Integrated intelligent hoist

Abstract

The application relates to the field of gate control of water conservancy projects, and particularly discloses an integrated intelligent hoist, which comprises: a volume calculation module that divides a grid subunit based on a DEM digital elevation model, performs a curvilinear integration in combination with a terrain curvature parameter and a real-time water depth, and dynamically calculates a reservoir volume, thereby solving the problem of misjudgment of storage capacity caused by complex terrain and silt interference in the traditional water level method; a gate opening triggering module that generates a flood discharge instruction through volume threshold comparison; a flood discharge monitoring module that extracts a gate contour line by using high-definition video monitoring and calibrates an actual opening degree in combination with an image edge detection algorithm, thereby ensuring that a flow area is accurately controllable; and an automatic gate closing module that calculates a flood discharge demand duration according to a flood discharge water volume, a flow area and a flow velocity, dynamically corrects a gate closing time point, and prevents excessive flood discharge or insufficient water storage. The application systematically solves the limitations of the traditional warning water level method and fixed opening degree control, and improves the accuracy, safety and resource utilization efficiency of reservoir management.

Description

Technical Field

[0001] This invention relates to the field of gate control in water conservancy projects, and specifically to an integrated intelligent gate opener / closer. Background Technology

[0002] Gate hoists are devices used in various large-scale water supply and drainage, water conservancy and hydropower projects. They can control the lifting and lowering of various large and medium-sized cast iron gates and steel gates to achieve opening and closing.

[0003] The precise control of gate opening and closing is crucial to the safety and efficiency of water conservancy projects. Precise control can prevent mechanical damage caused by gate opening and closing, prevent disasters such as water hammer, and ensure project safety; it enables refined allocation of water resources, improving power generation and navigation efficiency; it is also the foundation for intelligent water conservancy automation management, facilitating data collection and predictive maintenance; it can also reduce equipment wear and tear, lower operation and maintenance costs, enable rapid response in emergency situations, and enhance the project's emergency response capabilities.

[0004] Existing methods for improving the accuracy of gate hoist opening and closing control mostly focus on improving the hoist's own structure. However, they rarely consider external factors that affect the precise control of the gate. For example, the accumulation of silt at the bottom of the water or complex terrain can cause a non-linear relationship between water depth and water storage, resulting in insufficient reliability of gate opening triggered by warning water level. Furthermore, gate deformation, debris inclusion, or equipment failure and aging can cause the actual gate opening degree to be inconsistent with the system setting value, which in turn can lead to the gate closing time being earlier or later based on the flood discharge volume. The existence of these external factors will make the gate hoist control system's opening and closing control accuracy insufficient. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes an integrated intelligent gate hoist that enables the control of gates in water conservancy projects.

[0006] The technical solution adopted by the present invention to solve its technical problem is as follows: The present invention provides an integrated intelligent gate opening and closing mechanism, including: a volume calculation module, which divides the reservoir area into gridded sub-units according to the DEM digital elevation model of the reservoir and records the topographic curvature parameters, boundary elevation data and boundary coordinate data of each sub-unit, and performs spatial integration calculation in combination with the water depth of each sub-unit to dynamically calculate the current volume of the reservoir.

[0007] The gate opening trigger module compares the current reservoir volume with the preset volume threshold. If the threshold is exceeded, a gate opening command is generated and sent to the gate hoist, while simultaneously recording the flood discharge volume and the start time of the flood discharge.

[0008] The flood discharge monitoring module uses a high-definition video monitoring device to acquire the visual characteristics of the gate opening during the flood discharge process, performs opening calibration analysis on the actual flow area of ​​the gate, and monitors the flood discharge flow velocity.

[0009] The automatic gate closing module calculates the flood discharge duration according to the flood discharge volume, the actual flow area of the gate and the flood discharge flow velocity, calculates the end time point of the flood discharge in combination with the start time point of the flood discharge, generates a gate closing instruction and transmits the gate closing instruction to the gate hoist.

