Automatic gate falling method and gate lifting method for inclined gate groove pull rod structure type gate of dam body of hydropower station

Abstract

The invention discloses an automatic gate falling method and a gate lifting method for a hydropower station dam body inclined gate groove pull rod structure type gate. During gate lifting, a user logs in and verifies to select an equipment number, hoisting equipment automatically drives to a designated position, a hoisting head sequentially completes actions such as falling, centering a pull rod / gate lug plate, penetrating a pin and lifting the pull rod / gate, and the moving track is intelligently adjusted according to the operation frequency; and finally, the gate is lifted and stored. The gate falling process is similar, equipment is selected firstly, the equipment is lifted to a target gate storage groove, and the lifting head, the gate and the pull rod complete operations such as butt joint, pin penetrating and falling step by step. In the whole process, the system monitors key data such as the position of a locking beam, the height and the weight of a hanging head, the traveling positions of a cart and a trolley of hoisting equipment and the like in real time, automatically judges and executes all the steps, and can recognize angle deviation and actively adjust by means of a camera when meeting complex centering conditions, so that the automation level and the operation safety of a lifting and falling door are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of the opening and closing of hydropower station gates, and particularly relates to an automatic gate lowering method and a gate lifting method for a gate with a pull rod structure type in an inclined gate slot of a hydropower station dam body. Background Art

[0002] For the intake part of the flood discharge building of the dam body of a high arch dam hydropower station, inspection gates are generally installed to facilitate the smooth progress of the routine inspection work of the subsequent flood discharge channel and the working arc gate. However, due to the design of the dam body structure type of the high arch dam, the inspection gate slot on the upstream side of the dam body cannot be set as a vertical structure type, and the gate slot can only be set at an inclined angle in the same direction as the upstream building of the dam body to ensure that the entire flow channel of the dam body is effectively blocked by the inspection gate, creating favorable conditions for the inspection of the subsequent dam flood discharge channel and the water storage and water retaining facilities, and ensuring that the dam flood discharge facilities can be effectively inspected, which is directly related to the safe operation of the hydropower station. At present, the lifting and lowering of such inclined gate slot gates are carried out by connecting the pull rods one by one. To cooperate with the opening and closing operation of the deep hole inspection gate, a gantry crane (lifting equipment) is configured on the dam top of the dam as the opening and closing equipment for operating the inspection gate. If the opening and closing operation of the inspection gate is required, professional driver personnel need to drive the lifting equipment to the position of the inspection gate to be opened and closed, and then through the command of a professional commander, the lifting and lowering work of the inspection gate is carried out. However, the process of implementing this work on site is relatively complex. Before lifting and lowering the gate, it is necessary to manually open the cover plate at the orifice part, set up a safety isolation fence around the orifice, and then operate the connection and disassembly of the gate pull rod on the middle platform of the orifice. At the same time, it is also necessary to perform the operation of putting in and withdrawing the locking beam according to the requirements of the pull rod lifting and lowering to cooperate with the disassembly and assembly of the pull rod, etc. In summary, the above process is very labor-consuming and material-consuming in practical work, and also very time-consuming (it takes 2 weeks to complete one lifting and lowering of the gate). With the continuous development of society, more and more equipment will move towards the trend of intelligent operation. For high arch dam hydropower stations, how to safely and efficiently complete the lifting and lowering operation of the gate with a pull rod structure type in the inclined gate slot and effectively implement the safety protection measures in the orifice area is a technical problem that needs to be solved urgently by those skilled in the art.

[0003] Therefore, researching how to efficiently, safely and automatically carry out the automatic lifting and lowering of the gate with a pull rod structure type in the inclined gate slot of the hydropower station dam body has good reference significance and great economic value for the operation mode of inspection gates under similar working conditions. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an automatic gate lowering method and a gate lifting method for a gate with a sloping gate slot tie rod structure of a hydropower station dam body, realizing the automatic identification and determination of the hoisting equipment, tie rods, gates and orifice auxiliary equipment by the control system, so as to achieve the remote operation of the gate with a sloping gate slot tie rod structure, realize the automatic operation of the hoisting equipment, effectively reduce the long-term work of operators in the orifice edge environment, and thus ensure the physical health of maintenance personnel.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is as follows: An automatic gate lowering method for a gate with a sloping gate slot tie rod structure of a hydropower station dam body, comprising the following steps: S1. Select the equipment number of the gate to be lowered; S2. The hoisting equipment travels from the parking position to the corresponding target gate storage slot and sends a "locking beam retraction" signal to the three-in-one device of the target gate storage slot, and the position is manually confirmed during this period; S3. After receiving the signal, the three-in-one device of the target gate storage slot retracts the locking beam to the gate unlocking position, and stops after the position is manually confirmed; S4. The hoisting equipment's trolley and crab respectively stop at the designated positions as determined by the system, and stop after the position is manually confirmed; S5. After the locking beam is in place, the lifting head descends and stops at the designated height, and the system automatically or manually confirms the centering situation between the lifting head and the gate lifting lug; S6. After the lifting head is centered, it enters the gate lifting lug and fits in place, and performs pin insertion after receiving the pin insertion signal, and the system and manual respectively confirm that the pin insertion is in place; S7. When the extraction signal is received and the locking beam condition is satisfied, the lifting head lifts the gate, stops at the hovering position and sends a locking beam input signal; S8. The three-in-one device receives the signal and inserts the locking beam, and then the system commands the lifting head to drive the gate to descend and stop at the placement position; S9. After receiving the pin removal signal, the lifting head removes the pin, and then when the lifting signal is received and the pin shaft condition is satisfied, the lifting head lifts and stops at the designated height; S10. The hoisting equipment travels towards the n# gate slot according to the instruction, and stops after the system or manual confirms reaching the position; S11. The lifting head completes centering, positioning, pin insertion, etc. with the n# gate slot tie rod, and then drives the tie rod to be connected, moved, locked and the pin removed in multiple links with the gate, and sequentially completes the hoisting and lengthening of each tie rod until the gate falls to the sill, and finally the hoisting equipment returns to its position and stops.

[0006] Specifically, the lifting head of the hoisting equipment drives the tie rod and travels towards the target gate storage slot, and stops after the system or manual confirms reaching the position; The drawbar and the gate hanger ear are aligned, positioned, pinned, and lifted to a specified height and then stopped; the lifting equipment travels towards the n# gate slot according to the instruction. After the system or manual confirmation of the arrival position, it stops; the lifting equipment completes the operations below the gate and the first drawbar, locks the drawbar, removes the pin between the hanger head and the drawbar, and lifts the hanger head to a specified height; the lifting equipment automatically hoists each drawbar except the n# gate slot to the n# gate slot position in sequence according to the instruction, and connects it to the drawbar in the n# gate slot in an orderly manner for lengthening. When the gate reaches the gate sill position, the gate lowering work is completed; the lifting equipment returns to its position and stops.

[0007] Preferably, the sub-step of S1 is: S1.1 User login: Enter the authentication information. After passing the verification, enter the operating system; S1.2 Confirm the operating equipment number on the remote operation panel or the mobile phone APP, select the equipment number n of the gate to be lowered and confirm the operation.

[0008] Preferably, the sub-steps of S2 are: S2.1 The lifting equipment travels from the parking position (X0, Y0) towards the target gate storage slot according to the instruction; S2.1.1 If the equipment number n# to be operated is for the No. 1-4 deep-hole emergency gates, the lifting equipment travels to the X01 position of the 01# gate storage slot; if it is for the No. 5-8 deep-hole emergency gates, it travels to the X02 position of the 02# gate storage slot; S2.1.2 Start the hydraulic oil pump of the trolley traveling mechanism, and drive the hydraulic cylinder to drive the trolley to travel in the Y1 direction towards the gate storage slot; Send a "lock beam retraction" signal to the three-in-one device of the target gate storage slot; S2.2 The backstage operation monitor confirms the position of the lifting equipment.

[0009] Preferably, the sub-steps of S3: S3.1 After the three-in-one device of the target gate storage slot receives the "lock beam retraction" signal, retract the lock beam to the gate unlocking position D1 / D2.

[0010] S3.2 After the backstage operation monitor confirms the position of the lock beam, stop the vehicle; Preferably, the sub-steps of S4: S4.1 When the lifting equipment's trolley travels to the X01 / X02 position of the target gate storage slot, the trolley stops; S4.2 When the lifting equipment's trolley travels to the Y2 position of the target gate storage slot, the trolley stops; S4.3 After the backstage operation monitor confirms the position of the lifting equipment, stop the vehicle.

[0011] Preferably, the sub-steps of S5: S5.1 When the system detects that the locking beam at the orifice of the target storage gate slot is at the gate withdrawal positions D1 / D2, the hanging head starts to descend from the parking position H0 and can be automatically delayed for execution; S5.2 When the system detects that the height of the hanging head is at the centering gate position H11, the hanging head stops; S5.3 The system camera automatically determines the deviation angle between the hanging head and the gate lug: S5.3.1 When the angle θ = 0, it means that the hanging head is parallel to the gate lug and no active adjustment is required; S5.3.2 When the angle θ ≠ 0, active adjustment is required. The hanging head adjustment device adjusts to correct the deviation. When the angle θ = 0, the adjustment stops; S5.4 After the backstage operator confirms the centering situation of the hanging head through video monitoring, proceed to the next step.

[0012] Preferably, sub-step S6: S6.1 After the hanging head is centered, lower the hanging head into the gate lug and cooperate to be in place under the guidance of the four-edge guide of the gate lug; S6.2 When the system determines that it has received the signal that the hanging head is in place in all four directions, and the displayed weight < the weight of the hanging head, and the current height is at the gate storage position H12, stop; or stop after the backstage operation supervisor confirms the position of the hanging head; S6.3 After receiving the "hanging head pinning" signal sent from the backstage, the hanging head starts to pump and pin, or is automatically delayed for execution; S6.4 When the system determines that the pinning is in place, stop the pump; Manually determine and confirm that the hanging head pinning is in place.

[0013] Preferably, sub-step S7: S7.1 After receiving the "extract the gate" signal sent from the backstage, when the system detects that the locking beam is at the gate withdrawal positions D1 / D2, the hanging head starts to lift, or is automatically delayed for execution; S7.2 When the system determines that the lifting height of the hanging head reaches the gate hovering position H6, stop; and send a "locking beam input" signal to the target storage gate triple device.

[0014] Preferably, sub-step S8: S8.1 After the target storage gate triple device receives the "locking beam input" signal, it inputs the locking beam to the gate locking positions C1 / C2; or stop after the backstage operation supervisor confirms the position of the locking beam; S8.2 When the system detects that the locking beam is at the gate locking positions C1 / C2, the system backstage sends a "gate lowering" signal, and the hanging head drives the gate to start descending, or is automatically delayed for execution; S8.3 The system determines that when the locking beam is in the gate lock position C1 / C2, and the system displays that the weight < the weight of the hydraulic lifting head, and the current height is the gate placement position H7, the vehicle stops; or the backstage operation monitor confirms the gate placement position and then stops the vehicle.

[0015] Preferably, sub-step S9: S9.1 After receiving the "lifting head pin removal" signal sent by the backstage, the lifting head starts to pump and remove the pin, or executes automatically with a time delay; S9.2 The system determines that the pin insertion is in place and stops the pump; Manually determine and confirm that the lifting head pin insertion is in place; S9.3 After receiving the "lifting head lifting" signal sent by the backstage, when the system detects that the lifting head pin shaft is in the withdrawn position, the lifting head starts to lift, or executes automatically with a time delay; S9.4 The system determines that when the lifting head is lifted to the lifting head centering gate position H5, the vehicle stops; or the backstage operation monitor confirms the lifting head parking position and then stops the vehicle.

[0016] Preferably, sub-step S10: S10.1 The lifting equipment starts to move: S10.1.1 The motor of the traveling mechanism of the lifting equipment's large vehicle starts and travels towards the Xn position in the direction of the n# gate slot received by the system; S10.1.2 The hydraulic oil pump of the traveling mechanism of the lifting equipment's small vehicle starts, drives the hydraulic cylinder to drive the small vehicle to travel towards the Y3 position in the direction of the n# gate slot; S10.2 The system determines that when the system recognizes that the lifting equipment has traveled to the n# gate slot (Xn, Y3) position, the vehicle stops; or the backstage operation monitor confirms the lifting equipment parking position and then stops the vehicle.

