, it can be ensured that the fishway segments maintain a reasonable inclination state during the adjustment process, avoiding structural instability or difficult fish passage caused by too large an angle.

[0094] Specifically, the gap expansion amount can be dynamically calculated based on the real-time water level difference and the length of the fishway base, and is usually proportional to the water level difference. The installation angle between the track plane and the horizontal plane can be set according to the actual terrain and the design requirements of the fishway, usually between 10 degrees and 30 degrees. The length of a single-section steel fishway can be designed according to the total length of the fishway and the number of segments, usually between 5 meters and 10 meters. The calculation of the cable-stayed angle can be achieved through trigonometric function relationships to ensure that the angle does not exceed 35 degrees to avoid excessive inclination of the fishway segments.

[0095] Preferably, the adjustment of the cable-stayed angle can be achieved through the linkage control of the track motor and the inclination sensor. The track motor can automatically adjust the rotation speed and direction according to the calculated cable-stayed angle to ensure that the inclination state of the fishway segments is accurately controllable. To further improve the adjustment accuracy, a buffer device such as a hydraulic cylinder or a spring can be set between the fishway segments to absorb the impact force generated during the adjustment process. In addition, the calculation of the cable-stayed angle can be optimized according to the passing requirements of different fish species. For example, when large fish pass through, the angle can be appropriately reduced to ensure their smooth passage.

[0096] In some embodiments, the adjustment of the distribution density of the guide plates in step S6 includes:

[0097] The distance between the guide plates is determined by the following formula:

[0098] d = η·D·(V0 / V)(1 / 3)

[0099] where η is the diversion efficiency coefficient, D is the current water depth, V0 is the suitable passing velocity for fish, and V is the real-time velocity. When V exceeds 1.2V0, the distance between the guide plates is automatically adjusted to the minimum distance of 0.3D.

[0100] It should be noted that the adjustment of the distribution density of the guide plates is determined by the real-time velocity, water depth, suitable passing velocity for fish, and the diversion efficiency coefficient. The distribution density of the guide plates refers to the distance between the guide plates on the inner wall of the fishway, which directly affects the velocity distribution inside the fishway and the effect of vortex suppression. The real-time velocity refers to the actual velocity of the water flow in the fishway, the water depth refers to the depth of the water body in the fishway, the suitable passing velocity for fish refers to the maximum velocity at which fish can pass smoothly, and the diversion efficiency coefficient is a parameter reflecting the effect of the guide plates on velocity adjustment. By dynamically adjusting the distribution density of the guide plates, the velocity fluctuation can be effectively suppressed, a stable laminar flow transition zone can be formed, and the passing efficiency of fish can be improved.

[0101] Specifically, the real-time flow velocity can be monitored in real time by a flow velocity sensor, usually in meters per second. The water depth can be measured by a water level sensor and is usually related to the designed depth of the fishway. The suitable flow velocity for fish passage can be set according to the ecological habits of the target fish, usually between 0.5 m / s and 1.5 m / s. The diversion efficiency coefficient is an empirical value, usually between 0.8 and 1.2, which reflects the flow velocity regulation ability of the guide plate. When the real-time flow velocity exceeds 1.2 times the suitable flow velocity for fish passage, the distance between the guide plates will be automatically adjusted to the minimum distance, usually 0.3 times the current water depth, to ensure effective control of the flow velocity.

[0102] Preferably, the distribution density of the guide plates can be dynamically adjusted by an automated control system. The system will automatically calculate the distance between the guide plates based on the real-time flow velocity and water depth, and control the opening and closing angles of the guide plates. To further improve the effect of flow velocity regulation, adjustable vanes can be set on the guide plates to optimize the water flow distribution by changing the vane angles. In addition, the material of the guide plates can be selected as a corrosion-resistant and wear-resistant composite material to extend their service life. During the peak period of fish passage, the system can adjust the distribution density of the guide plates in advance according to historical data to ensure that the flow velocity inside the fishway is always within the suitable range.

[0103] In some embodiments, the calculation of the thermal deformation compensation amount in step S7 includes:

[0104] The thermal deformation amount is determined by the following formula:

[0105] Δx = ε·L·ΔT

[0106] Where, ε: coefficient of thermal expansion of steel, L: total expansion and contraction length of the steel fishway, ΔT: water temperature change amount, and the compression deformation rate of the elastic sealing component does not exceed 10%.