[0010] On the basis of the above embodiment, the specific working process of the volume calculation module for dynamically calculating the current volume of the reservoir is as follows: Step 1, obtaining the DEM digital elevation model of the reservoir to construct the terrain surface of the reservoir bottom, dividing the entire reservoir area into grid subunits, recording the terrain curvature parameters, boundary elevation data and boundary coordinate data of each subunit, the boundary elevation data including the elevation of the four corner points of the unit, and the boundary coordinate data including the coordinates of the four corner points of the unit.

[0011] Step 2, real-time collecting the water depth values of the center points of each subunit through the distributed depth sensor array arranged in the reservoir area.

[0012] Step 3, obtaining the water surface elevation of each subunit according to the boundary elevation data and real-time water depth values of each subunit. .

[0013] Step 4, obtaining the reference elevation of each subunit, combining the center point coordinates and terrain curvature parameters of each subunit to construct the bottom elevation function of each subunit. .

[0014] Step 5, obtaining the planar coordinate range of each subunit according to the coordinates of the four corner points of each subunit. , .

[0015] Step 6, calculating the volume of each subunit through double quadratic area integration. .

[0016] Step 7, accumulating the volumes of each subunit to obtain the current volume of the reservoir.

[0017] On the basis of the above embodiment, the specific working process of the gate opening trigger module is as follows: comparing the current volume of the reservoir with the preset volume threshold value, if the threshold value is exceeded, triggering the gate opening and generating a gate opening instruction sent to the gate hoist control system, recording the part of the current volume of the reservoir exceeding the volume threshold value as the flood discharge volume, and simultaneously activating the flood discharge timer to record the start time point of the flood discharge.

[0018] ​​On the basis of the above-mentioned embodiment, the specific working process of the flood discharge monitoring module is: D1: setting a monitoring time period during the flood discharge process and arranging each monitoring time point in the monitoring time period according to the preset equal time interval principle, collecting the images of the gate at each monitoring time point in the monitoring time period through the high-definition video monitoring device arranged on both sides of the gate chamber, and extracting the contour line corresponding to the gate opening degree at each monitoring time point based on the image edge detection algorithm.

[0019] D2: comparing the contour line corresponding to the gate opening degree at each monitoring time point with the contour line corresponding to the set gate opening degree, if they are consistent, the gate opening degree does not need to be calibrated, and the flow area under the set gate opening degree is recorded as the actual flow area of the gate, otherwise, the gate opening degree needs to be calibrated, and D3 is performed.

[0020] D3: obtaining the flow area of the gate at each monitoring time point according to the contour line corresponding to the gate opening degree at each monitoring time point, performing dynamic calibration or static calibration of the gate opening degree according to whether the flow area of the gate at the monitoring time point fluctuates, and analyzing the actual flow area of the gate.

[0021] D4: collecting the flow velocity of the gate at each monitoring time point in the monitoring time period through the Doppler flow velocity meter and performing mean value calculation to obtain the flood discharge flow velocity.

[0022] On the basis of the above-mentioned embodiment, the specific process of calculating the flood discharge demand duration in the automatic gate closing module is: recording the flood discharge water volume, the actual flow area of the gate and the flood discharge flow velocity as respectively, calculating the flood discharge demand duration through the water power model , wherein represents the compensation amount of the preset flood discharge demand duration.

[0023] On the basis of the above-mentioned embodiment, the specific process of self-starting gate closing in the automatic gate closing module is: recording the cumulative value of the flood discharge starting time point and the flood discharge demand duration as the flood discharge ending time point, when the system time reaches the flood discharge ending time point, generating a gate closing control instruction and transmitting it to the gate hoist control system, and at the same time, terminating the flood discharge timer and updating the reservoir volume calculation value.

[0024] Compared with the prior art, the integrated intelligent hoist of the application has the following advantages: 1. improving the volume calculation accuracy and avoiding misjudgment of the flood discharge triggering condition: (1) the application dynamically divides the grid sub-unit based on the DEM digital elevation model, combines the terrain curvature parameter, the boundary elevation and the real-time water depth to perform spatial integral operation, accurately calculates the reservoir volume, and overcomes the nonlinear relationship problem between water depth and storage capacity caused by complex terrain and silt accumulation in the traditional warning water level method.