[0017] Preferably, sub-step S11: S11.1 The lifting head centers on the tie rod: S11.1.1 The system camera automatically determines the deviation angle between the lifting head and the tie rod lug. When the angle θ = 0, no active adjustment is required; when the angle θ ≠ 0, active adjustment is required, and the lifting head adjustment device makes adjustment and correction. When the angle θ = 0, the adjustment stops; S11.1.2 After the backstage operator confirms the centering situation of the lifting head through video monitoring, proceed to the next step; S11.2 The lifting head is placed into the tie rod lug and fits in place under the guidance of the four-sided guide of the tie rod lug; S11.3 The system determines that it has received the four-sided in-place signal of the lifting head, displays that the weight < the weight of the lifting head, and the current height is at the tie rod placement position H10, and the vehicle stops; or the backstage operation monitor confirms the lifting head position and then stops the vehicle; S11.4 After receiving the "lifting head pin insertion" signal sent by the backstage, the lifting head pin insertion system starts to pump and insert the pin, or executes automatically with a time delay; When the S11.5 system detects that the through-pin is in place, the pump is stopped. After the pump stop signal is sent, the operator in the background confirms again that the through-pin of the lifting head is in place; S11.6 After receiving the "lifting rod" signal sent by the background, the lifting head starts to lift the rod, and at the same time the system starts to count the number of operations Nx of the rod; S11.6.1 When the number of operations Nx = 1, the trolley of the lifting equipment travels towards the Y2 position in the direction of the n# gate slot; S11.6.2 When 1 < Nx ≤ 8, the trolley of the lifting equipment travels towards the Y2 position in the direction of the orifice of the Nx gate slot automatically determined by the system for the operation sequence; S11.7 Lifting and hovering: S11.7.1 When the system determines that the number of operations Nx = 1 and the system detects that the lifting head is lifted to the rod hovering position H9, a "lock beam retraction" signal is sent to the three-in-one device of the n# gate slot; S11.7.2 When 1 < Nx ≤ 8, when the system detects that the lifting head is lifted to the rod hovering position H9, a "lock beam retraction" signal is sent to the three-in-one device of the Nx# gate slot; S11.8 After the corresponding three-in-one device of the gate slot receives the "lock beam retraction" signal, the lock beam is retracted to the corresponding unlocking position; S11.8.1 When the number of operations Nx = 1, after the three-in-one device of the n# gate slot receives the "lock beam retraction" signal, the device retracts the lock beam to the gate unlocking position D1 / D2 and then stops driving; S11.8.2 When 1 < Nx ≤ 8, after the three-in-one device of the Nx gate slot automatically determined by the system for the operation sequence receives the "lock beam retraction" signal, the device retracts the lock beam to the rod unlocking position B1 / B2 and then stops driving; S11.8.3 After the operator in the background operation monitoring confirms the position of the lock beam, the vehicle stops; S11.9 Lifting stop: S11.9.1 When the system determines that the number of operations Nx = 1, the lifting head is lifted to the position H5 + L where the lifting head is centered with the gate and then stops; S11.9.2 When 1 < Nx ≤ 8, the lifting head is lifted to the position H8 + L where the lifting head is centered with the rod and then stops; S11.9.3 After the operator in the background operation monitoring confirms the height position of the lifted rod, the vehicle stops; S11.10 The lifting equipment travels according to the command requirements: S11.10.1 When the number of operations Nx = 1, the trolley of the lifting equipment travels towards the target storage gate slot X01 / X02; S11.10.2 When the number of operations 1 < Nx ≤ 8, the overhead crane's trolley travels towards the operation equipment number Xn# recommended by the system in sequence; S11.10.3 After the background operation monitor confirms the trolley's position, it stops; S11.11 Overhead crane parking: S11.11.1 When the system determines that the number of operations Nx = 1 and the overhead crane's trolley travels to the target storage gate slot position X01 / X02, the trolley stops; S11.11.2 When the number of operations 1 < Nx ≤ 8, the overhead crane's trolley travels to the n# gate slot position Xn and the hoist travels to the n# gate slot position Y3, then it stops; S11.11.3 After the background operation monitor confirms the overhead crane's parking position, it stops; S11.12 Tie rod lowering: S11.12.1 When the system determines that the number of operations Nx = 1, the tie rod is connected to the gate, and the guiding and positioning ensure concentricity; S11.12.2 When the number of operations 1 < Nx ≤ 8, the tie rod is connected to the tie rod, and the guiding and positioning ensure concentricity; S11.13 Lowering stop: S11.13.1 When the system determines that the number of operations Nx = 1 and the lifting head descends to the gate placement position H7 + L, and the system shows that the weight < the weight of the lifting head + the weight of the tie rod, it stops and sends a "tie rod pinning" signal to the tie rod pinning and withdrawing device at the target storage gate slot; S11.13.2 When the number of operations 1 < Nx ≤ 8, the lifting head descends to the tie rod placement position H10 + L, then it stops and sends a "tie rod pinning" signal to the tie rod pinning and withdrawing device at the n# gate slot; S11.13.3 After the background operation monitor confirms the tie rod's parking position, it stops; S11.14 After the system determines that it receives the "tie rod pinning" signal sent by the background, the tie rod pinning and withdrawing device at the corresponding position starts the pinning operation, and the background operation monitor confirms the tie rod pinning position; S11.15 The system determines that the tie rod pinning is in place, powers off for pinning, and the device resets; or the background operator confirms again that the tie rod withdrawal is in place; After the system receives the "lifting head lifting" signal sent by the background, the lifting head starts to lift; the background operation monitor confirms the locking beam situation; S11.17 Lifting and hovering: S11.17.1 When the system determines that the number of operations Nx = 1 and the system detects that the lifting head lifts to the gate + tie rod hovering position H2, it sends a "locking beam retraction" signal to the three-in-one device at the target storage gate slot; S11.17.2 When the number of operations 1 < Nx ≤ 8, when the system detects that the lifting head is lifted to the suspension position H9+L of the pull rod, it sends a "lock beam withdrawal" signal to the n# gate slot three-in-one device; S11.18 After the corresponding three-in-one device receives the "lock beam withdrawal" signal, it withdraws the lock beam to the corresponding unlocking position; S11.18.1 When the number of operations Nx = 1, after the target storage gate slot three-in-one device receives the "lock beam withdrawal" signal, the device withdraws the lock beam to the gate unlocking position D1 / D2, and then stops driving; S11.18.2 When the number of operations 1 < Nx ≤ 8, after the n# gate slot three-in-one device receives the "lock beam withdrawal" signal, the device withdraws the lock beam to the pull rod unlocking position B1 / B2, and then stops driving; The step jumps to S11.22; S11.18.3 After the backstage operation monitor confirms the position of the lock beam, stop the vehicle; S11.19 The system determines that when the number of operations Nx = 1, when the lifting head is lifted to the gate + pull rod out-of-slot position H1, stop the vehicle; Manually determine and stop the vehicle after confirming the gate out-of-slot position; S11.20 The system determines that when the number of operations Nx = 1, the motor of the crane traveling mechanism starts and travels in the direction of the Xn position hole of the operating equipment n; S11.21 The system determines that when the number of operations Nx = 1, when the crane travels to the Xn position of the n# gate slot, stop the vehicle; Manually determine and stop the vehicle after confirming the position of the crane; S11.22 Lower the lifting head: S11.22.1 The system determines that when the number of operations Nx = 1, lower the gate. After the gate enters the gate slot, the trolley travels in the direction of the Y3 position of the n position orifice; S11.22.2 When the number of operations 1 < Nx ≤ 8, lower the pull rod. After the pull rod enters the gate slot, the trolley travels in the direction of the Y3 position of the n position orifice; S11.23 The system determines that the lifting head has descended to the suspension position H9 of the pull rod, and sends a "lock beam insertion" signal to the n# gate slot three-in-one device; Manually determine and stop the vehicle after confirming the position of the pull rod; S11.24 After the n# gate slot three-in-one device receives the "lock beam insertion" signal, it inserts the lock beam into the pull rod locking position A1 / A2; After the backstage operation monitor confirms the position of the lock beam, stop the vehicle; S11.25 The system determines that when the height of the lifting head is at the pull rod placement position H10 and the system shows that the weight < the weight of the lifting head, stop the vehicle; Manually determine and stop the vehicle after confirming the support condition of the pull rod; S11.26 After receiving the "lifting head pin removal" signal sent by the backstage, the lifting head starts to pump and remove the pin, or automatically executes with a time delay; S11.27 The system determines that the pin removal is in place and stops the pump; manually determine and confirm that the pin removal of the lifting head is in place; S11.28 After receiving the "lifting head lifting" signal sent from the background, when the system detects that the pin of the lifting head is in the withdrawn position, the lifting head starts to lift, or is executed automatically with a time delay; S11.29 Lifting head stops: S11.29.1 When the system determines that the number of operations 1 ≤ Nx < 8, the lifting head is lifted to the lifting head centering tie rod position H8 and stops; S11.29.2 When the number of operations Nx = 8, the lifting head is lifted to the parking position H0 and stops; S11.29.3 Manually determine and confirm the position of the lifting head and then stop; S11.30 Lifting equipment travels: S11.30.1 When the system determines that the number of operations 1 ≤ Nx < 8, the lifting equipment trolley travels towards the (Nx + 1)-th gate slot determined by the system's automatic operation sequence; S11.30.2 When the number of operations Nx = 8, the trolley travels towards the lifting equipment parking position X0, and the hoist travels towards the lifting equipment parking position Y0; S11.30.3 Manually determine and observe the traveling situation of the lifting equipment; S11.31 Lifting equipment stops: S11.31.1 When the system determines that the number of operations 1 ≤ Nx < 8, when the lifting equipment trolley travels to the (Nx + 1)-th gate slot position determined by the system's automatic operation sequence, it stops and jumps to S11.1; S11.31.2 When the number of operations Nx = 8, the trolley travels to the lifting equipment parking position X0 and stops, and the hoist travels to the lifting equipment parking position Y0 and stops; S11.31.3 Manually determine and confirm the parking position of the lifting equipment and then stop.

[0018] Method for automatically lifting the gate of the inclined gate slot tie rod structure type of the dam body of a hydropower station, including the following steps: S1. Select the equipment number of the gate to be lifted; S2. The lifting equipment travels from the parking position to the gate slot position of the target equipment number n#, and stops after the system or manual confirmation of the position; S3. The system controls the lowering of the lifting head, stops when reaching the specified height, and automatically or manually confirms the centering situation between the lifting head and the tie rod lug; S4. After the lifting head is centered and fits into the tie rod lug, it receives the pin insertion signal and then inserts the pin. The system and manual operation respectively confirm that the pin insertion is in place; S5. When receiving the lifting signal and meeting the conditions, the lifting head lifts the tie rod, stops at the hovering position and sends out relevant signals for the locking beam. The system controls the relevant devices to complete the operation of withdrawing and inserting the locking beam; S6. Park at the designated position and trigger the drawbar pin withdrawal. The device performs the pin withdrawal operation. After manually confirming the pin withdrawal situation, separate the drawbar. S7. The lifting equipment travels according to the instruction and completes multiple-link operations of the lifting head with the drawbar or the gate, including centering, positioning, pin insertion, lifting, locking, placement, and pin withdrawal operations. S8. The lifting head and the gate lug complete centering, positioning, and pin insertion. S9. After receiving the lifting signal, the lifting head lifts the gate. When reaching the hovering position, send out the locking beam withdrawal signal. After the locking beam withdraws, the gate descends to the storage position and stops. S10. After receiving the pin withdrawal signal, the lifting head withdraws the pin. After confirming that the pin withdrawal is in place, receive the lifting signal. The lifting head lifts to the parking position and triggers the three-in-one device at the orifice of the storage gate slot to perform the locking beam insertion operation. S11. The lifting equipment returns to the position and stops.

[0019] Preferably, the sub-steps of S1: S1.1 User login: Enter the identity verification information. After passing the verification, enter the operating system. S1.2 Confirm the operating equipment number on the remote operation panel or the mobile phone APP. Select the equipment number n of the gate to be lifted and confirm the operation.

[0020] Preferably, the sub-steps of S2: S2.1 The lifting equipment travels from the parking position (X0, Y0) to the position of the equipment number n (Xn, Y3) where the gate needs to be lifted. S2.1.1 The trolley of the lifting equipment travels to the Xn position of the operating equipment gate slot. S2.1.2 The hoist of the lifting equipment travels to the Y3 position of the operating equipment gate slot. S2.2 The system determines that the trolley and the hoist of the lifting equipment stop after reaching the corresponding positions, or the background operation monitoring personnel confirm the positions and then stop.

[0021] Preferably, the sub-steps of S3: S3.1 The system receives the "lifting head descending" instruction, and the lifting head starts to fall from the parking position H0, which can be executed automatically with a time delay. S3.2 When the system detects that the height of the lifting head is at the lifting head centering drawbar position H8, the lifting head stops, which can be executed automatically with a time delay. S3.3 The system camera automatically determines the deviation angle between the lifting head and the drawbar lug: S3.3.1 When the angle θ = 0, no active adjustment is required. S3.3.2 When the angle θ ≠ 0, active adjustment is required. The lifting head adjustment device performs adjustment to correct the deviation. When the angle θ = 0, stop the adjustment. S3.4 After the backstage operator confirms the alignment of the lifting head through video monitoring, proceed to the next step.

[0022] Preferably, sub-step S4: S4.1 After the alignment of the lifting head is completed, it descends into the pull rod lug and fits in place under the guidance of the four-sided guide; S4.2 The system determines that it has received the signal that the four sides of the lifting head are in place, and displays that the weight < the weight of the lifting head, and the current height is at the pull rod placement position H10, then stops; or the backstage operation supervisor stops after confirming the position of the lifting head; S4.3 After receiving the "lifting head pinning" signal from the backstage, the lifting head pinning system starts the pump to pin the pin, or executes automatically with a time delay; S4.4 The system determines that the pinning is in place and stops the pump, and the backstage operator confirms again that the pinning is in place.

[0023] Preferably, sub-step S5: S5.1 After receiving the "lift pull rod" signal from the backstage, the lifting head starts to lift the pull rod, and at the same time the system starts to count the number of pull rod operation times Nx; the hoisting equipment trolley travels to the Y2 position in the direction of the n# gate slot; S5.2 Lift and hover. When the lifting head is lifted to the pull rod hover position H9, send a "lock beam withdrawal" signal to the n# gate slot three-in-one device; S5.3 After the corresponding gate slot three-in-one device receives the "lock beam withdrawal" signal, it withdraws the lock beam to the corresponding unlocking position; S5.3.1 When 1 ≤ Nx < 8 for the number of operations, after the three-in-one device of the n# gate slot receives the "lock beam withdrawal" signal, the device withdraws the lock beam to the pull rod unlocking position B1 / B2, and then stops driving; S5.3.2 When Nx = 8 for the number of operations, after the three-in-one device of the n# gate slot receives the "lock beam withdrawal" signal, the device withdraws the lock beam to the gate unlocking position D1 / D2, and then stops driving; S5.3.3 The backstage operation supervisor stops after confirming the position of the lock beam; S5.4 Lift and stop S5.4.1 The system determines that when 1 ≤ Nx < 8, when the lifting head is lifted to the pull rod hover position H9 + L (pull rod length), it stops and sends a "lock beam insertion" signal to the n# gate slot three-in-one device; S5.4.2 The system determines that when Nx = 8, when the lifting head is lifted to the pull rod + gate out-of-slot position H1, it stops and sends a "lock beam insertion" signal to the n# gate slot three-in-one device; the operation process jumps to step S7; S5.4.3 The backstage operation supervisor stops after confirming the height position of the lifting head; After the n# gate slot three-in-one device receives the "locking beam input" signal in S5.5, it inputs the locking beam to the corresponding locking position; S5.5.1 When the system determines that 1 ≤ Nx < 8, when detecting that the hanging head is at the suspension position H9 + L (the length of the pull rod), the n# gate slot three-in-one device inputs the locking beam to the pull rod locking positions A1 / A2, and then stops driving; S5.5.2 When the system determines that Nx = 8, when the hanging head is lifted to the pull rod + gate out-of-slot position H1, the n# gate slot three-in-one device inputs the locking beam to the pull rod locking positions A1 / A2, and then stops driving; S5.5.3 After the background operation monitor confirms the position of the locking beam, the vehicle stops.

[0024] Preferably, sub-step S6: After the system receives the "hanging head down" signal, the hanging head starts to descend, or it is executed automatically with a time delay; When the system detects that the hanging head is at the pull rod placement position H10 + L, the hanging head stops, and sends a "pull rod pin withdrawal" signal to the n# gate slot pull rod pin insertion / withdrawal device; or the background operation monitor stops the vehicle after confirming the height position of the hanging head; After receiving the "pull rod pin withdrawal" signal from the background, the pull rod pin insertion / withdrawal device at the n# position starts to perform the pin withdrawal operation, and the background operation monitor confirms the pull rod pin withdrawal position; When the system determines that the pull rod pin withdrawal is in place, power off for pin withdrawal, and the device resets; the background operator confirms again that the pull rod pin withdrawal is in place; After receiving the "lift and separate the pull rod" signal from the background, the hanging head lifts the pull rod, or it is executed automatically with a time delay; When the system determines that the hanging head is lifted to the pull rod out-of-slot position H4, it stops; or the background operation monitor stops the vehicle after confirming the height position of the hanging head.