[0107] It should be noted that the calculation of the thermal deformation compensation amount is determined by the coefficient of thermal expansion of steel, the total expansion and contraction length of the steel fishway, and the water temperature change amount. The thermal deformation compensation amount refers to the length change amount of the steel fishway due to temperature change, and it is an important parameter to ensure the structural stability of the fishway. The coefficient of thermal expansion of steel refers to the expansion or contraction amount per unit length of steel when the temperature changes. The total expansion and contraction length of the steel fishway refers to the maximum length change range that the fishway may reach during the adjustment process. The water temperature change amount refers to the change range of the water body temperature. By calculating the thermal deformation compensation amount, the structure of the fishway can be dynamically adjusted to avoid deformation problems caused by temperature change.

[0108] Specifically, the coefficient of thermal expansion of steel is a fixed value, usually about 12 micrometers per meter per degree Celsius, indicating the amount of expansion per meter of the steel's length for every 1-degree Celsius increase in temperature. The total expansion length of the steel fishway can be set according to the designed length and adjustment range of the fishway, usually between several meters and dozens of meters. The change in water temperature can be monitored in real time by a water temperature sensor, usually in degrees Celsius. The calculation of the thermal deformation compensation amount can be achieved through a simple multiplication relationship, ensuring that the fishway can absorb the deformation amount through the elastic sealing component when the temperature changes, thus avoiding structural damage.

[0109] Preferably, the adjustment of the thermal deformation compensation amount can be achieved through an elastic sealing component. The elastic sealing component is usually made of rubber or polymer materials, having good elasticity and corrosion resistance, and can absorb the thermal deformation amount during the expansion and contraction of the fishway. To ensure the sealing effect, a multi-layer sealing structure can be set between the fishway segments, such as using bellows or elastic gaskets. In addition, the water temperature sensors can be evenly distributed at different positions of the fishway to accurately reflect the temperature change of the water body. Under extreme temperature conditions, the system can adjust the expansion and contraction length of the fishway in advance according to historical data to ensure the structural stability.

[0110] In some embodiments, the slope closed-loop feedback correction in step S5 includes:

[0111] The torque correction amount is generated by the following formula:

[0112] ΔTq = K p ·e(t) + K i ·∫e(t)dt + K d ·de(t) / dt

[0113] where, e(t): the difference between the actual slope and the target slope, K p , K i , K d : control coefficients dynamically adjusted according to the water level change rate.

[0114] It should be noted that the slope closed-loop feedback correction is achieved by measuring the actual slope of the fishway slope in real time, comparing it with the target slope, and dynamically adjusting the torque output of the track motor. The slope closed-loop feedback correction is an automatic control mechanism aimed at ensuring that the actual slope of the fishway always approaches the designed target slope. The actual slope refers to the current inclination angle of the fishway slope, the target slope refers to the ideal slope required by the design, and the torque output of the track motor refers to the rotational force generated by the motor, which is used to adjust the position and angle of the fishway segments. Through the closed-loop feedback correction, the slope error can be eliminated in real time, ensuring the slope stability of the fishway and the fish passage efficiency.

[0115] Specifically, the actual slope can be measured in real time by an inclination sensor, which is usually installed at key positions of fishway segments and can accurately measure the inclination angle of the slope surface. The target slope is determined based on experimental data of fish passage, usually between 0.08 and 0.15, to ensure that the fish passage rate is not less than 90%. The torque output of the track motor can be achieved through the adjustment of the control system, and the system will dynamically adjust the motor speed and steering according to the difference between the actual slope and the target slope. The control coefficients include the proportional coefficient, integral coefficient, and differential coefficient, which are used to adjust the response speed, stability, and anti-interference ability of the system respectively.

[0116] Preferably, the slope closed-loop feedback correction can be achieved through an automated control system. The system will dynamically adjust the torque output of the track motor according to the real-time data of the inclination sensor and in combination with the control coefficients to ensure that the slope error is quickly eliminated. To further improve the control accuracy, multiple inclination sensors can be set between fishway segments to reduce errors through multi-point measurement. In addition, the control coefficients can be dynamically adjusted according to the water level change rate. For example, the proportional coefficient can be increased when the water level changes rapidly to improve the response speed of the system. In extreme cases, the system can activate a backup control mode, such as manual adjustment or preset slope mode, to ensure the normal operation of the fishway.