[0025] (2) The present application collects water depth data in real time through a distributed depth sensor, combines with the terrain influence correction of the curved surface integral, ensures that the volume calculation is not disturbed by the depression or protrusion of the water bottom, and avoids the overestimation error of water depth caused by silt accumulation.

[0026] 2. Improve the calibration accuracy of the gate opening degree and ensure the controllability of the flood discharge flow: (1) The present application uses a high-definition video monitoring device to extract the gate contour line in real time, dynamically calibrates the actual opening degree of the gate through an image edge detection algorithm, and solves the problems of gate deformation or opening degree feedback distortion caused by equipment aging and silt wear.

[0027] (2) The present application combines the static and dynamic gate opening degree calibration mechanism, can obtain the real flow area of the gate and then control the flood discharge capacity, so as to avoid the deviation of the flood discharge capacity from the expectation and reduce the safety risk of the downstream. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0029] Figure 1 It is a system module connection diagram of the present application.

[0030] Figure 2 It is a system architecture diagram of the present application.

[0031] Figure 3 It is a gate opening degree calibration work flow diagram of the present application. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0033] Please refer to Figure 1 and Figure 2 , the present application provides an integrated intelligent hoist, which comprises a volume calculation module, an opening gate triggering module, a flood discharge monitoring module and an automatic gate closing module.

[0034] The opening gate triggering module is connected with the volume calculation module and the flood discharge monitoring module, and the automatic gate closing module is connected with the flood discharge monitoring module.

[0035] The volume calculation module divides the reservoir area into grid subunits according to the DEM digital elevation model of the reservoir, records the terrain curvature parameters, boundary elevation data and boundary coordinate data of each subunit, and performs spatial integral operation in combination with the water depth of each subunit to dynamically calculate the current volume of the reservoir.

[0036] Further, the specific working process of dynamically calculating the current volume of the reservoir in the volume calculation module is as follows: Step 1, obtaining the DEM digital elevation model of the reservoir to construct the terrain surface of the reservoir bottom, dividing the entire reservoir area into grid subunits, recording the terrain curvature parameters, boundary elevation data and boundary coordinate data of each subunit, and the boundary elevation data includes the elevation of the four corner points of the unit, and the boundary coordinate data includes the coordinates of the four corner points of the unit.

[0037] It should be noted that the DEM digital elevation model of the reservoir can be obtained by unmanned aerial vehicle aerial survey, satellite remote sensing or field survey.

[0038] It should be noted that the reservoir area can be divided into square, rectangular and other grid subunits in a uniform or non-uniform manner.

[0039] Step 2, real-time collection of water depth values of the center points of each subunit by the distributed depth sensor array arranged in the reservoir area.

[0040] Step 3, obtaining the water surface elevation of each subunit according to the boundary elevation data and real-time water depth value of each subunit. .

[0041] Step 4, obtaining the reference elevation of each subunit, combining the center point coordinates and terrain curvature parameters of each subunit to construct the bottom elevation function of each subunit. .

[0042] Step 5, obtaining the plane coordinate range of each subunit according to the coordinates of the four corner points of each subunit. , .

[0043] Step 6, calculating the volume of each subunit by double quadratic area integral. . .

[0044] Step 7, accumulating the volumes of each subunit to obtain the current volume of the reservoir.

[0045] In this embodiment, the present application dynamically divides the grid subunits based on the DEM digital elevation model, performs spatial integral operation in combination with the terrain curvature parameters, boundary elevation and real-time water depth, and accurately calculates the reservoir volume, overcoming the problem of nonlinear relationship between water depth and storage capacity caused by complex terrain and silt accumulation in the traditional warning water level method. ​

[0046] In the embodiment, the application collects water depth data in real time through a distributed depth sensor, corrects terrain influence by combining with a curvilinear integral, ensures that volume measurement is not disturbed by water bottom depression or protrusion, and avoids water depth overestimation error caused by silt accumulation.