[0025] Preferably, sub-step S7: The lifting equipment moves according to the command requirements: S7.1.1 When the system determines that 1 ≤ Nx < 8, the crane equipment's trolley moves towards the Nx# gate slot position automatically determined by the system in sequence, and the trolley moves towards the storage gate slot Y2 direction, and sends a "locking beam withdrawal" signal to the target Nx# gate slot three-in-one device; S7.1.2 When the system determines that Nx = 8, it moves according to the storage gate slot (X01 / X02) position determined by the system, the trolley moves towards the storage gate slot Y2 direction, and sends a "locking beam withdrawal" signal to the three-in-one device of the storage gate slot (X01 / X02) where the target is stored; After the corresponding three-in-one device receives the "locking beam withdrawal" signal, it withdraws the locking beam to the corresponding unlocking position; S7.2.1 When the number of operations 1 ≤ Nx < 8, after the three-in-one device of the Nx# gate slot receives the "lock beam retraction" signal, the device retracts the lock beam to the tie rod unlocking position B1 / B2, and then stops driving; S7.2.2 When the number of operations Nx = 8, after the three-in-one device of the target storage gate slot (X01 / X02) receives the "lock beam retraction" signal, the device retracts the lock beam to the gate unlocking position D1 / D2, and then stops driving; S7.2.3 After the backstage operation monitor confirms the position of the lock beam, stop the vehicle; S7.3 Crane equipment parking: S7.3.1 When the system determines that 1 ≤ Nx < 8, the crane equipment's trolley stops at the Y2 position when the crane's trolley is at the Nx# gate slot position determined by the system's automatic sequential operation; S7.3.2 When the system determines that Nx = 8, the crane equipment's trolley stops at the Y2 position when the crane's trolley is at the target storage gate slot (X01 / X02) position; S7.3.3 After the backstage operation monitor confirms the positions of the trolley and the crane, stop the vehicle; S7.4 Tie rod lowering: S7.4.1 When the system determines that 1 ≤ Nx < 8, when detecting that the lock beam is at the tie rod retraction position B1 / B2, lower the tie rod to the Nx gate slot; S7.4.2 When the system determines that Nx = 8, when detecting that the lock beam is at the gate retraction position D1 / D2, lower the gate to the storage gate slot; S7.5 Lowering and hovering: S7.5.1 When the system determines that 1 ≤ Nx < 8, when the lifting head descends to the tie rod hovering position H9, stop the vehicle and send a "lock beam insertion" signal to the three-in-one device storing the Nx# gate slot; S7.5.2 When the system determines that Nx = 8, when the lifting head descends to the tie rod + gate hovering position H2, stop the vehicle and send a "lock beam insertion" signal to the three-in-one device storing the target storage gate slot; S7.5.3 After the backstage operation monitor confirms the parking position of the crane equipment's lifting head, stop the vehicle; After the corresponding three-in-one device receives the "lock beam insertion" signal, insert the lock beam into the corresponding locking position; S7.6.1 When the number of operations 1 ≤ Nx < 8, after the system detects that the lifting head is at the tie rod hovering position H9, after the three-in-one device of the Nx# gate slot receives the "lock beam insertion" signal, the device inserts the lock beam into the tie rod locking position A1 / A2, and then stops driving; S7.6.2 When the number of operations Nx = 8, after the system detects that the hanging head hovers at the pull rod + gate position H2, after the three-in-one device of the target storage door slot (X01 / X02) receives the "locking beam input" signal, the device inserts the locking beam into the gate lock position C1 / C2, and then stops driving; S7.6.3 After the background operation monitor confirms the position of the locking beam, stop the vehicle; S7.7 Lowering and placing: S7.7.1 When the system determines that 1 ≤ Nx < 8, when it detects that the locking beam is at the pull rod lock position A1 / A2, the hanging head descends; S7.7.2 When the system determines that Nx = 8, when it detects that the locking beam is at the gate lock position C1 / C2, the hanging head descends; S7.7.3 After the background operation monitor confirms the position of the locking beam, stop the vehicle; S7.8 Placing and parking: S7.8.1 When the system determines that 1 ≤ Nx < 8, when the displayed weight < the weight of the hanging head and the current height of the hanging head is at the pull rod placement position H10, stop the vehicle; S7.8.2 When the system determines that Nx = 8, when the displayed weight < the weight of the hanging head + pull rod and the current height of the hanging head is at the gate placement position H7 + L, stop the vehicle; S7.8.3 After the background operation monitor confirms the parking position, stop the vehicle; S7.9 Pin removal operation: S7.9.1 When the system determines that 1 ≤ Nx < 8, after receiving the "pin removal operation" signal from the background, the hanging head starts the pump to remove the pin; S7.9.2 When the system determines that Nx = 8, after receiving the "pin removal operation" signal from the background, the pull rod pin removal device of the corresponding target storage door slot (X01 / X02) starts to perform the pin removal operation; S7.10 Pin removal in place: S7.10.1 When the system determines that 1 ≤ Nx < 8, when it detects that the pin removal of the hanging head is in place, the hanging head device stops the pin insertion operation; S7.10.2 When the system determines that Nx = 8, when it detects that the pull rod pin removal is in place, cut off the power to remove the pin and reset the device; S7.10.3 The background operator confirms the pin removal in place situation again; S7.11 Hanging head lifting: S7.11.1 When the system determines that 1 ≤ Nx < 8, after receiving the "hanging head lifting" signal from the background, the hanging head lifts; S7.11.2 When the system determines that Nx = 8, after receiving the "hanging head lifting" signal from the background, the hanging head drives the pull rod to lift; S7.12 Hanging head parking: S7.12.1 When the system determines that 1 ≤ Nx < 8, the hanging head is lifted to the position of the centering pull rod of the hanging head H8, and then the vehicle stops; S7.12.2 When the system determines that Nx = 8, the vehicle stops when the lifting height is at the position of the centering gate of the pull rod H3; S7.12.3 After the backstage operation monitoring personnel confirm the position of the hanging head, the vehicle stops; S7.13 The hoisting equipment's trolley mechanism is powered on and travels towards the gate slot Xn of the operating equipment; S7.14 The hoisting equipment's trolley stops: S7.14.1 When the system determines that 1 ≤ Nx < 8, the hoisting equipment's trolley travels to the position of the n# gate slot Xn of the operating equipment and stops, then jumps to step S3; S7.14.2 When the system determines that Nx = 8, the hoisting equipment's trolley travels to the position of the n# gate slot Xn of the operating equipment and stops; S7.14.3 After the backstage operation monitoring personnel confirm the position of the hanging head, the vehicle stops; S7.15 When the system determines that Nx = 8, if it detects that the locking beam is not at the pull rod locking position A1 / A2, the hanging head descends, and the trolley travels towards Y3, which can be automatically executed with a time delay; S7.16 When the system determines that Nx = 8, when the system detects that the hanging head height is at the pull rod hovering position H9, the hanging head stops and sends a "locking beam engaged" signal to the n# gate slot three-in-one device; or the vehicle stops after the backstage operation monitoring personnel confirm the position of the hanging head; S7.17 When the system determines that Nx = 8, after the system detects that the hanging head is at the pull rod hovering position H9, the n# gate slot three-in-one device engages the locking beam to the pull rod locking position A1 / A2; or the vehicle stops after the backstage operation monitoring personnel confirm the position of the locking beam; S7.18 When the system determines that Nx = 8, if it detects that the locking beam is at the pull rod locking position A1 / A2, the hanging head descends; or the vehicle stops after the backstage operation monitoring personnel confirm the position of the locking beam; S7.19 When the system determines that Nx = 8, if the displayed weight < the weight of the hanging head and the current height of the hanging head is at the pull rod placement position H10, the vehicle stops; or the vehicle stops after the backstage operation monitoring personnel confirm the parking position; S7.20 When the system determines that Nx = 8, the hanging head starts the pump to retract the pin; the backstage operation monitoring personnel confirm the pin retraction position; S7.21 When the system determines that Nx = 8, if it detects that the hanging head has retracted the pin in place, the hanging head device stops the pin insertion operation; the backstage operator confirms again that the pull rod has retracted the pin in place; S7.22 When the system determines that Nx = 8, after receiving the "hanging head lifting" signal from the backstage, the hanging head is lifted; S7.23 The system determines that when Nx=8, the lifting height is at the center gate position H5 of the crane head, and the vehicle stops; or the backstage operator monitors the crane head position and stops the vehicle; S7.24 The lifting equipment moves towards the target storage door slot (X01 / X02): S7.24.1 The crane trolley mechanism is energized and moves toward the target storage door slot (X01 / X02); S7.24.2 The trolley mechanism of the lifting equipment is energized and moves in the Y2 direction of the target door slot; S7.25 The system determines that when the system inspection determines that the trolley reaches the target storage door slot position, it stops; when the trolley reaches the Y2 position, it stops; or when the backstage operation monitoring personnel confirms the trolley position, it stops.

[0026] Preferably, the sub-steps of S8 are: The S8.1 system camera automatically determines the deviation angle between the lifting head and the gate lifting lug: S8.1.1 When angle θ = 0, no active adjustment is required; S8.1.2 When the angle θ ≠ 0, active adjustment is required, and the head adjustment device performs adjustment and correction. When the angle θ=0, the adjustment stops; S8.2 After the backstage operator confirms the centering of the crane head through video monitoring, proceed to the next step; S8.3 After the lifting head is centered, it descends into the gate lifting lug and fits into place under the guidance of the four-sided guide piece; S8.4 The system determines that the four-side positioning signal of the crane is actuated, and the displayed weight is less than the weight of the crane device, and the crane stops; or the backstage operator confirms the position of the crane device through video monitoring and stops the crane; After receiving the background "lifting head pinning" signal, S8.5 the lifting head pinning system starts pump pinning, or automatically delays execution; S8.6 The system determines that the threading pin is in place and stops the pump, and the back-end operator confirms that the threading pin is in place again.

[0027] Preferably, sub-step S9: S9.1 After receiving the "lift gate" signal from the background, the crane lifts the gate; S9.2 When the system determines that the crane head has been lifted to the gate hovering position H6, it stops and sends a "lock beam exit" signal to the target storage gate slot (X01 / X02) three-in-one device; or the backstage operation monitoring personnel confirm the height position of the crane head and then stop the vehicle; S9.3 After receiving the "locking beam exit" signal, the target storage gate slot (X01 / X02) three-in-one device will exit the locking beam to the gate unlocking position D1 / D2; S9.4 When the system detects that the locking beam is in the gate unlocking position D1 / D2, the crane drives the gate to descend, or automatically delays execution; When the S9.5 system determines that the displayed weight < the weight of the lifting head and the current height is the gate storage position H12, stop the vehicle; or the backstage operation monitor stops the vehicle after confirming the gate position.

[0028] Preferably, the sub-step of S10: After receiving the "lifting head pin removal" signal from the backstage, start the pump to remove the pin of the lifting head, or execute automatically with a time delay; When the system determines that the pin hydraulic rod of the lifting head is in place for pin insertion, stop the pump; manually determine and confirm that the lifting head pin is removed in place; After receiving the "lifting head lifting" signal from the backstage, when the system detects that the lifting head pin is in the withdrawn position, lift the lifting head, or execute automatically with a time delay; When the system determines that the lifting head is lifted to the lifting head parking position H0, stop the vehicle and send a "locking beam insertion" signal to the three-in-one device of the target storage gate slot (X01 / X02); After receiving the "locking beam insertion" signal, the three-in-one device of the target storage gate slot (X01 / X02) inserts the locking beam into the tie rod locking positions A1 / A2.

[0029] Preferably, the sub-step of S11: The hoisting equipment returns to its position and travels: Start the motor of the traveling mechanism of the hoisting equipment's trolley and travel towards the hoisting equipment parking position X0; Start the hydraulic oil pump of the traveling mechanism of the hoisting equipment's trolley, drive the hydraulic cylinder to drive the trolley to travel towards the hoisting equipment parking position Y0; The hoisting equipment returns to its position: When the system detects that the trolley reaches the parking position X0, stop the trolley; When the system detects that the trolley reaches the parking position Y0, stop the trolley; The backstage operation monitor stops the vehicle after confirming the parking position of the hoisting equipment.

[0030] The present invention can achieve the following beneficial effects: The present invention adds an Internet of Things intelligent terminal with 5G wireless communication transmission without changing the original main equipment facilities. It is docked and interconnected with on-site equipment to collect various analog signals and digital signals on-site in real time, and conducts data interaction with the cloud platform through a base station, simplifying the remote communication method and ensuring remote visibility and controllability of the equipment. For the main equipment, on-site, it is necessary to add equipment such as precise positioning of the traveling mechanism of the overhead crane equipment on the dam crest, precise control of the opening and closing elevation of the crane equipment itself, precise positioning of the crane head to the inclined gate tie rod and the insertion and withdrawal of pins in place, precise positioning of the tie rod to the inclined gate and the insertion and withdrawal of pins in place, precise positioning and insertion and withdrawal of pins in place between the vertical tie rod and the inclined railing, automatic engagement and disengagement of the locking beam, automatic engagement and disengagement of the orifice cover plate, and dynamic erection and dismantling of the fence device in the orifice area, etc., to realize the automatic identification and determination of the control system for the crane equipment, tie rod, gate and orifice auxiliary equipment, so as to achieve remote operation of the inclined gate slot tie rod structure type gate, realize the automated operation of the crane equipment, effectively reduce the long-term work of operators in the edge environment of the orifice, and thus protect the physical health of maintenance personnel.

[0031] This method can realize remote automatic control of the lifting and lowering of the inclined gate slot tie rod structure type gate by the crane equipment, improving labor efficiency; The application of the automatic lifting and lowering method of the inclined gate slot tie rod structure type gate of the present invention realizes unmanned operation of the lifting and lowering of the maintenance gate of the hydropower station, reduces the outdoor working time of operators, and protects the physical health of operators; This method has strong versatility and can be extended to the opening and closing of other crane equipment for lifting and lowering gates, with broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below in conjunction with the drawings and embodiments: Figure 1 It is a schematic diagram of the application environment of the present invention; Figure 2 It is a schematic diagram of the equipment layout in the vertical state of the present invention; Figure 3 It is an enlarged view of the equipment layout in the vertical state of the present invention; Figure 4 It is a schematic diagram of the equipment layout in the horizontal position of the method of the present invention; Figure 5 It is a schematic diagram of the active deviation correction adjustment of the crane head of the present invention; Figure 6 It is a position diagram of the equipment of the present invention Figure 7 It is a schematic diagram of the three-in-one device at the orifice part of the present invention.

[0033] In the figure: 0, concrete dam; 01, deep hole maintenance gate slot; 02, surface hole flood discharge channel; 03, deep hole hoist pump house; 04, deep hole flood discharge channel; 05, locking beam; 1, lifting equipment; 10, hydraulic lifting head; 2, cover device; 20, three-in-one rotating mechanism; 21, first cover plate; 22, subsequent superimposed cover plates; 3, fence device; 30, fence column; 31, steel wire rope; 4, pull rod pin insertion / withdrawal mechanical arm; 5, pull rod; 6, maintenance gate. Specific implementation method

[0034] The preferred solution is as Figures 1 to 7 shown, a method for automatic closing of a gate with an inclined gate slot pull rod structure type in a hydropower station dam body and a method for lifting the gate, The method mainly aims at remote operation and is guided by the automatic opening and closing logic of the pull rod structure type gate, designing a strict gate opening and closing operation logic to achieve unmanned on-site operation of the equipment. During the operation process, it increases the determination of each key node of the operation process by remote operators and the visual monitoring of the equipment by the background, making the remote operation of automatic lifting and lowering of the gate have risk control and ensuring the safe operation of the equipment during the operation process.

[0035] Currently, the operating system of our lifting equipment (lifting equipment) needs to be manually operated. If we want the crane to operate automatically, we need to carry out electrical transformation on this system to make it match with a 5G intelligent terminal and have a system with the function of accepting remote operation. At the same time, an automatic walking and positioning system for the lifting equipment is added to achieve the accurate positioning of the lifting equipment for the pull rod and the maintenance gate, ensuring the accurate opening and closing of the maintenance gate subsequently. The specific implementation plan is as follows: (1) 5G technology: Install an Internet of Things intelligent terminal, a 5G base station and a cloud platform on the on-site equipment to realize the man-machine communication between the background and the on-site equipment and ensure the safe operation of the lifting and lowering of the gate.

[0036] (2) Automatic walking and positioning of the lifting equipment: Install positioning and identification elements on the lifting equipment and physically mark the orifice of the maintenance gate to ensure that the lifting equipment can accurately walk to the designated orifice position and then stop to control the hydraulic lifting head to open and close the gate.

[0037] (3) Automatic positioning of the hydraulic lifting head of the lifting equipment: Through the height encoder on the lifting equipment, the height of the hydraulic lifting head is positioned and compared with the preset value of the system to ensure that the height of the hydraulic lifting head is controlled. When the hydraulic lifting head approaches the pull rod and the gate, through the positioning and guiding device, the hydraulic lifting head can be guided into the pull rod and the lifting lugs of the maintenance gate, so that the pin of the pin insertion system of the hydraulic lifting head can safely pass through the pull rod and the lifting lugs of the gate, ensuring the effective connection of the hydraulic lifting head to the pull rod and the gate.

[0038] (4) Three-in-one device (locking beam, cover plate and fence automatic retracting device): Installed at the gate orifice, it automatically retracts the locking beam that supports the gate / pull rod according to the lifting and lowering requirements of the maintenance gate, opens and closes the cover plate, and effectively installs and removes the orifice fence, ensuring the support safety of the maintenance gate and the pull rod and the environmental safety of the orifice area.

[0039] (5) Mechanical arm for inserting and removing the pin of the pull rod: Installed at the middle position on one side of the gate orifice, according to the connection of the pull rod to the gate and the working condition of the connection between the pull rods, it automatically turns to the position of the pin insertion handle of the pull rod and rotates the handle forward and backward to realize the operation of inserting and removing the pin of the pull rod.

[0040] (6) Background monitoring system: Through the high-definition cameras installed on the equipment, directly observe whether the key nodes of each mechanism are correct, and only after being judged qualified by personnel can the next operation be carried out.

