A remote visual control method of an ecological hydraulic dam control system

Abstract

The present application relates to the field of control adjustment technology, and particularly relates to a remote visual control method of an ecological hydraulic dam control system. The method comprises the following steps: determining a first dam body device state and a current basin state parameter; determining a first dam body operation state deviation according to the first dam body device state; obtaining an identification code and a current date of a basin where the dam body is located, so as to determine a current basin hydrological seasonal period; identifying a current basin state parameter and a basin state deviation corresponding to the hydrological seasonal period, so as to correct the current basin hydrological seasonal period and obtain an actual basin hydrological seasonal period; obtaining a historical control strategy of each hydrological seasonal period, determining an operation state correction parameter, and thus determining a second dam body control strategy; and transmitting the second dam body control strategy to a corresponding dam body actuator, so as to execute a dam body opening and closing action. The present application helps to improve the control accuracy and adaptability of the dam body control strategy.

Description

Technical Field

[0001] This invention relates to the field of control and regulation technology, and in particular to a remote visual control method for an ecological hydraulic dam control system. Background Technology

[0002] Ecological hydraulic dams, as a new type of hydraulic structure that combines water conservancy regulation and ecological protection, are gradually being applied to scenarios such as the management of small and medium-sized rivers, water resource allocation, and urban landscape renovation. Traditional hydraulic dam systems mainly rely on local electromechanical control equipment to complete the opening and closing operations. Their control strategies are generally based on water level triggering, pressure threshold response, or preset time programs, lacking the ability to intelligently identify and remotely schedule dynamic environments, making it difficult to meet the actual needs for precise control and visual monitoring under different watershed environmental changes.

[0003] Currently, some systems have introduced information acquisition terminals, remote communication modules, and simple human-machine interfaces to achieve remote monitoring of dam status. However, since the hydrological seasons of each basin are not absolutely fixed, but have a certain statistical time range and dynamic adaptability, it is easy to cause the control timing to deviate from the optimal scheduling window. Summary of the Invention

[0004] Therefore, it is necessary for the present invention to provide a remote visual control method for an ecological hydraulic dam control system to solve at least one of the above-mentioned technical problems.

[0005] To achieve the above objectives, a remote visualization control method for an eco-hydraulic dam control system is provided. This method is applied to an eco-hydraulic dam remote control system, which includes a remote communication component and a dam body actuator connected to a state sensing unit via a communication network. Both the state sensing unit and the dam body actuator are connected to the remote communication component via the communication network. The method includes the following steps:

[0006] Step S1: Use the status sensing unit to collect water level, pressure or flow velocity values ​​in real time. When any of the parameters of water level, pressure or flow velocity exceeds the corresponding dynamic control threshold, determine the status of the first dam equipment and the current watershed status parameters.

[0007] Step S2: Determine the three-dimensional operating status of the target dam body based on the equipment status of the first dam body, and compare the deviation between the three-dimensional operating status and the preset equipment operating baseline diagram to obtain the operating status deviation of the first dam body;

[0008] Step S3: Obtain the identification code and current date of the watershed where the dam is located through the remote communication component to determine the current hydrological season of the watershed; identify the deviation between the current watershed state parameters and the corresponding hydrological season of the watershed state to correct the current hydrological season of the watershed and obtain the actual hydrological season of the watershed.

[0009] Step S4: Obtain historical control strategies for each hydrological season through the ecological hydraulic dam remote control system, and use the historical control strategies to match the first dam body control strategy for the actual hydrological season in the basin; determine the operation state correction parameters based on the deviation between the first dam body control strategy and the first dam body operation state, thereby determining the second dam body control strategy.

[0010] Step S5: Transmit the second dam control strategy to the corresponding dam actuator to execute the dam opening and closing actions.

[0011] Based on the above technical solution, the state sensing unit collects key state parameters of the dam body and watershed in real time, and reconstructs the dam body's operating state based on a three-dimensional structural model. After identifying the current hydrological season with the remote communication component, the corresponding control strategy is matched from the historical strategy. Then, the parameters are corrected by calculating the operating state deviation, and the control strategy is adjusted to generate executable instructions. Finally, the control instructions are transmitted to the dam body actuator to complete the opening and closing operation. At the same time, the equipment status is returned to build a visual display object, which helps to improve the control accuracy and adaptability of the dam body control strategy. Attached Figure Description

[0012] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0013] Figure 1 This is a flowchart illustrating the steps of the remote visual control method for the ecological hydraulic dam control system of the present invention.

[0014] Figure 2 This is a schematic diagram of the dam structure in this invention;

[0015] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0016] The technical method of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0017] It should be understood that although the terms "first," "second," etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are used merely to distinguish one unit from another. For example, without departing from the scope of the exemplary embodiments, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0018] To achieve the above objectives, please refer to Figures 1 to 2 This invention provides a remote visual control method for an ecological hydraulic dam control system, the method comprising the following steps:

[0019] Step S1: Use the status sensing unit to collect water level, pressure or flow velocity values ​​in real time. When any of the parameters of water level, pressure or flow velocity exceeds the corresponding dynamic control threshold, determine the status of the first dam equipment and the current watershed status parameters.