[0047] Further, the specific process of obtaining the water surface elevation of each subunit in Step 3 is as follows: determining a reference surface, comparing the elevations of the four corner points of each subunit to obtain the lowest boundary elevation of each subunit, recording the real-time water depth value of each subunit as h, and calculating the water surface elevation of each subunit through the analysis formula .

[0048] It should be noted that the water surface elevation = the boundary elevation + the real-time water depth.

[0049] Further, the specific process of constructing the bottom elevation function of each subunit in Step 4 is as follows: obtaining the center point coordinates of each subunit according to the coordinates of the four corner points of each subunit, recording the reference elevation of each subunit as h, recording the terrain curvature parameter of each subunit as K, and constructing the bottom elevation function of each subunit , wherein .

[0050] It should be noted that the bottom elevation function contains curvature correction, and the terrain curvature parameter K is used to correct the integral weight, and the Gaussian model is adopted to establish the bottom elevation function , wherein represents the unit center reference elevation, the value of K is related to the degree of depression of the unit bottom, if the bottom is a flat terrain, K = 0, if the bottom is a protruding terrain, K > 0, and if the bottom is a depressed terrain, K < 0. . .

[0051] Further, the specific process of obtaining the planar coordinate range of each subunit in Step 5 is as follows: obtaining the lower left corner coordinates and the upper right corner coordinates of each subunit according to the coordinates of the four corner points of each subunit, and then the planar coordinate range of each subunit is , .​​​​​​​​​​​​​​​

[0052] It should be noted that the present application adopts a dynamic measurement of reservoir volume to determine the flood discharge, rather than a conventional warning water level method, because the conventional warning water level method has the following limitations: (1) Nonlinear relationship between water depth and water storage: The bottom topography of the reservoir is complex, and the actual water storage is not simply linearly corresponding to the water level, such as the water storage in the concave area may be significantly more than that in the flat area at the same water level, and the real volume cannot be accurately reflected by the water level alone; (2) Interference of silt accumulation: The silt at the bottom of the water may overestimate the actual water depth, and thus deviate the calculation of the water storage, and for large reservoirs or long-term running reservoirs, the accumulated amount of silt may reach tens of thousands of cubic meters, which seriously affects the effectiveness of the warning water level; (3) Precision requirement of irrigation water: If the reservoir needs to reserve accurate water quantity for irrigation, the influence of factors such as topographic curvature and silt on the volume will be ignored by the water level determination, which may lead to insufficient water storage or excessive flood discharge, affecting agricultural production.

[0053] The opening trigger module compares the current volume of the reservoir with the preset volume threshold, and if the threshold is exceeded, an opening instruction is generated and sent to the gate hoist, and the flood discharge water quantity and the flood discharge starting time point are recorded synchronously.

[0054] Further, the specific working process of the opening trigger module is: comparing the current volume of the reservoir with the preset volume threshold, if the threshold is exceeded, triggering the opening and generating an opening instruction to send to the gate hoist control system, recording the part of the current volume of the reservoir exceeding the volume threshold as the flood discharge water quantity, and activating the flood discharge timer to record the flood discharge starting time point.

[0055] It should be noted that the threshold for triggering the flood discharge of the present application is based on the current volume of the reservoir rather than the water level, avoiding misjudgment.

[0056] The flood discharge monitoring module obtains the visual features of the gate opening degree through the high-definition video monitoring device during the flood discharge process to calibrate the opening degree and analyze the actual flow area of the gate, and monitors the flood discharge flow velocity.

[0057] Further, referring to Figure 3 The specific working process of the flood discharge monitoring module is: D1: setting a monitoring time period and arranging each monitoring time point in the monitoring time period according to the preset equal time interval principle during the flood discharge process, collecting the images of the gate at each monitoring time point in the monitoring time period through the high-definition video monitoring device arranged on both sides of the gate chamber, and extracting the contour line corresponding to the gate opening degree at each monitoring time point based on the image edge detection algorithm.

[0058] D2: comparing the profile line corresponding to the gate opening at each monitoring time point with the profile line corresponding to the gate set opening, if they are consistent, the gate opening does not need to be calibrated, and the flow area under the gate set opening is recorded as the actual flow area of the gate, otherwise, the gate opening needs to be calibrated, and D3 is performed.