[0041] 1. Lowering process of the inclined gate slot pull rod structure type gate of the hydropower station dam body: 1) The user logs in and enters the identity verification information. Only after passing the verification can the operation system be entered; 2) Confirm the operation equipment number, select the equipment number n# that needs to operate the lowering on the remote operation panel / mobile APP software, and confirm the operation; 3) The lifting equipment moves. The lifting equipment starts from the parking position (X0, Y0) and walks towards the target storage gate slot according to the command requirements, and sends a "locking beam retraction" signal to the three-in-one device of the target storage gate slot; A. System determination: When the lifting equipment travels, when the equipment number n# to be operated is for the No. 1-4 deep-hole emergency gates, the lifting equipment walks towards the X01 position of the 01# storage gate slot; when the equipment number n# to be operated is for the No. 5-8 deep-hole emergency gates, the lifting equipment walks towards the X02 position of the 02# storage gate slot; the lifting equipment trolley moves, the hydraulic oil pump of the trolley traveling mechanism starts, and drives the hydraulic cylinder to drive the trolley to move towards the Y1 direction of the storage gate slot; and sends a "locking beam retraction" signal to the three-in-one device of the target storage gate slot where the target gate is stored; B. Manual determination: The background operation monitor confirms the position of the lifting equipment; 4) The locking beam is retracted, determined by the system or manually: A. System determination: After receiving the "locking beam retraction" signal, the three-in-one device of the target storage gate slot (X01 / X02) starts to retract the locking beam to the gate unlocking position D1 / D2; B. Manual determination: After the background operation monitor confirms the position of the locking beam, stop the vehicle; 5) The lifting equipment stops, determined by the system or manually: A. System determination: When the lifting equipment travels to the target storage gate slot (X01 / X02) position, the vehicle stops; B. The system determines that when the trolley of the hoisting equipment travels to the target storage gate slot position Y2, the trolley stops. C. Manually determine. After the backstage operation monitor confirms the position of the hoisting equipment, stop the vehicle. 5) The lifting head descends. The system determines that when the system detects that the locking beam of the target storage gate slot orifice is in the gate withdrawal positions D1 / D2, the lifting head starts to descend from the parking position H0; this step can be automatically delayed for execution. 6) The lifting head stops. When the system detects that the height of the lifting head is at the centering gate position H11, the lifting head stops. This step can be automatically delayed for execution.

[0042] 7) The lifting head is centered, determined by the system or manually. A. System determination: The system camera automatically determines the deviation angle between the lifting head and the gate lifting lugs. When the angle θ = 0, it means the lifting head is parallel to the gate lifting lugs and no active adjustment is required. When the angle θ ≠ 0, active adjustment is needed, and the lifting head adjustment device is used to adjust and correct the deviation. When the angle θ = 0, the adjustment stops. B. Manual determination: After the backstage operator confirms the centering of the lifting head through video monitoring, the lifting head lowering device is then operated.

[0043] 8) The lifting head is in place. After the lifting head is centered, the lifting head starts to descend into the gate lifting lugs. Under the guidance of the four-sided guide of the gate lifting lugs, the lifting head slowly enters the lifting lugs and mates with them.

[0044] 9) The lifting head is positioned, determined by the system or manually: A. System determination: When the four-sided in-place signal of the lifting head is received, the displayed weight < the weight of the lifting head, and the current height is at the gate storage position H12, stop. B. Manual determination: After the backstage operation monitor confirms the position of the lifting head, stop.

[0045] 10) The lifting head is pinned. After receiving the "lifting head pinning" signal from the backstage, the lifting head starts to pump and pin, or this step can be automatically delayed for execution.

[0046] 11) The pinning is in place. System determination: When the pinning is in place, stop the pump; Manual determination: Confirm that the lifting head pinning is in place.

[0047] 12) Extract the gate. After receiving the "extract the gate" signal from the backstage, when the system detects that the locking beam is in the gate withdrawal positions D1 / D2, the lifting head starts to lift, or this step can be automatically delayed for execution.

[0048] 13) The gate hovers. System determination: When the lifting height of the lifting head reaches the gate hovering position H6, stop; and send a "locking beam input" signal to the three-in-one device of the target storage gate slot (X01 / X02).

[0049] 14) The locking beam is put in, and the system makes a judgment or manual judgment: A. System judgment: When the lifting height of the gate reaches the gate hovering position H6, after the three-in-one device of the target storage gate slot (X01 / X02) receives the "locking beam put in" signal, it starts to put the locking beam out to the gate locking position C1 / C2. B. Manual judgment: After the backstage operation monitor confirms the position of the locking beam, stop the vehicle.

[0050] 15) The gate descends. When the system detects that the locking beam is in the gate locking position C1 / C2, the "gate descending" signal sent by the system background causes the lifting head to drive the gate to start descending, or this step is automatically executed after a delay.

[0051] 16) The gate is placed and locked, and the system makes a judgment or manual judgment: A. System judgment: When the locking beam is in the gate locking position C1 / C2, the system displays that the weight < the weight of the hydraulic lifting head, and when the current height is the gate placement position H7, stop the vehicle. B. Manual judgment: After the backstage operation monitor confirms the gate placement position, stop the vehicle.

[0052] 17) The lifting head withdraws the pin. After receiving the "lifting head withdraws the pin" signal sent by the background, the lifting head starts to pump and insert the pin, or this step is automatically executed after a delay.

[0053] 18) The pin withdrawal is in place. System judgment: When the pin withdrawal is in place, stop the pump; Manual judgment: Confirm that the lifting head pin withdrawal is in place.

[0054] 19) The lifting head is lifted. After receiving the "lifting head lifting" signal sent by the background, when the system detects that the lifting head pin shaft is in the withdrawn position, the lifting head starts to lift, or this step is automatically executed after a delay. 20) The lifting head stops. System judgment or manual judgment: A. System judgment: When the lifting head is lifted to the lifting head alignment gate position H5, stop the vehicle. B. Manual judgment: After the backstage operation monitor confirms the lifting head parking position, stop the vehicle.

[0055] 21) The lifting equipment starts to move. System judgment or manual judgment; A. The lifting equipment's trolley moves. The motor of the trolley traveling mechanism starts and travels in the direction of the n# gate slot Xn received by the system. B. The lifting equipment's hoist moves. The hydraulic oil pump of the hoist traveling mechanism starts, driving the hydraulic cylinder to drive the hoist to travel in the direction of the n# gate slot Y3.

[0056] 22) The lifting equipment stops. System judgment or manual judgment: A. System determination: When the system recognizes that the hoisting equipment has walked to the position of the n# gate slot (Xn, Y3), it stops. B. Manual determination: After the background operation monitor confirms the parking position of the hoisting equipment, it stops.

[0057] 23) Hoisting head alignment, system determination or manual determination; A. System determination: The system camera automatically determines the deviation angle between the hoisting head and the pull rod hanger. When the angle θ = 0, it means that the hoisting head is parallel to the pull rod hanger and no active adjustment is required. When the angle θ ≠ 0, active adjustment is needed, and the hoisting head adjustment device is used to adjust and correct the deviation. When the angle θ = 0, the adjustment stops; B. Manual determination: After the background operator confirms the alignment of the hoisting head through video monitoring, the hoisting head lowering device is operated; 24) Hoisting head in place: After the hoisting head alignment is completed, the hoisting head starts to descend into the pull rod hanger. Under the guidance of the four-sided guide of the pull rod hanger, the hoisting head slowly enters the hanger and cooperates with it.

[0058] 25) Hoisting head positioned, system determination or manual determination: A. System determination: When receiving the signal that the hoisting head is in place in all four directions, and the displayed weight < the weight of the hoisting head, and the current height is at the pull rod placement position H10, it stops; B. Manual determination: After the background operation monitor confirms the position of the hoisting head, it stops.

[0059] 26) Hoisting head pinning: After receiving the signal of "hoisting head pinning" sent from the background, the hoisting head pinning system starts to pump and perform the pinning action, or automatically executes this step after a delay.

[0060] 27) Pinning in place: The system detects that the pinning is in place and stops the pump. After the stop pump signal is sent, the background operator needs to confirm again that the hoisting head pinning is in place.

[0061] 28) Lifting the pull rod: After receiving the signal of "lifting the pull rod" sent from the background, the hoisting head starts to slowly lift the pull rod. At the same time, the system starts to count the operation times Nx of the pull rod; A. System determination: When the operation times Nx = 1, the hoisting equipment trolley moves, and the hydraulic oil pump of the trolley traveling mechanism starts, driving the hydraulic cylinder to drive the trolley to move towards the Y2 position in the direction of the n# gate slot; B. System determination: When the operation times Nx (1 < Nx ≤ 8), the hoisting equipment trolley moves, and the hydraulic oil pump of the trolley traveling mechanism starts, driving the hydraulic cylinder to drive the trolley to move towards the Y2 position in the direction of the Nx# gate slot orifice automatically determined by the system.

[0062] 29) Lifting and hovering, system determination and manual determination: 30) The system determines that when the number of operations Nx = 1 and the system detects that the hanging head is lifted to the suspension position H9 of the pull rod, it sends a "lock beam withdrawal" signal to the n# gate slot three-in-one device; 31) The system determines that when the number of operations Nx (1 < Nx ≤ 8) and the system detects that the hanging head is lifted to the suspension position H9 of the pull rod, it sends a "lock beam withdrawal" signal to the Nx# gate slot three-in-one device whose operation sequence is automatically determined by the system; 32) For the lock beam to withdraw, it is determined by the system or manually: A. The system determines that when the number of operations Nx = 1, after the n# gate slot three-in-one device receives the "lock beam withdrawal" signal, the device withdraws the lock beam to the gate unlocking position D1 / D2 and then stops driving; b. The system determines that when the number of operations Nx (1 < Nx ≤ 8), after the Nx# gate slot three-in-one device whose operation sequence is automatically determined by the system receives the "lock beam withdrawal" signal, the device withdraws the lock beam to the pull rod unlocking position B1 / B2 and then stops driving; c. Manually determine: After the backstage operation monitor confirms the position of the lock beam, stop the vehicle; 33) For lifting to stop, it is determined by the system or manually: A. The system determines that when the number of operations Nx = 1, when the hanging head is lifted to the position H5 + L (pull rod length) where the hanging head aligns with the gate, stop the vehicle; B. The system determines that when the number of operations Nx (1 < Nx ≤ 8), when the hanging head is lifted to the position H8 + L (pull rod length) where the hanging head aligns with the pull rod, stop the vehicle; C. Manually determine: After the backstage operation monitor confirms the height position of the lifted pull rod, stop the vehicle.

[0063] 34) For the lifting equipment to move, according to the instruction requirements, it is determined by the system or manually to move; The system determines that when the number of operations Nx = 1, the motor of the trolley traveling mechanism of the lifting equipment starts and travels towards the target storage gate slot (X01 / X02) automatically determined by the system (when the demand is "operating equipment number n#" for the 1# - 4# deep hole emergency gates, the lifting equipment travels towards the X01 position of the 01# storage gate slot; when the demand is "operating equipment number" for the 5# - 8# deep hole emergency gates, the lifting equipment travels towards the X02 position of the 02# storage gate slot); The system determines that when the number of operations Nx (1 < Nx ≤ 8), the motor of the trolley traveling mechanism of the lifting equipment starts and travels towards the Xn gate slot of the equipment number n# that needs to be operated; Manually determine: After the backstage operation monitor confirms the position of the trolley, stop the vehicle; 35) For the lifting equipment to stop, it is determined by the system or manually: The system determines that when the number of operations Nx = 1, when the overhead crane's trolley travels to the target storage door slot position (X01 / X02), the trolley stops; The system determines that when the number of operations Nx (1 < Nx ≤ 8), when the overhead crane's trolley travels to the Xn position of the n# door slot and the overhead crane's hoist travels to the Y2 position of the n# door slot, it stops; Manually determined. After the backstage operation monitor confirms the parking position of the overhead crane, it stops.

[0064] 36) The tie rod descends. The system determines: The system determines that when the number of operations Nx = 1, for the tie rod connecting to the door operation, during this movement process, the guiding groove at the lower section of the tie rod and the guiding boss of the gate lifting lug plate are slowly guided and positioned to ensure that the pin hole at the lower section of the tie rod can be concentric with the connecting hole of the gate lifting lug plate; The system determines that when the number of operations Nx (1 < Nx ≤ 8), for the tie rod connecting to the tie rod, during this movement process, the guiding groove at the lower section of the tie rod and the guiding boss of the tie rod lifting lug plate are slowly guided and positioned to ensure that the pin hole at the lower section of the tie rod can be concentric with the connecting hole of the tie rod lifting lug plate.

[0065] 37) Stop during descent. System determination or manual determination: The system determines that when the number of operations Nx = 1, when the lifting head descends to the gate placement position H7 + L, and the system shows that the weight < the weight of the lifting head + the tie rod weight, it stops; and sends a "tie rod pinning" signal to the tie rod pinning and withdrawing device at the target storage door slot (X01 / 02); The system determines that when the number of operations Nx (1 < Nx ≤ 8), when the lifting head descends to the tie rod placement position H10 + L (tie rod length), it stops and sends a "tie rod pinning" signal to the tie rod pinning and withdrawing device at the n# door slot; Manually determined. After the backstage operation monitor confirms the parking position of the tie rod, it stops.

[0066] 38) Tie rod pinning. The system determines: The system determines that when the number of operations Nx = 1, after receiving the "tie rod pinning" signal sent by the backstage, the tie rod pinning and withdrawing device at the target storage door slot (X01 / X02) starts to be powered on and starts rotational cooperation. After the device cooperates with the tie rod pinning and withdrawing handle, the pinning and withdrawing motor starts to be powered on for pinning operation, and the backstage operation monitor confirms the tie rod pinning position; The system determines that when the number of operations Nx (1 < Nx ≤ 8), after receiving the "tie rod pinning" signal sent by the backstage, the tie rod pinning and withdrawing device at the n# position starts to be powered on and starts rotational cooperation. After the device cooperates with the tie rod pinning and withdrawing handle, the pinning and withdrawing motor starts to be powered on for pinning operation, and the backstage operation monitor confirms the tie rod pinning position; 39) Pinning in place. System determination or manual determination: The system determines that when the number of operations Nx = 1, the drawbar pin is detected to be in place, and the power is cut off for pinning; the drawbar pinning and withdrawing device at the target storage gate slot (X01 / X02) position starts to separate from the drawbar pinning and withdrawing handle, and then the device is powered on and starts to rotate and reset; The system determines that when the number of operations Nx (1 < Nx ≤ 8), the drawbar pin is detected to be in place, and the power is cut off for pinning; the drawbar pinning and withdrawing device at the n# position starts to separate from the drawbar pinning and withdrawing handle, and then the device is powered on and starts to rotate and reset; Manually determined: The backstage operator needs to reconfirm that the drawbar pin is withdrawn in place.

[0067] 40) The lifting head is lifted, and the system determines: The system determines that when the number of operations Nx = 1, the gate is lifted. After receiving the "lifting head lifting" signal sent from the backstage, the lifting head starts to lift; The system determines that when the number of operations Nx (1 < Nx ≤ 8), the drawbar is lifted. After receiving the "lifting head lifting" signal sent from the backstage, the lifting head starts to lift; Manually determined: The backstage operation monitor confirms the locking beam situation.

[0068] 41) Lifting and hovering, system determination and manual determination: The system determines that when the number of operations Nx = 1, when the system detects that the lifting head is lifted to the gate + drawbar hovering position H2, it sends a "locking beam retraction" signal to the target storage gate slot (X01 / X02) three-in-one device; The system determines that when the number of operations Nx (1 < Nx ≤ 8), when the system detects that the lifting head is lifted to the drawbar hovering position H9 + L (drawbar length), it sends a "locking beam retraction" signal to the n# gate slot three-in-one device.

[0069] 42) The locking beam retracts, system determination or manual determination: The system determines that when the number of operations Nx = 1, after the target storage gate slot (X01 / X02) three-in-one device receives the "locking beam retraction" signal, the device retracts the locking beam to the gate unlocking position D1 / D2, and then stops driving; The system determines that when the number of operations Nx (1 < Nx ≤ 8), after the n# gate slot three-in-one device receives the "locking beam retraction" signal, the device retracts the locking beam to the drawbar unlocking position B1 / B2, and then stops driving; Manually determined: After the backstage operation monitor confirms the position of the locking beam, stop; The step jumps to 45); 43) Lifting and parking, system determination or manual determination: The system determines that when the number of operations Nx = 1, when the lifting head is lifted to the gate + drawbar out-of-slot position H1, stop; Manually determined: After the backstage operation monitor confirms the position where the gate comes out of the slot, stop; 44) Hoisting equipment moves, system determination: System determination: When the operation count Nx = 1, the motor of the trolley traveling mechanism starts, and it travels towards the position orifice Xn of the operating equipment n# received by the system; 45) Hoisting equipment stops, system determination or manual judgment: System determination: When the operation count Nx = 1, when the hoisting equipment trolley travels to the n# gate slot Xn position, it stops; Manual judgment: After the backstage operation monitor confirms the position of the hoisting equipment, it stops; 46) The lifting head descends, system determination: System determination: When the operation count Nx = 1, lower the gate. After the gate enters the gate slot, the hydraulic oil pump of the trolley traveling mechanism starts, driving the hydraulic cylinder to drive the vehicle to travel towards the position orifice Y3 of the operating equipment n# received; System determination: When the operation count Nx (1 < Nx ≤ 8), lower the tie rod. After the tie rod enters the gate slot, the hydraulic oil pump of the trolley traveling mechanism starts, driving the hydraulic cylinder to drive the vehicle to travel towards the position orifice Y3 of the operating equipment n# received.