[0020] In this embodiment of the invention, during the continuous operation of the ecological hydraulic dam, status sensing units deployed upstream of the dam body, on the dam face, and at the hydraulic actuator locations collect water level, pressure, and flow velocity values ​​in real time. The collected data is compared with corresponding dynamic control thresholds to determine whether to trigger the dam control process. If the water level exceeds the set flood peak threshold, the pressure continuously rises to the structural warning limit, or the flow velocity fluctuates drastically, it is considered to have entered a state requiring active intervention, triggering the first dam body equipment status acquisition process. The status sensing units may include, but are not limited to, water body status sensing devices (water level sensors, flow velocity measuring devices, water pressure sensors, etc.), dam structure status sensing devices (hydraulic cylinder position sensors, opening and closing angle sensors, action response time recording units, etc.), and communication and integration units supporting remote transmission protocols such as 4G / 5G, LoRa, and NB-IoT.

[0021] In one implementation of this invention, assuming that the ultrasonic water level sensor deployed in front of the dam collects a real-time water level value of 3.85 meters, and the set dynamic control threshold is 3.5 meters, it is determined that the water level exceeds the limit; at the same time, the hydraulic oil pipe pressure sensor displays a current value of 1.95 MPa, which is higher than the preset safety line of 1.8 MPa. Then, the current equipment status is packaged into a first dam equipment status dataset including the current extension and retraction value of the hydraulic cylinder, the gate angle position, and the response delay of the main control solenoid valve; and combined with the water level value, pressure value, flow rate value, and flow velocity value, the current watershed status parameters are generated.

[0022] Step S2: Determine the three-dimensional operating status of the target dam body based on the equipment status of the first dam body, and compare the deviation between the three-dimensional operating status and the preset equipment operating baseline diagram to obtain the operating status deviation of the first dam body;

[0023] In this embodiment of the invention, after determining the state of the first dam equipment, the initial attitude change of the target dam at the current moment is constructed based on the hydraulic cylinder extension / retraction length, opening / closing angle change value, and action response time parameters. Subsequently, the correlation between equipment is analyzed based on the action response time parameters, and equipment with a correlation higher than 0.8 is classified into the same functional area. Then, the three-dimensional operating state of each functional area is compared with the operating state in the equipment operating baseline diagram to obtain the deviation of the first dam's operating state. The equipment operating baseline diagram is generated during the dam design modeling stage and after the initial dam commissioning, recording the standard opening / closing angle, standard extension / retraction value, and standard response time sequence data of each component throughout the hydraulic cylinder opening and closing process, forming a three-dimensional time-series state vector set based on the sampling time of each action cycle.

[0024] In one implementation of this invention, if the response time difference of three sets of hydraulic cylinders on the left side of the dam is less than 0.2 seconds, it is determined to be a linkage area and uniformly classified into functional area A. Next, the three-dimensional spatial transformation trajectory of each functional area is extracted. If the attitude vector of a hydraulic cylinder within a functional area has an angle of less than 15 degrees with the direction of other equipment, it is determined to be a spatial transformation conflict component pair. Such components are removed from their original functional areas and merged into another functional area with the closest response time to obtain an updated partitioned structural state. Subsequently, the updated structural state is mapped onto the three-dimensional structural model of the target dam, thereby obtaining the three-dimensional operating state of the target dam. This is then compared with a preset equipment operating baseline diagram to output deviations in attitude, displacement, and response time, constituting the first dam operating state deviation. The three-dimensional structural model of the target dam is jointly constructed based on CAD design drawings, construction BIM information, and laser point cloud modeling after the dam is completed, including equipment part codes and the connection structure relationships of each piece of equipment.

[0025] Step S3: Obtain the identification code and current date of the watershed where the dam is located through the remote communication component to determine the current hydrological season of the watershed; identify the deviation between the current watershed state parameters and the corresponding hydrological season of the watershed state to correct the current hydrological season of the watershed and obtain the actual hydrological season of the watershed.

[0026] In this embodiment of the invention, the code of the watershed where the dam is located and the current date are obtained through a remote communication component, and a hydrological seasonal mapping table is used to initially match the statistical seasonal range of the current watershed. Based on the matching results, the historical statistical reference value group corresponding to the seasonal period is further extracted to identify the deviation of the current state. Subsequently, the actual watershed hydrological seasonal period is further analyzed based on the identified deviation of the current state. The historical statistical reference value group for each hydrological seasonal period is derived from the ten-year hydrological monitoring records and remote sensing meteorological data integrated in the ecological hydraulic dam control system. It is statistically analyzed according to a monthly cycle, divided according to watershed distribution, and the expected values ​​and standard deviation intervals of water level, flow velocity, and flow rate are established within each seasonal period to form a reference benchmark for deviation identification and correction.