[0059] D3: obtaining the flow area of the gate at each monitoring time point according to the profile line corresponding to the gate opening at each monitoring time point, performing dynamic calibration or static calibration of the gate opening according to whether the fluctuation of the flow area of the gate at the monitoring time point, and analyzing the actual flow area of the gate.

[0060] D4: collecting the water flow velocity of the gate at each monitoring time point in the monitoring period by the Doppler flowmeter and performing mean value calculation to obtain the flood discharge flow velocity.

[0061] In the embodiment, the high-definition video monitoring device is used to extract the gate profile line in real time, and the image edge detection algorithm is used to dynamically calibrate the actual opening of the gate, so as to solve the problems of gate deformation and opening feedback distortion caused by equipment aging and silt abrasion.

[0062] In the embodiment, the static and dynamic gate opening calibration mechanism is combined, the real flow area of the gate can be obtained, and the flood discharge capacity can be controlled, so that the flood discharge capacity deviates from the expectation, and the safety risk of the downstream is reduced.

[0063] Further, the specific process of calibrating the gate opening in step D3 is: D31: obtaining the flow area of the gate at each monitoring time point according to the profile line corresponding to the gate opening at each monitoring time point, and combining curve integration.

[0064] D32: comparing the flow area of the gate at each monitoring time point with each other, if there is no fluctuation, static calibration of the gate opening is performed and D33 is executed, if there is fluctuation, dynamic calibration of the gate opening is performed and D34 is executed.

[0065] D33: taking the flow area of the gate at any monitoring time point as the actual flow area of the gate.

[0066] D34: taking the mean value of the flow area of the gate at the monitoring time point as the actual flow area of the gate.

[0067] It should be noted that the gate of the hoist and lower machine may be deformed due to long-term impact of water flow and silt abrasion, so that the actual opening is inconsistent with the system set value, at the same time, the opening feedback signal is distorted due to equipment aging such as gear wear of the hoist and lower machine and sensor drift, especially in large gates, millimeter level deviation may cause the difference of flow area to reach several square meters, therefore, the opening of the hoist and lower machine gate needs to be detected and corrected in real time.

[0068] It should be noted that the gate flow area is the core parameter of the flood discharge hydraulic model, directly affecting the flood discharge flow. If the flow area is inaccurate, it may lead to the deviation of the flood discharge volume from the expected value, thereby threatening the safety of the downstream or the failure of the reservoir capacity regulation, affecting irrigation or flood control. At the same time, the gate closing is based on the flow area to calculate the length of time required for flood discharge. If the flow area is inaccurate, it will lead to the advance or lag of the gate closing time, thereby possibly leading to residual over-threshold volume or excessive flood discharge affecting water storage.

[0069] It should be noted that calibrating the gate opening and accurately obtaining the gate flow area can ensure that the flood discharge volume is consistent with the plan, optimize water resource allocation, avoid flood discharge out of control due to flow area error, and facilitate timely detection of equipment failure through monitoring of abnormal opening.

[0070] The automatic gate closing module calculates the length of time required for flood discharge according to the flood discharge volume, the actual flow area of the gate and the flood discharge flow velocity, and calculates the end time point of the flood discharge in combination with the start time point of the flood discharge, generates a gate closing instruction and transmits it to the gate hoist.

[0071] Further, the specific process of calculating the length of time required for flood discharge in the automatic gate closing module is that the flood discharge volume, the actual flow area of the gate and the flood discharge flow velocity are respectively denoted as , the length of time required for flood discharge is calculated by a hydraulic model . , wherein represents a preset compensation amount of the length of time required for flood discharge.

[0072] It should be noted that the setting of the compensation amount of the length of time required for flood discharge can be based on the actual deviation in historical flood discharge data, the error range simulated by the fluid mechanics model, safety redundancy design, etc.

[0073] It should be noted that setting the compensation amount of the length of time required for flood discharge can improve the calculation robustness to cope with actual complex working conditions, ensure that the reservoir capacity meets the standard at the end of the flood discharge, and reduce systematic errors caused by idealized assumptions of the model.