[0070] 47) Lowering and hovering, system determination or manual determination: System determination: When the lifting head descends to the tie rod hovering position H9, and sends a "lock beam engaged" signal to the n# gate slot three-in-one device; Manual determination: After the backstage operation monitor confirms the position of the tie rod, it stops.

[0071] 48) Lock beam engaged, system determination or manual determination: System determination: After the n# gate slot three-in-one device receives the "lock beam disengaged" signal, the device withdraws the lock beam to the tie rod lock position A1 / A2, and then stops driving; Manual determination: After the backstage operation monitor confirms the position of the lock beam, it stops.

[0072] 49) Placing and stopping, system determination or manual determination: System determination: When the height of the lifting head is at the tie rod placement position H10, and the system shows that the weight < the weight of the lifting head, it stops; Manual determination: After the backstage operation monitor confirms the support condition of the tie rod, it stops; 50) The lifting head unlocks. After receiving the "lifting head unlocks" signal sent from the backstage, the lifting head starts to pump and unlock, or automatically executes this step after a delay; 51) Unlocking in place, system determination: Unlocking in place, stop the pump; Manual determination: Confirm that the lifting head unlocks in place; 52) Hoist head lifting: After receiving the "Hoist head lifting" signal sent from the background, when the system detects that the hoist head pin shaft is in the retracted position, the hoist head starts to lift, or this step is automatically executed with a time delay; 53) Hoist head stop: The system determines or manually determines: System determination: When the number of operations Nx (1 ≤ Nx < 8), the hoist head is lifted to the hoist head centering tie rod position H8 and stops; System determination: When the number of operations Nx = 8, the hoist head is lifted to the parking position H0 and stops; Manual determination: After the background operation monitor confirms the hoist head position, it stops; 54) Lifting equipment travel: The system determines: System determination: When the number of operations Nx (1 ≤ Nx < 8), the lifting equipment cart travels towards the Nx# gate slot of the operation sequence automatically determined by the system; System determination: When the number of operations Nx = 8, the cart travels towards the lifting equipment parking position X0; the trolley travels towards the lifting equipment parking position Y0; Manual determination: The background operation monitor observes the travel situation of the lifting equipment; 55) Lifting equipment stop: The system determines or manually determines: System determination: When the number of operations Nx (1 ≤ Nx < 8), when the lifting equipment cart reaches the Nx# gate slot position automatically determined by the system, it stops; the step jumps to 24); System determination: When the number of operations Nx = 8, the cart travels to the lifting equipment parking position X0 and stops; the trolley travels to the lifting equipment parking position Y0 and stops; Manual determination: After the background operation monitor confirms the parking position of the lifting equipment, it stops; 2. Gate lifting process of the inclined gate slot tie rod structure type gate of the hydropower station dam body: 1) User login: Enter the identity verification information. After the verification is passed, the operating system can be entered.

[0073] 2) Confirm the operating equipment number: Select the equipment number n# that needs to perform the gate lifting operation on the remote operation panel / mobile APP software and confirm the operation.

[0074] 3) Lifting equipment starts to travel: The lifting equipment travels from the parking position (X0, Y0) to the position (Xn, Y3) of the equipment number n# that needs to perform the gate lifting operation according to the command requirements.

[0075] 4) Lifting equipment stop: The system determines or manually determines System determination: When the lifting equipment cart is at the operation equipment gate slot Xn position, the cart stops; System determination: When the lifting equipment trolley is at the operation equipment gate slot Y3 position, the trolley stops; Manually judged. After the backstage operation monitor confirms the position of the lifting equipment, stop the vehicle.

[0076] 5) The lifting head descends. After the system receives the "lifting head descends" instruction, the lifting head starts to descend from the parking position H0, and this step can be automatically delayed for execution.

[0077] 6) The lifting head stops. When the system detects that the height of the lifting head is at the lifting head centering pull rod position H8, the lifting head stops, and this step can be automatically delayed for execution.

[0078] 7) The lifting head is centered, judged by the system or manually. System judgment: The system camera automatically judges the deviation angle between the lifting head and the pull rod lug. When the angle θ = 0, it means the lifting head is parallel to the pull rod lug and no active adjustment is required. When the angle θ ≠ 0, active adjustment is needed, and the lifting head adjustment device is used to adjust and correct the deviation. When the angle θ = 0, stop the adjustment. Manual judgment: After the backstage operator confirms the centering situation of the lifting head through video monitoring, then operate the lifting head device. 8) The lifting head is in place. After the lifting head is centered, the lifting head starts to descend into the pull rod lug. Under the guidance of the four-sided guide of the pull rod lug, the lifting head slowly enters the lug and cooperates with it.

[0079] 9) The lifting head is positioned, judged by the system or manually: System judgment: When receiving the four-sided in-place signal of the lifting head, if the displayed weight < the weight of the lifting head and the current height is at the pull rod placement position H10, stop the vehicle. Manual judgment: After the backstage operation monitor confirms the position of the lifting head, stop the vehicle. 10) The lifting head is pinned. After receiving the "lifting head pinned" signal sent from the backstage, the lifting head pinning system starts to pump and perform the pinning action, or this step can be automatically delayed for execution. 11) The pinning is in place, judged by the system and manually: System judgment: Detect that the lifting head pinning is in place and stop the pump. Manual judgment: The backstage operator needs to reconfirm that the lifting head pinning is in place. 12) Lift the pull rod. After receiving the "lift the pull rod" signal sent from the backstage, the lifting head starts to slowly lift the pull rod. At the same time, the system starts to count the number of operations Nx of the pull rod, and the lifting equipment trolley moves towards the Y2 position in the direction of the n# gate slot. 13) The pull rod hovers, judged by the system and manually System judgment: When the system detects that the lifting head is lifted to the pull rod hovering position H9, send a "lock beam retracts" signal to the n# gate slot three-in-one device. Manual judgment: After the backstage operation monitor confirms the height position of the pull rod, stop the vehicle. 14) The locking beam retracts, and it is determined by the system or manually: System determination: When the number of operations Nx (1 ≤ Nx < 8), after the n# gate slot three-in-one device receives the "locking beam retraction" signal, it will slowly retract the locking beam to the tie rod unlocking position B1 / B2 during the lifting process, and then stop driving; System determination: When the number of operations Nx = 8, after the n# gate slot three-in-one device receives the "locking beam retraction" signal, it will slowly retract the locking beam to the gate unlocking position D1 / D2 during the lifting process, and then stop driving.

[0080] 15) Lifting stop, and it is determined by the system or manually: System determination: When the number of operations Nx (1 ≤ Nx < 8), when the lifting head is lifted to the tie rod hovering position H9 + L (tie rod length), stop; and send the "locking beam insertion" signal to the n# gate slot three-in-one device; System determination: When the number of operations Nx = 8, when the lifting head is lifted to the tie rod + gate out-of-slot position H1, stop; the operation process jumps to step 23); Manual determination: After the background operation monitor confirms the height position of the lifting head, stop; 16) Locking beam insertion, and it is determined by the system or manually: System determination: When the number of operations Nx (1 ≤ Nx < 8), when it is detected that the lifting head is at the tie rod hovering position H9 + L (tie rod length), after the n# gate slot three-in-one device receives the "locking beam retraction" signal, it starts to insert the locking beam into the tie rod locking position A1 / A2; System determination: When the number of operations Nx = 8, when it is detected that the lifting head is lifted to the tie rod + gate out-of-slot position H1, stop; after the n# gate slot three-in-one device receives the "locking beam retraction" signal, it starts to insert the locking beam into the tie rod locking position A1 / A2; Manual determination: After the background operation monitor confirms the position of the locking beam, stop; 17) The lifting head descends. After the system receives the "lifting head descent" signal, the lifting head starts to descend, or this step is automatically executed after a delay.

[0081] 18) Lifting head stop, and it is determined by the system or manually: System determination: When the number of operations Nx (1 ≤ Nx < 8), when it is detected that the lifting head is at the tie rod placement position H10 + L, the lifting head stops; and send the "tie rod push pin" signal to the n# gate slot tie rod penetration and retraction pin device; Manual determination: After the background operation monitor confirms the height position of the lifting head, stop.

[0082] 19) Drawbar pin removal. After receiving the "drawbar pin removal" signal sent from the background, the drawbar pin removal device at the n# position starts to be powered on and starts rotating in cooperation. After the device cooperates with the drawbar pin removal handle, the drawbar pin removal motor starts to be powered on for pin removal operation, and the background operation monitor confirms the drawbar pin removal position.

[0083] 20) Pin removal in place. System determination or manual determination: System determination. When it is detected that the drawbar pin removal is in place, power is cut off for pin removal; the drawbar pin removal device at the n# position starts to separate from the drawbar pin removal handle, and then the device is powered on and starts rotating to reset. Manual determination. The background operator needs to confirm again that the drawbar pin removal is in place.

[0084] 21) Lift and separate the drawbar. After receiving the "lift and separate the drawbar" signal sent from the background, the lifting head starts to slowly lift the drawbar, or this step is automatically executed after a time delay. 22) Lift and stop. System determination or manual determination: System determination. When the lifting head lifts to the drawbar out-of-slot position H4, it stops. Manual determination. After the background operation monitor confirms the height position of the lifting head, it stops. 23) Lifting equipment travels. According to the command requirements, system determination or manual determination for traveling: System determination. When the number of operations Nx (1 ≤ Nx < 8), it indicates hoisting the drawbar and not connecting the gate. The motor of the traveling mechanism of the lifting equipment's trolley starts, and it travels to the Nx# gate slot position determined by the system automatically in sequence; the lifting equipment's trolley travels, the hydraulic oil pump of the trolley traveling mechanism starts, drives the hydraulic cylinder to drive the trolley to travel in the direction of the storage gate slot Y2; and sends a "locking beam withdrawal" signal to the storage target Nx# gate slot three-in-one device. System determination. When the number of operations Nx = 8, it indicates hoisting the last drawbar + gate. When the required operation equipment number n# is for the 1# - 4# deep-hole emergency gates, the lifting equipment travels to the 01# position of the 1# storage gate slot; when the required operation equipment number n# is for the 5# - 8# deep-hole emergency gates, the lifting equipment travels to the 02# position of the 2# storage gate slot. During the traveling process of the lifting equipment; the lifting equipment's trolley travels, the hydraulic oil pump of the trolley traveling mechanism starts, drives the hydraulic cylinder to drive the trolley to travel in the direction of the storage gate slot Y2; and sends a "locking beam withdrawal" signal to the storage target storage gate slot (X01 / X02) three-in-one device.

[0085] 24) Locking beam withdrawal. System determination or manual determination: System determination. When the number of operations Nx (1 ≤ Nx < 8), after the Nx# gate slot three-in-one device receives the "locking beam withdrawal" signal, it starts to withdraw the locking beam to the drawbar unlocking position B1 / B2. The system determines that when the number of operations Nx = 8, after the three-in-one device of the target storage gate slot (X01 / X02) receives the "locking beam withdrawal" signal, it starts to withdraw the locking beam to the gate unlocking positions D1 / D2; Manually determine, after the backstage operation monitor confirms the position of the locking beam, stop the vehicle; 25) Stop the hoisting equipment, system determination or manual determination: The system determines that when the number of operations Nx (1 ≤ Nx < 8), when the hoisting equipment trolley is at the Nx# gate slot determined by the system's automatic operation sequence and the trolley is at position Y2, stop the vehicle; The system determines that when the number of operations Nx = 8, when the hoisting equipment trolley is at the target storage gate slot (X01 / X02) position and the trolley is at position Y2, stop the vehicle; Manually determine, after the backstage operation monitor confirms the positions of the trolley and the crane, stop the vehicle.

[0086] 26) Lower the lifting head, according to the command requirements, or automatically carry out this process: The system determines that when the number of operations Nx (1 ≤ Nx < 8), it means lowering the lifting and not connecting the gate. At the same time, when detecting that the locking beam is at positions B1 / B2 when the pull rod is withdrawn, lower the pull rod; The system determines that when the number of operations Nx = 8, it means lowering the pull rod and the gate. At the same time, when detecting that the locking beam is at the gate withdrawal positions D1 / D2, lower the gate to the storage gate slot; 27) The lifting head hovers, system determination or manual determination of walking: The system determines that when the number of operations Nx (1 ≤ Nx < 8), it means lowering the lifting and not connecting the gate. When the lifting head descends to the pull rod hovering position H9, stop the vehicle; and send a "locking beam insertion" signal to the three-in-one device storing the Nx# gate slot; The system determines that when the number of operations Nx = 8, it means lowering the pull rod and the gate. When the lifting head descends to the pull rod + gate hovering position H2, stop the vehicle; and send a "locking beam insertion" signal to the three-in-one device storing the target storage gate slot (X01 / X02); Manually determine, after the backstage operation monitor confirms the parking position of the hoisting equipment lifting head, stop the vehicle.

[0087] 28) Insert the locking beam, system determination or manual determination: The system determines that when the number of operations Nx (1 ≤ Nx < 8), after the system detects that the lifting head is at the pull rod hovering position H9, the three-in-one device of the Nx# gate slot starts to insert the locking beam to the pull rod locking positions A1 / A2 after receiving the "locking beam insertion" signal; The system determines that when the number of operations Nx = 8, after the system detects that the lifting head hovers at the pull rod + gate position H2, the three-in-one device of the target storage door slot (X01 / X02) starts to insert the locking beam into the gate lock positions C1 / C2 after receiving the "locking beam insertion" signal.

[0088] 29) Lower and place, system determination or manual determination: The system determines that when the number of operations Nx (1 ≤ Nx < 8), when the locking beam is detected at the pull rod lock positions A1 / A2, the lifting head descends; The system determines that when the number of operations Nx = 8, when the locking beam is detected at the gate lock positions C1 / C2, the lifting head descends; Manually determined, after the backstage operation monitor confirms the position of the locking beam, the vehicle stops.

[0089] 30) Place and stop, system determination or manual determination: The system determines that when the number of operations Nx (1 ≤ Nx < 8), when the displayed weight < the weight of the lifting head and the current height of the lifting head is at the pull rod placement position H10, the vehicle stops; The system determines that when the number of operations Nx = 8, when the displayed weight < the weight of the lifting head + pull rod and the current height of the lifting head is at the gate placement position H7 + L (pull rod length), the vehicle stops; Manually determined, after the backstage operation monitor confirms the parking position, the vehicle stops.

[0090] 31) Unpinning operation, system determination or manual determination: The system determines that when the number of operations Nx (1 ≤ Nx < 8), after receiving the "unpinning operation" signal sent from the backstage, the lifting head starts the pump to unpin; The system determines that when the number of operations Nx = 8, after receiving the "unpinning operation" signal sent from the backstage, the pull rod unpinning device corresponding to the target storage door slot (X01 / X02) starts to be powered on and rotate. After the device cooperates with the pull rod unpinning handle, the unpinning motor starts to be powered on for the unpinning operation; Manually determined, the backstage operation monitor confirms the unpinning position.