[0117] In some embodiments, the calibration of the submerged volume V of the buoy f includes:

[0118] Calculating the volume through the submerged depth h of the buoy, and the formula is:

[0119] V f = ∫0 h A(h)dh

[0120] where A(h): the cross-sectional area function of the buoy at the submerged depth h, and h: the submerged depth of the buoy.

[0121] It should be noted that the calibration of the submerged volume of the buoy is determined by the submerged depth of the buoy and the cross-sectional area function of the buoy at the submerged depth. The submerged volume of the buoy refers to the volume occupied by the submerged part of the buoy in water, and it is a key parameter for calculating the buoyancy driving force. The submerged depth of the buoy refers to the height of the buoy submerged in water, and the cross-sectional area function refers to the relationship of the cross-sectional area change of the buoy at different submerged depths. By calibrating the submerged volume of the buoy, the buoyancy driving force can be accurately calculated to ensure the smooth and reliable lifting action of the buoy.

[0122] Specifically, the immersion depth of the buoy can be monitored in real time by a high-precision water level sensor, usually in meters. The cross-sectional area function can be determined according to the geometry of the buoy. For example, the cross-sectional area of a cylindrical buoy is constant at different immersion depths, while the cross-sectional area of a conical buoy changes with the increase of the immersion depth. The calculation of the immersed volume of the buoy can be achieved by integrating the cross-sectional area function within the immersion depth range to ensure the accuracy of the volume calculation. To simplify the calculation, the geometry of the buoy can be approximated as a regular geometric body, such as a cylinder or a cone.

[0123] Preferably, the calibration of the immersed volume of the buoy can be achieved by an automated measurement system. The system automatically calculates the immersed volume according to the geometry of the buoy and the real-time immersion depth, and generates buoyancy driving force data. To further improve the calibration accuracy, multiple water level sensors can be set on the buoy to reduce errors by multi-point measurement. In addition, the geometry of the buoy can be optimized according to actual needs, such as adopting a streamlined design to reduce the resistance of the water flow. Under extreme water level change conditions, the system can activate a backup calibration mode, such as using a preset buoy volume curve for calculation, to ensure the accurate output of the buoyancy driving force.

[0124] In some embodiments, the control of the opening and closing angle of the guide vane includes:

[0125] The opening and closing angle is determined by the following formula:

[0126] β = 15°·ln(V / V0) + 5°

[0127] where, V: the real-time flow velocity, V0: the suitable flow velocity for fish, and β is limited within the range of 10° to 45°.

[0128] It should be noted that the control of the opening and closing angle of the guide vane is determined by the logarithmic relationship between the real-time flow velocity and the suitable flow velocity for fish. The opening and closing angle of the guide vane refers to the inclination angle of the guide vane relative to the water flow, which directly affects the flow velocity distribution and vortex suppression effect inside the fishway. The real-time flow velocity refers to the actual velocity of the water flow in the fishway, and the suitable flow velocity for fish refers to the maximum flow velocity at which fish can pass smoothly. By calculating the opening and closing angle through the logarithmic relationship, it can be ensured that the guide vane automatically adjusts under different flow velocity conditions to form a stable laminar flow transition zone and improve the passing efficiency of fish.

[0129] Specifically, the real-time flow velocity can be monitored in real time by a flow velocity sensor, usually in meters per second. The suitable flow velocity for fish can be set according to the ecological habits of the target fish, usually between 0.5 meters per second and 1.5 meters per second. The calculation of the opening and closing angle of the guide vane is based on the ratio of the real-time flow velocity to the suitable flow velocity for fish, and the angle change is determined through a logarithmic relationship. The range of the opening and closing angle is usually limited between 10 degrees and 45 degrees to ensure that the guide vane can effectively regulate the water flow under different flow velocity conditions without hindering the passage of fish.

[0130] Preferably, the adjustment of the opening and closing angle of the guide vane can be achieved through an automated control system. The system will automatically calculate the opening and closing angle according to the ratio of the real-time flow velocity to the suitable flow velocity for fish and control the driving device of the guide vane for adjustment. To further improve the adjustment accuracy, an angle sensor can be set on the guide vane to monitor the actual opening and closing angle of the guide vane in real time and compare it with the target angle to dynamically adjust the working state of the driving device. In addition, the driving device of the guide vane can use a stepper motor or a servo motor to ensure the accuracy and stability of the angle adjustment. During the peak period of fish passage, the system can adjust the opening and closing angle of the guide vane in advance according to historical data to ensure that the flow velocity inside the fishway is always within the suitable range.