[0074] Further, the specific process of automatically starting the gate closing in the automatic gate closing module is that the sum of the start time point of the flood discharge and the length of time required for flood discharge is denoted as the end time point of the flood discharge. When the system time reaches the end time point of the flood discharge, a gate closing control instruction is generated and transmitted to the gate hoist control system, and at the same time, the flood discharge timer is terminated and the reservoir volume calculation value is updated.

[0075] In this embodiment, the present application automatically calculates the length of time required for flood discharge based on the flood discharge volume, the flow area and the flow velocity, introduces a compensation amount to correct the model error, and accurately calculates the gate closing time in combination with the start time point of the flood discharge, thereby avoiding excessive flood discharge or residual over-threshold volume.

[0076] In the embodiment, the dynamic updating of the reservoir volume calculation value of the application ensures that the water storage capacity after the gate is closed meets the irrigation or flood control demand, and improves the fine level of water resource allocation.

[0077] In the embodiment, the triple mechanism of volume accurate calculation + opening dynamic calibration + flood discharge time compensation of the application systematically solves the defects and limitations of the traditional warning water level method and fixed opening control, and improves the accuracy, safety and resource utilization efficiency of reservoir management.

[0078] The above embodiments can be realized by software, hardware, firmware or any combination thereof, in whole or in part. When realized by software, the above embodiments can be realized in the form of a computer program product in whole or in part.

[0079] Those skilled in the art can realize that the modules and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0080] In addition, the functional modules in each embodiment of the present application can be integrated into one processing module, or each module can exist physically alone, or two or more modules can be integrated into one module.

[0081] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any skilled person in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0082] Finally, the above is only a preferred embodiment of the present application and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An integrated intelligent gate opener, characterized in that, include: The volume calculation module divides the reservoir area into gridded sub-units based on the reservoir's DEM digital elevation model and records the topographic curvature parameters, boundary elevation data, and boundary coordinate data of each sub-unit. It then performs spatial integration calculations based on the water depth of each sub-unit to dynamically calculate the current volume of the reservoir. The specific working process of dynamically calculating the current volume of the reservoir in the volume calculation module is as follows: Step 1: Obtain the DEM digital elevation model of the reservoir and construct the bottom topographic surface of the reservoir. Divide the entire reservoir area into gridded sub-units and record the topographic curvature parameters, boundary elevation data and boundary coordinate data of each sub-unit. The boundary elevation data includes the elevation of the four corner points of the unit, and the boundary coordinate data includes the coordinates of the four corner points of the unit. Step 2: The water depth values ​​at the center point of each sub-unit are collected in real time through a distributed depth sounding sensor array deployed in the reservoir area. Step 3: Based on the boundary elevation data and real-time water depth values ​​of each sub-unit, obtain the data for each sub-unit. water surface elevation ; Step 4: Obtain the baseline elevation of each sub-unit, and construct the bottom elevation function of each sub-unit by combining the center point coordinates and terrain curvature parameters. ; Step 5: Obtain the planar coordinate range of each sub-unit based on the coordinates of the four corner points of each sub-unit. , ; Step 6: Using hyperbolic surface integrals Calculate the volume of each sub-unit. ; Step 7: Sum the volumes of each sub-unit to obtain the current volume of the reservoir; The gate opening trigger module compares the current volume of the reservoir with the preset volume threshold. If the threshold is exceeded, a gate opening command is generated and sent to the gate hoist, while simultaneously recording the flood discharge volume and the start time of the flood discharge. The flood discharge monitoring module uses a high-definition video monitoring device to acquire the visual characteristics of the gate opening during the flood discharge process, performs opening calibration analysis on the actual flow area of ​​the gate, and monitors the flood discharge flow velocity. The specific working process of the flood discharge monitoring module is as follows: D1: During the flood discharge process, a monitoring time period is set and each monitoring time point is set up within the monitoring time period according to the preset equal time interval principle. The images of the gate at each monitoring time point within the monitoring time period are collected by the high-definition video monitoring devices deployed on both sides of the gate chamber, and the contour lines corresponding to the gate opening at each monitoring time point are extracted based on the image edge detection algorithm. D2: Compare the contour lines corresponding to the gate opening at each monitoring time point with the contour lines corresponding to the gate's set opening. If they match, the gate opening does not need calibration, and the flow area under the set gate opening is recorded as the actual flow area of ​​the gate. Otherwise, the gate opening needs calibration, and D3 is executed. D3: Obtain the flow area of ​​the gate at each monitoring time point based on the contour lines corresponding to the gate opening at each monitoring time point. Perform dynamic or static calibration of the gate opening based on the fluctuation of the flow area of ​​the gate at each monitoring time point, and analyze the actual flow area of ​​the gate. D4: Collect the water flow velocity of the gate at each monitoring time point during the monitoring period using a Doppler current meter and calculate the average value to obtain the flood discharge flow velocity. The specific process for calibrating the gate opening in step D3 is as follows: D31: Based on the contour line corresponding to the gate opening at each monitoring time point, obtain the flow area of ​​the gate at each monitoring time point by combining curve integration; D32: Compare the flow areas of the gate at each monitoring time point. If no fluctuation occurs, perform static calibration of the gate opening and execute D33. If fluctuation occurs, perform dynamic calibration of the gate opening and execute D34; D33: Take the flow area of ​​the gate at any monitoring time point as the actual flow area of ​​the gate; D34: Take the average value of the flow areas of the gate at each monitoring time point as the actual flow area of ​​the gate. The automatic gate closing module calculates the required duration of flood discharge based on the flood discharge volume, the actual flow area of ​​the gate, and the flood discharge flow velocity. It also calculates the end time of flood discharge based on the start time of the discharge, generates a gate closing command, and transmits it to the gate hoist.