[0091] 32) Unpinning in place, system determination and manual determination: The system determines that when the number of operations Nx (1 ≤ Nx < 8), when it is detected that the unpinning is in place, the lifting head device stops the pinning operation; The system determines that when the number of operations Nx = 8, when it is detected that the pull rod unpinning is in place, power off for unpinning; the pull rod unpinning device at the position of the target storage door slot (X01 / X02) starts to separate from the pull rod unpinning handle, and then the device is powered on and starts to rotate and reset; Manually determined, the backstage operator needs to reconfirm that the pull rod unpinning is in place; 33) Hoist head lifting, system determination and manual determination: System determination: When the operation count Nx (1 ≤ Nx < 8), after receiving the "hoist head lifting" signal sent from the background, the hoist head starts to slowly lift. System determination: When the operation count Nx = 8, after receiving the "hoist head lifting" signal sent from the background, the hoist head drives the pull rod and slowly lifts. 34) Hoist head parking, system determination and manual determination: System determination: When the operation count Nx (1 ≤ Nx < 8), when the hoist head lifts to the position where the hoist head aligns with the pull rod H8, it stops.

[0092] System determination: When the operation count Nx = 8, when the lifting height is at the position where the pull rod aligns with the gate H3, it stops.

[0093] Manual determination: After the background operation monitor confirms the position of the hoist head, it stops.

[0094] 35) Gantry traveling: The gantry mechanism of the lifting equipment is powered on and travels towards the operation equipment gate slot Xn.

[0095] 36) Gantry parking, system determination and manual determination: System determination: When the operation count Nx (1 ≤ Nx < 8), when the gantry of the lifting equipment travels to the position of the operation equipment n# gate slot Xn, it stops; jump to step 7). System determination: When the operation count Nx = 8, when the gantry of the lifting equipment travels to the position of the operation equipment n# gate slot Xn, it stops. Manual determination: After the background operation monitor confirms the position of the hoist head, it stops.

[0096] 37) Hoist head lowering, system determination: When the operation count Nx = 8, if it is detected that the locking beam of the n# gate slot is not at the pull rod locking position A1 / A2, the hoist head lowers, and the trolley travels towards Y3. This step can be automatically executed with a time delay. 38) Hoist head parking, system determination and manual determination: System determination: When the operation count Nx = 8, when the system detects that the hoist head height is at the pull rod hovering position H9, the hoist head stops and sends a "locking beam insertion" signal to the n# gate slot three-in-one device. Manual determination: After the background operation monitor confirms the position of the hoist head, it stops; 39) Locking beam insertion, system determination or manual determination: System determination: When the operation count Nx = 8, after the system detects that the hoist head is at the pull rod hovering position H9, after the n# gate slot three-in-one device receives the "locking beam insertion" signal, it starts to insert the locking beam to the pull rod locking position A1 / A2. Manual judgment: After the backstage operation monitor confirms the position of the locking beam, stop the vehicle; 40) The hanging head descends, system judgment or manual judgment: System judgment: When the operation count Nx = 8 and it is detected that the locking beam is at the drawbar locking positions A1 / A2, the hanging head descends; Manual judgment: After the backstage operation monitor confirms the position of the locking beam, stop the vehicle.

[0097] 41) Place and stop, system judgment or manual judgment: System judgment: When the operation count Nx = 8, the displayed weight < the weight of the hanging head, and the current height of the hanging head is at the drawbar placement position H10, stop the vehicle; Manual judgment: After the backstage operation monitor confirms the parking position, stop the vehicle.

[0098] 42) Pin removal operation, system judgment or manual judgment: System judgment: When the operation count Nx = 10, the hanging head starts the pump to remove the pin; Manual judgment: The backstage operation monitor confirms the pin removal position.

[0099] 43) Pin removal in place, system judgment and manual judgment: System judgment: When the operation count Nx = 8 and it is detected that the hanging head has removed the pin in place, the hanging head device stops the pin insertion operation; Manual judgment: The backstage operator needs to reconfirm that the drawbar has removed the pin in place; 44) The hanging head rises. System judgment: When the operation count Nx = 8 and after receiving the "hanging head rise" signal sent from the backstage, the hanging head rises slowly; 45) The hanging head stops, system judgment and manual judgment: System judgment: When the operation count Nx = 8 and the lifting height is at the hanging head centering gate position H5, stop the vehicle Manual judgment: After the backstage operation monitor confirms the position of the hanging head, stop the vehicle; 46) The crane travels. System judgment and manual judgment or automatically execute this process, System execution: The hoisting equipment's trolley mechanism is powered on and travels towards the target storage gate slot (X01 / X02); System execution: The hoisting equipment's trolley mechanism is powered on and travels in the reverse direction of Y1 towards the target gate slot; 47) The crane stops, system judgment and manual judgment: System judgment: When the system detects that the crane has traveled to the target storage gate slot (X01 / X02) position, stop the vehicle; when the trolley has traveled to the Y1 position, stop the vehicle; Manual judgment: After the backstage operation monitor confirms the position of the crane, stop the vehicle; 48) Crane head alignment, determined by the system or manually; System determination: The system camera automatically determines the deviation angle between the lifting head and the gate lifting lug. When the angle θ=0, it means that the lifting head is parallel to the gate lifting lug and no active adjustment is required. When the angle θ≠0, active adjustment is required and the lifting head adjustment device adjusts and corrects the deviation. When the angle θ=0, the adjustment stops. Manual judgment: the backstage operator confirms the centering of the crane head through video monitoring before lowering the crane head. 48) The lifting head is lowered into position. After the lifting head is aligned, it begins to lower into the gate lifting lug. Under the guidance of the four-sided guide of the gate lifting lug, the lifting head slowly enters the gate lifting lug and cooperates with it. Then the system determines or manually determines: The system determines that the four-side positioning signal of the crane is actuated, and the displayed weight is less than the weight of the crane device, and the crane stops; Manual judgment: the backstage operator confirms the position of the crane device through video monitoring and then stops the machine.

[0100] 49) The lifting head pinning system starts the pump and performs the pinning action or automatically delays the execution of this step after receiving the "lifting head pinning" signal from the background.

[0101] 50) Pinning in place, system judgment and manual judgment: The system determines that the pin is in place and stops the pump; Manual judgment: the back-end operator needs to reconfirm that the lifting head pin is in place.

[0102] 51) Lift the gate. After receiving the "lift gate" signal from the background, the crane starts to slowly lift the gate.

[0103] 52) Gate is suspended, system judgment or manual judgment: The system determines that when the crane head is lifted to the gate hovering position H6, it stops and sends a "lock beam exit" signal to the three-in-one device of the target storage gate slot (X01 / X02); Manual judgment: After the backstage operation monitoring personnel confirm the height position of the crane head, the crane stops; 53) The locking beam exits. After receiving the "locking beam exit" signal, the target storage gate slot (X01 / X02) three-in-one device slowly exits the locking beam to the gate unlocking position D1 / D2, and then stops driving; 54) When the gate is lowered and the system detects that the locking beam is in the gate unlocking position D1 / D2, the crane drives the gate to start descending, or automatically delays the execution of this step; 55) Storage parking, system determination or manual determination: The system determines that the system displays weight less than the weight of the crane head, and the current height is the gate storage position H12, and the vehicle stops; Manual determination: After the operator monitoring the background operation confirms the gate position, stop the vehicle; 56) Lift the head and retract the pin to start the pump. After receiving the signal of "lifting the head and retracting the pin" sent by the background, the head starts to lift and retract the pin to start the pump, or automatically execute this step after a delay; 57) Stop the pump when the pin retraction is in place. The system determines that the pin hydraulic rod has penetrated the pin in place and stops the pump; Manual determination: Confirm that the head pin retraction is in place; 58) Lift the head. After receiving the signal of "lifting the head" sent by the background, when the system detects that the head pin is in the retracted position, the head starts to lift, or automatically execute this step after a delay; 59) Stop the head. The system determines that when the head is lifted to the head parking position H0, stop the vehicle; and send a signal of "locking beam inserted" to the three-in-one device of the target storage gate slot (X01 / X02); 60) Insert the locking beam. After receiving the signal of "locking beam inserted", the three-in-one device of the target storage gate slot (X01 / X02) slowly inserts the locking beam to the pull rod locking position A1 / A2, and then stops driving; 61) The hoisting equipment moves. The system determines or manually determines; The system determines that the hoisting equipment's trolley moves. The motor of the trolley traveling mechanism starts, and it moves towards the hoisting equipment parking position X0; The system determines that the hoisting equipment's hoist moves. The hydraulic oil pump of the hoist traveling mechanism starts, and drives the hydraulic cylinder to drive the hoist to move towards the hoisting equipment parking position Y0; Manual determination: The operator monitoring the background operation observes the movement of the hoisting equipment; 62) Stop the hoisting equipment. The system determines or manually determines: The system determines that when the trolley reaches the parking position X0, stop the vehicle; when the hoist mechanism moves to the parking position Y0, stop the vehicle; Manual determination: After the operator monitoring the background operation confirms the parking position of the hoisting equipment, stop the vehicle; This patent has the following advantages: Through this method, remote automatic control of the hoisting equipment for lifting and lowering the inclined gate slot pull rod structure type gate can be realized, improving labor efficiency; The application of the automatic lifting and lowering method for the inclined gate slot pull rod structure type gate realizes unmanned operation for lifting and lowering the maintenance gate of the hydropower station, reduces the working time of the operators outdoors, and ensures the physical health of the operators; This method has strong versatility and can be extended to the opening and closing of other hoisting equipment for lifting and lowering gates, with broad application prospects.

[0104] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations on the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. Method for automatically closing the gate of the inclined gate slot tie rod structure type of the dam of a hydropower station, characterized in that: It includes the following steps: S1. Select the equipment number for which the door needs to be lowered; S2. The lifting equipment travels from the parking position to the corresponding target storage door slot and sends a "lock beam retraction" signal to the three-in-one device of the target storage door slot, and the position is manually confirmed during this period; S3. After receiving the signal, the three-in-one device of the target storage door slot retracts the lock beam to the gate unlocking position, and stops after the position is manually confirmed; S4. The trolley and the hoist of the lifting equipment stop at the designated positions respectively according to the system judgment, and stop after the position is manually confirmed; S5. After the lock beam is in place, the lifting head descends and stops at the designated height, and the system automatically or manually confirms the alignment of the lifting head with the gate lifting lugs; S6. After the lifting head is aligned, it enters the gate lifting lugs and fits in place, and performs pin insertion after receiving the pin insertion signal, and the system and the operator respectively confirm that the pin insertion is in place; S7. When the extraction signal is received and the lock beam condition is met, the lifting head lifts the gate, stops at the hovering position and sends a lock beam insertion signal; S8. The three-in-one device inserts the lock beam after receiving the signal, and then the system commands the lifting head to drive the gate to descend and stop at the placement position; S9. After receiving the pin removal signal, the lifting head removes the pin, and then when the lifting signal is received and the pin shaft condition is met, the lifting head lifts and stops at the designated height; S10. The lifting equipment travels to the n# door slot according to the instruction, and stops after the system or the operator confirms the arrival position; S11. The lifting head completes the alignment, positioning, and pin insertion operations with the n# door slot tie rod, and then drives the tie rod to be connected, moved, locked, and the pin removed in multiple steps with the gate, and sequentially completes the hoisting and lengthening of each tie rod until the gate falls to the sill, and finally the lifting equipment returns to its position and stops.

2. The method for automatically closing the gate of the inclined gate slot tie rod structure type of the dam of a hydropower station according to claim 1, characterized in that: The sub-steps of S1 are: S1.1 User login: Enter the identity verification information, and enter the operating system after passing the verification; S1.2 Confirm the operating equipment number on the remote operation panel or the mobile phone APP, select the equipment number n for which the door needs to be operated and confirm the operation.

3. The method for automatically closing the gate of the inclined gate slot tie rod structure type of the dam of a hydropower station according to claim 1, wherein: The sub-steps of S2 are: S2.1 The lifting equipment travels from the parking position (X0, Y0) to the target storage door slot according to the instruction; S2.1.1 If the equipment number n# to be operated is for the 1#-4# deep-hole emergency gate, the lifting equipment travels to the X01 position of the 01# storage door slot; if it is for the 5#-8# deep-hole emergency gate, it travels to the X02 position of the 02 storage door slot; S2.1.2 The hydraulic oil pump of the trolley traveling mechanism is started, and the hydraulic cylinder is driven to drive the trolley to travel in the Y1 direction of the storage door slot; S2.1.3 Send a "lock beam retraction" signal to the three-in-one device of the target storage door slot; S2.2 The background operation monitor confirms the position of the lifting equipment.

4. The method for automatically closing the gate of the inclined gate slot tie rod structure of the hydropower station dam body according to claim 1, characterized in that: The sub-steps of S3: S3.1 After receiving the "lock beam retraction" signal, the three-in-one device of the target storage door slot retracts the lock beam to the gate unlocking position D1 / D2; S3.2 The background operation monitor stops after confirming the position of the lock beam.

5. The method for automatically closing the gate of the inclined gate slot tie rod structure of the hydropower station dam body according to claim 1, characterized in that: The sub-steps of S4: S4.1 When the hoist of the lifting equipment travels to the X01 / X02 position of the target storage door slot, the hoist stops; S4.2 When the trolley of the lifting equipment travels to the Y2 position of the target storage door slot, the trolley stops; S4.3 The background operation monitor stops after confirming the position of the lifting equipment.

6. The method for automatically closing the gate of the inclined gate slot tie rod structure of the hydropower station dam body according to claim 1, characterized in that: The sub-steps of S5: S5.1 When the system detects that the locking beam of the target storage gate slot orifice is at the gate withdrawal positions D1 / D2, the lifting head starts to descend from the parking position H0 and can be automatically delayed for execution; S5.2 When the system detects that the height of the lifting head is at the gate centering position H11, the lifting head stops; S5.3 The system camera automatically determines the deviation angle between the lifting head and the gate lifting lug: S5.3.1 When the angle θ = 0, it means that the lifting head is parallel to the gate lifting lug and no active adjustment is required; S5.3.2 When the angle θ ≠ 0, active adjustment is required. The lifting head adjustment device adjusts to correct the deviation. When the angle θ = 0, the adjustment stops; S5.4 After the backstage operator confirms the centering situation of the lifting head through video monitoring, the next step is carried out.

7. The method for automatic closing of the gate of the inclined gate slot tie rod structure type of the dam body of a hydropower station according to claim 1, characterized in that: S6 Sub-step: S6.1 After the lifting head is centered, it descends into the gate lifting lug and cooperates to be in place under the guidance of the four-edge guide of the gate lifting lug; S6.2 When the system determines that it has received the signal that the lifting head is in place in all four directions, and the displayed weight < the weight of the lifting head, and the current height is at the gate storage position H12, it stops; or the backstage operation monitoring personnel stop after confirming the position of the lifting head; S6.3 After receiving the "lifting head pin insertion" signal sent by the backstage, the lifting head starts to pump and insert the pin, or it is automatically delayed for execution; S6.4 When the system determines that the pin insertion is in place, the pump stops; Manually determine and confirm that the lifting head pin insertion is in place.

8. The method for automatically closing the gate of the inclined gate slot tie rod structure of the hydropower station dam body according to claim 1, characterized in that: S7 Sub-step: S7.1 After receiving the "extract the gate" signal sent by the backstage, when the system detects that the locking beam is at the gate withdrawal positions D1 / D2, the lifting head starts to lift, or it is automatically delayed for execution; S7.2 When the system determines that the lifting height of the lifting head reaches the gate hovering position H6, it stops; and sends a "locking beam input" signal to the target storage gate slot three-in-one device.

9. The method for automatically closing the gate of the inclined gate slot tie rod structure type of the hydropower station dam body according to claim 1, characterized in that: S8 Sub-step: S8.1 After the target storage gate slot three-in-one device receives the "locking beam input" signal, it inputs the locking beam to the gate locking positions C1 / C2; or the backstage operation monitoring personnel stop after confirming the position of the locking beam; S8.2 When the system detects that the locking beam is at the gate locking positions C1 / C2, the system backstage sends a "gate lowering" signal, and the lifting head drives the gate to start descending, or it is automatically delayed for execution; S8.3 When the system determines that the locking beam is at the gate locking positions C1 / C2, and the system displays that the weight < the weight of the hydraulic lifting head, and the current height is the gate placement position H7, it stops; or the backstage operation monitoring personnel stop after confirming the gate placement position.