[0131] In some embodiments, the determination of the design threshold S0 includes:

[0132] Based on the target fish migration experiment data, the maximum slope corresponding to a fish passing rate of not less than 90% is selected as S0, and the value range of S0 is 0.08 to 0.15.

[0133] It should be noted that the determination of the design threshold is based on the target fish migration experiment data, and the maximum slope corresponding to a fish passing rate of not less than 90% is selected as the design reference slope. The design threshold refers to the maximum allowable value of the fishway slope, which is a key parameter to ensure that fish can pass through the fishway smoothly. The target fish migration experiment data refers to the passing rate data of fish under different slope conditions obtained through experiments, and the design reference slope refers to the maximum slope value when the fish passing rate reaches 90%. By determining the design threshold, the slope of the fishway can be ensured to be within the design range, improving the passing efficiency of fish.

[0134] Specifically, the target fish migration experiment data can be obtained through laboratory or field experiments. The experiment usually includes the test of the fish passing rate under different slope conditions. The value range of the design reference slope is usually 0.08 to 0.15, and this range is determined according to the migration ability of most fish. The determination of the design threshold needs to comprehensively consider the ecological habits of the target fish and the actual application environment of the fishway. For example, when passing large fish, the design threshold can be appropriately reduced to ensure their smooth passage.

[0135] Preferably, the determination of the design threshold can be achieved through an automated data analysis system. The system will automatically calculate the design reference slope based on the migration experiment data of the target fish species and generate design threshold suggestions. To further improve the accuracy of the design, multiple experiments can be conducted under different water conditions to obtain more representative data. In addition, the determination of the design threshold can be dynamically adjusted according to different seasons and hydrological conditions. For example, the design threshold can be appropriately increased during the flood season to cope with the challenges brought by water level changes. In extreme cases, the system can activate a backup design mode, such as using a preset design threshold curve for calculation, to ensure the normal operation of the fishway.

[0136] The above-mentioned embodiments of the present invention have the following beneficial effects: Through real-time water level difference monitoring and the response of the buoyancy drive component, the telescopic length and cable-stayed angle of the steel fishway can be automatically adjusted according to the water level change, ensuring that the fishway slope is always maintained within the range suitable for fish to pass through and avoiding the problem of unstable slope caused by water level fluctuations. Through slope closed-loop feedback correction and track telescopic linkage control, the inclination angle and gap of the fishway segments can be accurately adjusted, improving the adaptive ability and stability of the structure, and reducing manual intervention and operation and maintenance costs.

[0137] In addition, by dynamically adjusting the distribution density and opening and closing angles of the guide plates, the flow velocity fluctuations inside the fishway can be effectively suppressed, forming a stable laminar flow transition zone and providing a smoother passage environment for fish. Combining water temperature monitoring and thermal deformation compensation mechanisms can further reduce the deformation impact of steel caused by temperature changes, ensuring the long-term stability and reliability of the fishway structure and being applicable to complex and changeable hydrological environments. Through the precise calculation of the immersion volume of the floating barrels and the optimized control of the opening and closing angles of the guide plates, the operation efficiency and fish passing rate of the fishway can be further improved.

[0138] Furthermore, the storage medium of the implementation mode of the present application stores program instructions capable of implementing all the above methods. Among them, the program instructions can be stored in the above storage medium in the form of a software product, including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in various implementation modes of the present application. And the aforementioned storage medium includes: various media that can store program codes such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs, or terminal devices such as computers, servers, mobile phones, and tablets.

[0139] The above description is only some preferred embodiments of the present invention and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present invention is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the embodiments of the present invention.