2. The integrated intelligent gate opener according to claim 1, characterized in that: In step 3, each sub-unit is obtained. water surface elevation The specific process is as follows: By determining the reference plane and comparing the elevations of the four corner points of each sub-element, the lowest boundary elevation of each sub-element can be obtained. And record the real-time water depth value of each sub-unit as By analyzing the formula Calculate each sub-unit water surface elevation .

3. The integrated intelligent gate opener according to claim 1, characterized in that: In step 4, the bottom elevation function of each sub-unit is constructed. The specific process is as follows: The coordinates of the center point of each sub-unit are obtained based on the coordinates of the four corner points of each sub-unit. The reference elevation of each sub-unit is denoted as The terrain curvature parameters of each sub-unit are denoted as... Construct the bottom elevation function for each sub-unit ,in .

4. The integrated intelligent gate opener according to claim 1, characterized in that: The specific process for obtaining the planar coordinate range of each sub-unit in Step 5 is as follows: Based on the coordinates of the four corner points of each sub-unit, obtain the coordinates of each sub-unit. The coordinates of the lower left corner and the coordinates of the upper right corner Then the range of planar coordinates of each sub-unit , .

5. The integrated intelligent gate opener according to claim 1, characterized in that: The specific working process of the gate opening trigger module is as follows: The current volume of the reservoir is compared with the preset volume threshold. If it exceeds the threshold, the gate is opened and an opening command is sent to the gate hoist control system. The portion of the current reservoir volume that exceeds the volume threshold is recorded as the flood discharge volume. At the same time, the flood discharge timer is activated to record the start time of the flood discharge.

6. The integrated intelligent gate opener according to claim 1, characterized in that: The specific process for calculating the required duration of flood discharge in the automatic gate closing module is as follows: The flood discharge volume, the actual flow area of ​​the gate, and the flood discharge velocity are respectively denoted as... Through hydraulic model Calculate the duration of flood discharge demand ,in This indicates the compensation amount for the preset flood discharge demand duration.

7. The integrated intelligent gate opener according to claim 1, characterized in that: The specific process of automatic gate closing in the automatic gate closing module is as follows: The sum of the flood discharge start time and the flood discharge demand duration is recorded as the flood discharge end time. When the system time reaches the flood discharge end time, a gate closure control command is generated and transmitted to the gate hoist control system. At the same time, the flood discharge timer is terminated and the reservoir volume calculation value is updated.

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