10. The method for automatically closing the gate of the inclined gate slot tie rod structure type of the dam of a hydropower station according to claim 1, characterized in that: S9 Sub-step: S9.1 After receiving the "lifting head pin removal" signal sent by the backstage, the lifting head starts to pump and remove the pin, or it is automatically delayed for execution; S9.2 When the system determines that the pin removal is in place, the pump stops; Manually determine and confirm that the lifting head pin removal is in place; S9.3 After receiving the "lifting head lifting" signal sent by the backstage, when the system detects that the lifting head pin shaft is at the withdrawal position, the lifting head starts to lift, or it is automatically delayed for execution; S9.4 When the system determines that the lifting head has lifted to the gate centering position H5 of the lifting head, it stops; or the backstage operation monitoring personnel stop after confirming the parking position of the lifting head.

11. The method for automatically closing the gate of the inclined gate slot tie rod structure type of the hydropower station dam body according to claim 1, characterized in that: S10 Sub-step: S10.1 The lifting equipment starts to move: S10.1.1 The motor of the traveling mechanism of the lifting equipment's trolley starts and travels towards the Xn position in the direction of the n# gate slot received by the system; S10.1.2 The hydraulic oil pump of the trolley traveling mechanism of the lifting equipment starts, driving the hydraulic cylinder to drive the trolley to travel towards the n# gate slot in the Y3 position; S10.2 The system determines that when the system recognizes that the lifting equipment has traveled to the n# gate slot (Xn, Y3) position, it stops; or the backstage operation monitor confirms the parking position of the lifting equipment and then stops.

12. The method for automatically closing the gate of the inclined gate slot tie rod structure type of the dam of a hydropower station according to claim 1, characterized in that: S11 Sub-steps: S11.1 Hoisting head centering pull rod: S11.1.1 The system camera automatically determines the deviation angle between the hoisting head and the pull rod lug. When the angle θ = 0, no active adjustment is required; when the angle θ ≠ 0, active adjustment is required. The hoisting head adjustment device is used for adjustment and deviation correction. When the angle θ = 0, the adjustment stops; S11.1.2 After the backstage operator confirms the centering situation of the hoisting head through video monitoring, proceed to the next step; S11.2 The hoisting head is positioned into the pull rod lug and is fitted in place under the guidance of the four-sided guide of the pull rod lug; S11.3 The system determines that it has received the signal that the hoisting head is in place in all four directions, and displays that the weight < the weight of the hoisting head, and the current height is at the pull rod placement position H10, then stops; or the backstage operation monitor confirms the position of the hoisting head and then stops; S11.4 After receiving the "hoisting head pinning" signal sent from the backstage, the hoisting head pinning system starts to pump and pin, or executes automatically with a time delay; S11.5 The system detects that the pinning is in place and stops the pump. After the stop pump signal is sent, the backstage operator confirms again that the hoisting head pinning is in place; S11.6 After receiving the "lifting the pull rod" signal sent from the backstage, the hoisting head starts to lift the pull rod, and at the same time the system starts to count the number of operations Nx of the pull rod; S11.6.1 When the number of operations Nx = 1, the trolley of the lifting equipment travels towards the Y2 position in the direction of the n# gate slot; S11.6.2 When 1 < Nx ≤ 8, the trolley of the lifting equipment travels towards the Y2 position in the direction of the Nx gate slot orifice automatically determined by the system according to the operation sequence; S11.7 Lifting and hovering: S11.7.1 The system determines that when the number of operations Nx = 1, when the system detects that the hoisting head has been lifted to the pull rod hovering position H9, it sends a "locking beam retraction" signal to the n# gate slot three-in-one device; S11.7.2 When 1 < Nx ≤ 8, when the system detects that the hoisting head has been lifted to the pull rod hovering position H9, it sends a "locking beam retraction" signal to the Nx# gate slot three-in-one device; S11.8 After the corresponding gate slot three-in-one device receives the "locking beam retraction" signal, it retracts the locking beam to the corresponding unlocking position; S11.8.1 When the number of operations Nx = 1, after the n# gate slot three-in-one device receives the "locking beam retraction" signal, the device retracts the locking beam to the gate unlocking position D1 / D2 and then stops driving; S11.8.2 When 1 < Nx ≤ 8, after the Nx# gate slot three-in-one device automatically determined by the system according to the operation sequence receives the "locking beam retraction" signal, the device retracts the locking beam to the pull rod unlocking position B1 / B2 and then stops driving; S11.8.3 The backstage operation monitor confirms the position of the locking beam and then stops; S11.9 Lifting stop: S11.9.1 The system determines that when the number of operations Nx = 1, the lifting head is lifted to the position of the lifting head centered on the gate H5 + L, and then stops; L is the length of the L-bar. S11.9.2 When 1 < Nx ≤ 8, the lifting head is lifted to the position of the lifting head centered on the L-bar H8 + L, and then stops. S11.9.3 After the backstage operation monitoring personnel confirm the height position of the lifted L-bar, they stop. S11.10 The lifting equipment moves according to the command requirements: S11.10.1 When the number of operations Nx = 1, the large vehicle of the lifting equipment moves towards the target storage gate slot X01 / X02. S11.10.2 When 1 < Nx ≤ 8, the large vehicle of the lifting equipment moves towards the operation equipment number Xn# recommended by the system in sequence. S11.10.3 After the backstage operation monitoring personnel confirm the position of the large vehicle, they stop. S11.11 The lifting equipment stops: S11.11.1 The system determines that when the number of operations Nx = 1, when the large vehicle of the lifting equipment moves to the target storage gate slot position X01 / X02, the large vehicle stops. S11.11.2 When 1 < Nx ≤ 8, when the large vehicle of the lifting equipment moves to the n# gate slot Xn position and the small vehicle moves to the n# gate slot Y3 position, it stops. S11.11.3 After the backstage operation monitoring personnel confirm the parking position of the lifting equipment, they stop. S11.12 The L-bar descends: S11.12.1 The system determines that when the number of operations Nx = 1, the L-bar is connected to the gate, and the guiding and positioning ensure concentricity. S11.12.2 When 1 < Nx ≤ 8, the L-bar is connected to the L-bar, and the guiding and positioning ensure concentricity. S11.13 Descent stop: S11.13.1 The system determines that when the number of operations Nx = 1, when the lifting head descends to the gate placement position H7+L, and the system shows that the weight < the weight of the lifting head + the L-bar, it stops, and sends a "L-bar pinning" signal to the L-bar pin insertion / removal device of the target storage gate slot. S11.13.2 When 1 < Nx ≤ 8, the lifting head descends to the L-bar placement position H10+L, stops, and sends a "L-bar pinning" signal to the L-bar pin insertion / removal device of the n# gate slot. S11.13.3 After the backstage operation monitoring personnel confirm the parking position of the L-bar, they stop. S11.14 The system determines that after receiving the "L-bar pinning" signal sent by the backstage, the L-bar pin insertion / removal device at the corresponding position starts the pinning operation, and the backstage operation monitoring personnel confirm the L-bar pinning position. S11.15 The system determines that when it detects that the L-bar pinning is in place, it cuts off the power for pinning and the device resets; or the backstage operator confirms again that the L-bar pin removal is in place. S11.16 After receiving the "lifting head lifting" signal sent by the backstage, the lifting head starts to lift; the backstage operation monitoring personnel confirm the situation of the locking beam. S11.17 Lifting and hovering: S11.17.1 The system determines that when the number of operations Nx = 1, when the system detects that the lifting head is lifted to the gate + L-bar hovering position H2, it sends a "locking beam retraction" signal to the three-in-one device of the target storage gate slot. S11.17.2 When the number of operations 1 < Nx ≤ 8, when the system detects that the lifting head is lifted to the pull rod hovering position H9+L, it sends a "lock beam withdrawal" signal to the n# gate slot three-in-one device; S11.18 After the corresponding three-in-one device receives the "lock beam withdrawal" signal, it withdraws the lock beam to the corresponding unlocking position; S11.18.1 When the number of operations Nx = 1, after the target storage gate slot three-in-one device receives the "lock beam withdrawal" signal, the device withdraws the lock beam to the gate unlocking position D1 / D2 and then stops driving; S11.18.2 When the number of operations 1 < Nx ≤ 8, after the n# gate slot three-in-one device receives the "lock beam withdrawal" signal, the device withdraws the lock beam to the pull rod unlocking position B1 / B2 and then stops driving; The step jumps to S11.22; S11.18.3 After the backstage operation monitoring personnel confirm the position of the lock beam, they stop the vehicle; S11.19 The system determines that when the number of operations Nx = 1, when the lifting head is lifted to the gate + pull rod out-of-slot position H1, it stops the vehicle; Manually determine and stop the vehicle after confirming the gate out-of-slot position; S11.20 The system determines that when the number of operations Nx = 1, the motor of the gantry traveling mechanism starts and travels in the direction of the Xn position hole of the operating equipment; S11.21 The system determines that when the number of operations Nx = 1, when the hoisting equipment travels to the Xn position of the n# gate slot, it stops the vehicle; Manually determine and stop the vehicle after confirming the position of the hoisting equipment; S11.22 The lifting head descends: S11.22.1 The system determines that when the number of operations Nx = 1, lower the gate. After the gate enters the gate slot, the trolley travels in the direction of the Y3 position of the n position hole; S11.22.2 When the number of operations 1 < Nx ≤ 8, lower the pull rod. After the pull rod enters the gate slot, the trolley travels in the direction of the Y3 position of the n position hole; S11.23 The system determines that the lifting head descends to the pull rod hovering position H9 and sends a "lock beam insertion" signal to the n# gate slot three-in-one device; Manually determine and stop the vehicle after confirming the position of the pull rod; S11.24 After the n# gate slot three-in-one device receives the "lock beam insertion" signal, it inserts the lock beam into the pull rod locking position A1 / A2; After the backstage operation monitoring personnel confirm the position of the lock beam, they stop the vehicle; S11.25 The system determines that when the height of the lifting head is at the pull rod placement position H10 and the system shows that the weight < the weight of the lifting head, it stops the vehicle; Manually determine and stop the vehicle after confirming the support condition of the pull rod; S11.26 After receiving the "lifting head pin removal" signal sent by the backstage, the lifting head starts to pump and remove the pin, or it is automatically delayed; S11.27 The system determines that the pin removal is in place and stops the pump; Manually determine and confirm that the lifting head pin removal is in place; S11.28 After receiving the "lifting head lifting" signal sent by the backstage, when the system detects that the lifting head pin is in the withdrawn position, the lifting head starts to lift, or it is automatically delayed; S11.29 The lifting head stops: S11.29.1 The system determines that when the number of operations 1 ≤ Nx < 8, the lifting head is lifted to the lifting head centering pull rod position H8 and stops; S11.29.2 When the number of operations Nx = 8, the lifting head is lifted to the parking position H0 and stops; S11.29.3 Stop the vehicle after manually determining and confirming the position of the lifting head; S11.30 Lifting equipment travel: S11.30.1 When the system determines that 1 ≤ Nx < 8 for the number of operations, the trolley of the lifting equipment travels to the (Nx + 1)-th gate slot as automatically determined by the system's operation sequence; S11.30.2 When the number of operations Nx = 8, the trolley travels to the lifting equipment parking position X0, and the hoist travels to the lifting equipment parking position Y0; S11.30.3 Manually observe the travel of the lifting equipment; S11.31 Lifting equipment stop: S11.31.1 When the system determines that 1 ≤ Nx < 8 for the number of operations and the trolley of the lifting equipment travels to the position of the (Nx + 1)-th gate slot as automatically determined by the system, stop and jump to S11.1; S11.31.2 When the number of operations Nx = 8, the trolley travels to the lifting equipment parking position X0 and stops, and the hoist travels to the lifting equipment parking position Y0 and stops; S11.31.3 Stop after manually determining and confirming the parking position of the lifting equipment.

13. Method for automatically lifting the gate of the inclined gate slot tie rod structure type of the dam of a hydropower station, characterized in that: It includes the following steps: S1. Select the equipment number of the gate to be lifted; S2. The lifting equipment travels from the parking position to the position of the n# gate slot of the target equipment number. Stop after the system or manual confirmation of the position; S3. The system controls the lowering of the lifting head. Stop when reaching the specified height, and automatically or manually confirm the centering situation between the lifting head and the pull rod lug; S4. After centering, the lifting head fits into the pull rod lug. After receiving the pin insertion signal, perform pin insertion, and the system and manual respectively confirm that the pin insertion is in place; S5. When receiving the lifting signal and meeting the conditions, the lifting head lifts the pull rod, stops at the hovering position and sends out signals related to the locking beam. The system controls the relevant device to complete the operation of withdrawing and inserting the locking beam; S6. Stop at the specified position and trigger the pull rod pin withdrawal. The device performs the pin withdrawal operation. After manually confirming the pin withdrawal situation, separate the pull rod; S7. The lifting equipment travels according to the instruction, completing multiple link operations of the lifting head and the pull rod or the gate, including centering, positioning, pin insertion, lifting, locking, placement, and pin withdrawal operations; S8. The lifting head completes centering, positioning, and pin insertion with the gate lug; S9. After receiving the lifting signal, the lifting head lifts the gate. Send out the locking beam withdrawal signal at the hovering position. After the locking beam is withdrawn, the gate descends to the storage position and stops; S10. After receiving the pin withdrawal signal, the lifting head withdraws the pin. After confirming that the pin withdrawal is in place, receive the lifting signal. The lifting head lifts to the parking position and triggers the three-in-one device at the storage gate slot orifice to perform the locking beam insertion operation; S11. The lifting equipment returns to the position and stops.

14. The method for automatically lifting the gate of the inclined gate slot tie rod structure type of the hydropower station dam body according to claim 1, characterized in that: Sub-steps of S1: S1.1 User login: Enter the identity verification information. After passing the verification, enter the operating system; S1.2 Confirm the operating equipment number on the remote operation panel or mobile APP. Select the equipment number n of the gate to be operated and confirm the operation.

15. The method for automatically lifting the gate of the inclined gate slot tie rod structure type of the dam of a hydropower station according to claim 1, characterized in that: Sub-steps of S2: S2.1 The lifting equipment travels from the parking position (X0, Y0) to the position (Xn, Y3) of the equipment number n that requires gate lifting operation; S2.1.1 The trolley of the lifting equipment travels to the Xn position of the operating equipment gate slot; S2.1.2 The hoist of the lifting equipment travels to the Y3 position of the operating equipment gate slot. S2.2 The system determines to stop the crane's trolley and crab after they reach the corresponding positions, or the backstage operation monitor confirms the positions and then stops.

16. The method for automatically lifting the gate of the inclined gate slot tie rod structure type of the dam body of a hydropower station according to claim 1, characterized in that: Sub-step S3: S3.1 When the system receives the "lower the lifting head" instruction, the lifting head starts to fall from the parking position H0 and can be executed automatically with a time delay. S3.2 When the system detects that the height of the lifting head is at the lifting head centering pull rod position H8, the lifting head stops and can be executed automatically with a time delay. S3.3 The system camera automatically determines the deviation angle between the lifting head and the pull rod lug: S3.3.1 When the angle θ = 0, no active adjustment is required. S3.3.2 When the angle θ ≠ 0, active adjustment is required. The lifting head adjustment device adjusts to correct the deviation. When the angle θ = 0, the adjustment stops. After the backstage operator confirms the centering situation of the lifting head through video monitoring, proceed to the next step.

17. The automatic gate lifting method for the inclined gate slot tie rod structure type of the hydropower station dam body according to claim 1, characterized in that: Sub-step S4: S4.1 After the lifting head is centered, it descends into the pull rod lug and fits in place under the guidance of the four-sided guide. S4.2 The system determines that it has received the signal that the lifting head is in place in all four directions, displays a weight < the weight of the lifting head, and the current height is at the pull rod placement position H10, then stops; or the backstage operation monitor confirms the position of the lifting head and then stops. S4.3 After receiving the backstage "insert pin into the lifting head" signal, the lifting head pin insertion system starts the pump to insert the pin and can be executed automatically with a time delay. S4.4 The system determines that the pin insertion is in place and stops the pump. The backstage operator confirms again that the pin insertion is in place.