Claims

1. A layout method for a steel fishway structure that automatically inclines and stretches with water level changes, characterized in that, It includes the following steps: S1. Real-time water level difference monitoring: High-precision water level sensors are respectively arranged at the entrance and exit of the fishway to synchronously collect the upstream water level and the downstream water level, and calculate the real-time water level difference based on the upstream water level and the downstream water level; S2. Buoyancy-driven component response: Trigger the lifting action of the buoy in the buoyancy-driven component according to the real-time water level difference, generate a driving force through the change of the immersed volume of the buoy, and drive the segmented steel fishway to move along the preset track; S3. Dynamic calculation of the telescopic length: Based on the real-time water level difference and the length of the fishway base, calculate the required telescopic length of the main body of the steel fishway through the slope constraint equation to ensure that the overall slope of the fishway is maintained within the design threshold range; S4. Track telescopic linkage control: According to the telescopic length and the maximum allowable inclination angle of the articulated point of the fishway segments, control the rotation speed and direction of the track motor, and synchronously adjust the stay cable angle and the gap expansion amount between adjacent steel fishway segments; S5. Slope closed-loop feedback correction: The actual slope of the fishway slope is measured in real time through an inclination sensor. If the absolute value of the difference between the actual slope and the target slope is greater than the preset allowable deviation value, dynamically adjust the torque output of the track motor until the slope error is eliminated; S6. Coordinated adjustment of the turbulence suppression structure: According to the real-time flow velocity and water depth, dynamically adjust the distribution density and opening and closing angles of the guide vanes on the inner wall of the fishway to suppress the flow velocity fluctuation and form a laminar transition zone; S7. Environmental parameter compensation control: Monitor the change of the water temperature through a water temperature sensor, calculate the thermal deformation compensation amount of the segmented steel fishway in combination with the thermal expansion coefficient of the steel, and absorb the deformation amount through the elastic sealing component.

2. The method according to claim 1, wherein The driving force calculation of the buoyancy-driven component in step S2 includes: The buoyancy driving force is calculated by the following formula: ΔF = ρ·g·ΔH·V f where ΔH is the real-time water level difference, ρ is the water density, g is the acceleration due to gravity, and V f is the effective submerged volume of the buoy.

3. The method according to claim 1, wherein The calculation of the slope constraint equation in step S3 includes: The telescopic length is determined by the following formula: L = C·(ΔH / (S0·C) - 1) Where, C is the length of the fishway base, ΔH is the real-time water level difference, and S0 is the design reference slope.

4. The method according to claim 1, wherein The control of the stay cable angle in step S4 includes: The stay cable angle is calculated by the following formula: where ΔL is the gap expansion amount, is the installation angle between the track plane and the horizontal plane, and l is the length of a single-section steel fishway.

5. The method according to claim 1, wherein The adjustment of the distribution density of the guide vanes in step S6 includes: The distance between the guide vanes is determined by the following formula: d = η·D·(V0 / V)^(1 / 3) Where, η is the diversion efficiency coefficient, D is the current water depth, V0 is the suitable flow velocity for fish to pass through, V is the real-time flow velocity, and d is the distance between the guide vanes.

6. The method according to claim 1, characterized in that, The calculation of the thermal deformation compensation amount in step S7 includes: The thermal deformation amount is determined by the following formula: Δx = ε·L·ΔT Where, ε is the thermal expansion coefficient of the steel, L is the total telescopic length of the steel fishway, and ΔT is the change in water temperature.

7. The method according to claim 1, wherein The slope closed-loop feedback correction in step S5 includes: The torque correction amount is generated by the following formula: ΔTq = K p ·e(t) + K i ·∫e(t)dt + K d ·de(t) / dt Among them, e(t) is the difference between the actual slope and the target slope, K p , K i , K d : control coefficients dynamically adjusted according to the water level change rate, and ΔTq is the torque correction amount.

8. The method according to claim 2, wherein The immersed volume V of the buoy f Calibration includes: Calculate the volume through the immersion depth h of the buoy, and the formula is: V f = ∫0 h A(h) dh Where, A(h) is the cross-sectional area function of the buoy at the immersion depth h, and h is the immersion depth of the buoy.

9. The method according to claim 5, characterized in that The control of the opening and closing angle of the guide vane includes: The opening and closing angle is determined by the following formula: β = 15°·ln(V / V0) + 5° Where, V is the real-time flow velocity, and V0 is the suitable flow velocity for fish.

10. The method according to claim 1, characterized in that, The determination of the design threshold S0 includes: Based on the experimental data of the target fish migration, the maximum slope corresponding to a fish passing rate of not less than 90% is selected as S0, and the value range of S0 is from 0.08 to 0.15.

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