18. The method for automatically lifting the gate of the inclined gate slot tie rod structure type of the hydropower station dam body according to claim 1, characterized in that: Sub-step S5: S5.1 After receiving the backstage "lift the pull rod" signal, the lifting head starts to lift the pull rod, and at the same time the system starts to count the number of pull rod operation times Nx; the crane's trolley travels towards the Y2 position in the direction of the n# gate slot. S5.2 Lift and hover. When the lifting head is lifted to the pull rod hover position H9, send a "retract the locking beam" signal to the n# gate slot three-in-one device. S5.3 After the corresponding gate slot three-in-one device receives the "retract the locking beam" signal, it retracts the locking beam to the corresponding unlocking position. S5.3.1 When the operation times 1 ≤ Nx < 8, after the n# gate slot three-in-one device receives the "retract the locking beam" signal, the device retracts the locking beam to the pull rod unlocking position B1 / B2 and then stops driving. S5.3.2 When the operation times Nx = 8, after the n# gate slot three-in-one device receives the "retract the locking beam" signal, the device retracts the locking beam to the gate unlocking position D1 / D2 and then stops driving. The backstage operation monitor confirms the position of the locking beam and then stops. Lift and stop S5.4.1 The system determines that when 1 ≤ Nx < 8, when the lifting head is lifted to the pull rod hover position H9 + L (pull rod length), it stops and sends a "insert the locking beam" signal to the n# gate slot three-in-one device. S5.4.2 The system determines that when Nx = 8, when the lifting head is lifted to the pull rod + gate out-of-slot position H1, it stops and sends a "insert the locking beam" signal to the n# gate slot three-in-one device; the operation process jumps to step S7. The backstage operation monitor confirms the height position of the lifting head and then stops. After the n# gate slot three-in-one device receives the "insert the locking beam" signal, it inserts the locking beam to the corresponding locking position. S5.5.1 When the system determines that 1 ≤ Nx < 8, when detecting that the hanging head is at the suspension position H9 + L (length of the pull rod), the triple device of the n# gate slot will insert the locking beam into the pull rod locking positions A1 / A2 and then stop driving; S5.5.2 When the system determines that Nx = 8, when the hanging head is lifted to the position H1 where the pull rod + gate exits the slot, the triple device of the n# gate slot will insert the locking beam into the pull rod locking positions A1 / A2 and then stop driving; S5.5.3 After the backstage operation monitor confirms the position of the locking beam, the vehicle stops.

19. The method for automatically lifting the gate of the inclined gate slot tie rod structure type of the hydropower station dam body according to claim 1, characterized in that: S6 Sub - steps: S6.1 After the system receives the "hanging head descending" signal, the hanging head starts to descend or is executed automatically with a time delay; S6.2 When the system detects that the hanging head is at the pull rod placement position H10 + L, the hanging head stops and sends a "pull rod pin withdrawal" signal to the pull rod pin penetration / withdrawal device of the n# gate slot; or the backstage operation monitor stops the vehicle after confirming the height position of the hanging head; S6.3 After receiving the "pull rod pin withdrawal" signal from the backstage, the pull rod pin penetration / withdrawal device at the n# position starts the pin withdrawal operation, and the backstage operation monitor confirms the pull rod pin withdrawal position; S6.4 When the system determines that the pull rod pin withdrawal is in place, the power is cut off for pin withdrawal and the device is reset; the backstage operator confirms again that the pull rod pin withdrawal is in place; S6.5 After receiving the "lift and separate the pull rod" signal from the backstage, the hanging head lifts the pull rod or is executed automatically with a time delay; S6.6 When the system determines that the hanging head is lifted to the pull rod out - of - slot position H4, it stops; or the backstage operation monitor stops the vehicle after confirming the height position of the hanging head.

20. The method for automatically lifting the gate of the inclined gate slot tie rod structure type of the dam body of a hydropower station according to claim 1, characterized in that: S7 Sub - steps: S7.1 The lifting equipment moves according to the command requirements: S7.1.1 When the system determines that 1 ≤ Nx < 8, the crane's trolley moves towards the Nx# gate slot position automatically determined by the system in sequence, and the hoist moves towards the storage gate slot Y2 direction, and sends a "locking beam withdrawal" signal to the triple device of the target Nx# gate slot; S7.1.2 When the system determines that Nx = 8, it moves according to the position of the storage gate slot (X01 / X02) determined by the system, the hoist moves towards the storage gate slot Y2 direction, and sends a "locking beam withdrawal" signal to the triple device of the storage gate slot (X01 / X02) where the target is stored; S7.2 After the corresponding triple device receives the "locking beam withdrawal" signal, it withdraws the locking beam to the corresponding unlocking position; S7.2.1 When the number of operations 1 ≤ Nx < 8, after the triple device of the Nx# gate slot receives the "locking beam withdrawal" signal, the device withdraws the locking beam to the pull rod unlocking positions B1 / B2 and then stops driving; S7.2.2 When the number of operations Nx = 8, after the triple device of the target storage gate slot (X01 / X02) receives the "locking beam withdrawal" signal, the device withdraws the locking beam to the gate unlocking positions D1 / D2 and then stops driving; S7.2.3 After the backstage operation monitor confirms the position of the locking beam, the vehicle stops; S7.3 The lifting equipment stops: S7.3.1 When the system determines that 1 ≤ Nx < 8, the crane's trolley stops at the Nx# gate slot position automatically determined by the system in sequence, and the hoist stops at the Y2 position; S7.3.2 The system determines that when Nx = 8, the overhead crane trolley stops at the target storage gate slot (X01 / X02) position and the hoist stops at the Y2 position; S7.3.3 The backstage operation supervisor stops the crane after confirming the positions of the trolley and the hoist; S7.4 Hoist rod lowering: S7.4.1 The system determines that when 1 ≤ Nx < 8, and the locking beam is detected at the hoist rod withdrawal positions B1 / B2, lower the hoist rod to the Nx gate slot; S7.4.2 The system determines that when Nx = 8, and the locking beam is detected at the gate withdrawal positions D1 / D2, lower the gate to the storage gate slot; S7.5 Lowering and hovering: S7.5.1 The system determines that when 1 ≤ Nx < 8, when the lifting head descends to the hoist rod hovering position H9, stop, and send a "locking beam engaged" signal to the three-in-one device for storing the Nx gate slot; S7.5.2 The system determines that when Nx = 8, when the lifting head descends to the hoist rod + gate hovering position H2, stop, and send a "locking beam engaged" signal to the three-in-one device for storing the target storage gate slot; S7.5.3 The backstage operation supervisor stops the crane after confirming the parking position of the lifting head of the overhead crane; After the corresponding three-in-one device receives the "locking beam engaged" signal, it engages the locking beam to the corresponding locking position; S7.6.1 When the number of operations 1 ≤ Nx < 8, after the system detects that the lifting head is at the hoist rod hovering position H9, after the three-in-one device of the Nx# gate slot receives the "locking beam engaged" signal, the device engages the locking beam to the hoist rod locking positions A1 / A2, and then stops driving; S7.6.2 When the number of operations Nx = 8, after the system detects that the lifting head is at the hoist rod + gate hovering position H2, after the three-in-one device of the target storage gate slot (X01 / X02) receives the "locking beam engaged" signal, the device engages the locking beam to the gate locking positions C1 / C2, and then stops driving; S7.6.3 The backstage operation supervisor stops the crane after confirming the position of the locking beam; S7.7 Lowering and placing: S7.7.1 The system determines that when 1 ≤ Nx < 8, when the locking beam is detected at the hoist rod locking positions A1 / A2, the lifting head descends; S7.7.2 The system determines that when Nx = 8, when the locking beam is detected at the gate locking positions C1 / C2, the lifting head descends; S7.7.3 The backstage operation supervisor stops the crane after confirming the position of the locking beam; S7.8 Placing and stopping: S7.8.1 The system determines that when 1 ≤ Nx < 8, when the displayed weight < the weight of the lifting head and the current height of the lifting head is at the hoist rod placing position H10, stop; S7.8.2 The system determines that when Nx = 8, when the displayed weight < the weight of the lifting head + the hoist rod and the current height of the lifting head is at the gate placing position H7 + L, stop; S7.8.3 The backstage operation supervisor stops the crane after confirming the parking position; S7.9 Pin removal operation: S7.9.1 The system determines that when 1 ≤ Nx < 8, after receiving the "pin removal operation" signal from the backstage, the lifting head starts the pump to remove the pin; S7.9.2 The system determines that when Nx = 8, after receiving the "pin removal operation" signal from the backstage, the pin threading and removal device for the hoist rod of the corresponding target storage gate slot (X01 / X02) starts for the pin removal operation; S7.10 Pin removal in place: S7.10.1 When the system determines that 1 ≤ Nx < 8 and the pin withdrawal of the hanging head is detected to be in place, the pin threading operation of the hanging head device stops; S7.10.2 When the system determines that Nx = 8 and the pin withdrawal of the pull rod is detected to be in place, power is cut off for pin withdrawal and the device resets; S7.10.3 The backstage operator re - confirms the pin withdrawal in - place situation; S7.11 Hanging head lifting: S7.11.1 When the system determines that 1 ≤ Nx < 8 and after receiving the "hanging head lifting" signal from the backstage, the hanging head lifts; S7.11.2 When the system determines that Nx = 8 and after receiving the "hanging head lifting" signal from the backstage, the hanging head drives the pull rod to lift; S7.12 Hanging head parking: S7.12.1 When the system determines that 1 ≤ Nx < 8 and the lifting height of the hanging head reaches the position H8 where the hanging head aligns with the pull rod, it stops; S7.12.2 When the system determines that Nx = 8 and the lifting height is at the position H3 where the pull rod aligns with the gate, it stops; S7.12.3 The backstage operation monitoring personnel confirm the position of the hanging head and then stop; S7.13 The trolley mechanism of the lifting equipment is powered on and moves towards the gate slot Xn of the operating equipment; S7.14 Trolley parking of the lifting equipment: S7.14.1 When the system determines that 1 ≤ Nx < 8 and the trolley of the lifting equipment moves to the position of the n# gate slot Xn of the operating equipment and stops, it jumps to step S3; S7.14.2 When the system determines that Nx = 8 and the trolley of the lifting equipment moves to the position of the n# gate slot Xn of the operating equipment and stops; S7.14.3 The backstage operation monitoring personnel confirm the position of the hanging head and then stop; S7.15 When the system determines that Nx = 8 and it is detected that the locking beam is not at the pull - rod locking positions A1 / A2, the hanging head descends and the trolley moves towards Y3, which can be automatically executed with a time delay; S7.16 When the system determines that Nx = 8 and the system detects that the hanging head height is at the pull - rod hovering position H9, the hanging head stops and sends a "locking beam input" signal to the three - in - one device of the n# gate slot; or the backstage operation monitoring personnel confirm the position of the hanging head and then stop; S7.17 When the system determines that Nx = 8 and after the system detects that the hanging head is at the pull - rod hovering position H9, the three - in - one device of the n# gate slot inserts the locking beam to the pull - rod locking positions A1 / A2; or the backstage operation monitoring personnel confirm the position of the locking beam and then stop; S7.18 When the system determines that Nx = 8 and it is detected that the locking beam is at the pull - rod locking positions A1 / A2, the hanging head descends; or the backstage operation monitoring personnel confirm the position of the locking beam and then stop; S7.19 When the system determines that Nx = 8 and the displayed weight < the weight of the hanging head and the current height of the hanging head is at the pull - rod placement position H10, it stops; or the backstage operation monitoring personnel confirm the parking position and then stop; S7.20 When the system determines that Nx = 8, the hanging head starts the pump for pin withdrawal; the backstage operation monitoring personnel confirm the pin withdrawal position; S7.21 When the system determines that Nx = 8 and it is detected that the pin withdrawal of the hanging head is in place, the pin threading operation of the hanging head device stops; the backstage operator re - confirms the pin withdrawal in - place of the pull rod; S7.22 When the system determines that Nx = 8 and after receiving the "hanging head lifting" signal from the backstage, the hanging head lifts; The S7.23 system determines that when Nx = 8, the lifting height is at the center position of the lifting head for the gate H5, and then stops; or the backstage operation monitoring personnel stop after confirming the position of the lifting head; The lifting equipment moves towards the target storage gate slot (X01 / X02): S7.24.1 The trolley mechanism of the lifting equipment is powered on and moves towards the target storage gate slot (X01 / X02); S7.24.2 The hoist mechanism of the lifting equipment is powered on and moves towards the Y2 direction of the target gate slot; The S7.25 system determines that when the system detects that the trolley has moved to the position of the target storage gate slot, it stops; when the hoist has moved to the Y2 position, it stops; or the backstage operation monitoring personnel stop after confirming the position of the trolley.

21. The automatic gate lifting method for the inclined gate slot tie rod structure type of the hydropower station dam body according to claim 1, characterized in that: The sub-steps of S8 are as follows: S8.1 The system camera automatically determines the deviation angle between the lifting head and the gate lifting lug: S8.1.1 When the angle θ = 0, no active adjustment is required; S8.1.2 When the angle θ ≠ 0, active adjustment is required. The lifting head adjustment device is used for adjustment and deviation correction, and stops adjusting when the angle θ = 0; After the backstage operator confirms the centering situation of the lifting head through video monitoring, proceed to the next step; After the lifting head is centered, it descends into the gate lifting lug and fits in place under the guidance of the four-sided guide; The S8.4 system determines that the signal for the four sides of the lifting head to be in place is triggered, and when the displayed weight < the weight of the lifting head device, it stops; or the backstage operator stops after confirming the position of the lifting head device through video monitoring; After receiving the "lifting head pin insertion" signal from the backstage, the lifting head pin insertion system starts the pump to insert the pin, or executes automatically with a time delay; The S8.6 system determines that the pin insertion is in place and stops the pump, and the backstage operator confirms again that the pin insertion is in place.

22. The method for automatically lifting the gate of the inclined gate slot tie rod structure type of the dam body of a hydropower station according to claim 1, characterized in that: Sub-steps of S9: S9.1 After receiving the "lift the gate" signal from the backstage, the lifting head lifts the gate; The S9.2 system determines that when the lifting head has been lifted to the gate hovering position H6, it stops and sends a "lock beam retraction" signal to the triple combination device of the target storage gate slot (X01 / X02); or the backstage operation monitoring personnel stop after confirming the height position of the lifting head; After the triple combination device of the target storage gate slot (X01 / X02) receives the "lock beam retraction" signal, it retracts the lock beam to the gate unlocking position D1 / D2; When the S9.4 system detects that the lock beam is in the gate unlocking position D1 / D2, the lifting head drives the gate to descend, or executes automatically with a time delay; The S9.5 system determines that the displayed weight < the weight of the lifting head, and when the current height is the gate storage position H12, it stops; or the backstage operation monitoring personnel stop after confirming the gate position.

23. The method for automatically lifting the gate of the inclined gate slot tie rod structure type of the dam body of a hydropower station according to claim 1, characterized in that: Sub-steps of S10: S10.1 After receiving the "lifting head pin removal" signal from the backstage, the lifting head starts the pump to remove the pin, or executes automatically with a time delay; The S10.2 system determines that the pin hydraulic rod has been inserted in place and stops the pump; Manually determine and confirm that the lifting head pin removal is in place; S10.3 After receiving the "lifting head lift" signal from the backstage, when the system detects that the lifting head pin is in the withdrawn position, the lifting head lifts, or executes automatically with a time delay; The S10.4 system determines that when the lifting head has been lifted to the lifting head parking position H0, it stops and sends a "lock beam insertion" signal to the triple combination device of the target storage gate slot (X01 / X02); After the three-in-one device of the target storage door slot (X01 / X02) receives the "locking beam input" signal, the locking beam is inserted into the pull rod lock positions A1 / A2.

24. The method for automatically lifting the gate of the inclined gate slot tie rod structure type of the hydropower station dam body according to claim 1, wherein: Sub-step of S11: S11.1 Hoisting equipment returns to its position and moves: S11.1.1 The motor of the traveling mechanism of the hoisting equipment's trolley starts and moves towards the hoisting equipment parking position X0. S11.1.2 The hydraulic oil pump of the traveling mechanism of the hoisting equipment's trolley starts, driving the hydraulic cylinder to drive the trolley to move towards the hoisting equipment parking position Y0. S11.2 Hoisting equipment returns to its position: S11.2.1 When the system detects that the trolley has reached the parking position X0, the trolley stops. S11.2.2 When the system detects that the trolley has reached the parking position Y0, the trolley stops. S11.2.3 The backstage operation monitoring personnel confirm the hoisting equipment parking position and then stop.

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