[0027] In one implementation of this invention, if the current date is early May and the watershed code is Z123, it is automatically matched as a "candidate segment for the late spring / early summer flood season". The latest water level value is then read from the state sensing unit as 3.4 meters, flow velocity as 1.6 m / s, and dam discharge as 490 cubic meters per second. The deviation is calculated by comparing this value with historical reference values ​​(3.1 meters, 1.2 m / s, 420 cubic meters per second), and after comprehensive weighting, it is found to exceed the deviation identification threshold of 20%. At this point, it is considered that there is an error in the current seasonal period identification. Therefore, the "late spring / early summer" candidate segment is extracted from the transitional interval of the hydrological seasonal period division range, and multiple sub-intervals are fitted separately. Finally, the "early summer flood season" with the smallest fitting residual is selected as the actual hydrological seasonal period of the current watershed, providing a precise basis for subsequent control strategy selection.

[0028] Step S4: Obtain historical control strategies for each hydrological season through the ecological hydraulic dam remote control system, and use the historical control strategies to match the first dam body control strategy for the actual hydrological season in the basin; determine the operation state correction parameters based on the deviation between the first dam body control strategy and the first dam body operation state, thereby determining the second dam body control strategy.

[0029] In this embodiment of the invention, after determining the actual hydrological season, the historical control strategy index table for the corresponding season is retrieved from the remote control system of the ecological hydraulic dam, and a candidate set of control strategies matching the target dam structure is extracted from it. Then, combined with the current operating status of the dam and the characteristics of equipment deviations, the strategy with the highest similarity is selected as the first dam control strategy. Subsequently, combined with the actual operating status of the dam, the actual control parameters that need to be adjusted to achieve the first dam control strategy are obtained, thus obtaining the second dam control strategy.

[0030] In one implementation of this invention, the target dam body employs a layout of 12 hydraulic cylinders with a cylinder diameter of 180mm and a maximum stroke of 1.6m, thereby constructing a hydraulic system structure vector. Cylinder diameter, arrangement, and control segment data are extracted from candidate strategies and compared with the target dam body. Strategies with a structural fit score below 60% are initially removed from the historical control strategy index table. Then, using the current extension / retraction, opening / closing angle, and response hysteresis of the hydraulic cylinders extracted from the three-dimensional operating state, a response feature vector is generated. This vector is then compared with the historical execution response vectors of the candidate set for similarity scoring, and the optimal matching strategy is selected as the first dam body control strategy. Next, attitude, displacement, and response time deviations are extracted from the operating state deviations of the first dam body, compared with the target values ​​in the control strategy, and correction coefficients for each functional area are determined within a ±10% correction scale, thus forming an adjusted second dam body control strategy. The historical control strategies for each hydrological season are automatically analyzed and archived from the annual manual opening and closing logs, dam equipment telemetry data, and scheduling results tracking records. They adopt a phased instruction format and record four types of control elements: opening and closing angle, action sequence, hydraulic cylinder extension and retraction value, and regional delay time sequence. This is a historical behavior archive of the hydraulic dam system under different meteorological cycles.

[0031] Step S5: Transmit the second dam control strategy to the corresponding dam actuator to execute the dam opening and closing actions.

[0032] In this embodiment of the invention, the control strategy for the second dam body is segmented and encoded, and then sent to the actuator of the target dam body via a network interface. During execution, the hydraulic cylinder displacement, opening and closing angle adjustment feedback, and response time difference are monitored synchronously to ensure that the control commands are executed accurately.

[0033] In one implementation of this invention, after the second dam body receives the control strategy, the hydraulic cylinders in the left functional area sequentially perform opening and closing actions in a "2-1-3" order, with a target opening and closing angle of 50 degrees and a hydraulic cylinder extension / retraction stroke of 1.4 meters. During execution, if any hydraulic cylinder's feedback displacement deviation exceeds 0.2 meters or its action delay exceeds 1 second, the control task will be interrupted and an anomaly recovery mechanism will be activated. After normal control is completed, the dam body's operating status data will be synchronously pushed to the upper-level visualization system as input, providing support for subsequent graphical display and structural safety early warning.

[0034] Most importantly, a fault recovery mechanism with high fault tolerance and redundant control capabilities was designed to address abnormal situations that may occur during the actual operation of the ecological hydraulic dam, such as execution deviations, action delays, or hydraulic instability. This mechanism mainly consists of a response tolerance monitoring unit integrated within the hydraulic actuator, an oil pressure feedback sensor group, and an integrated electronic control self-reset circuit. Each component has a clearly defined function and works closely together to form a complete self-recovery control closed loop.

[0035] In one implementation of this invention, a response tolerance monitoring unit is deployed at the base of each hydraulic cylinder body and the connection node of the control valve group. Its function is to monitor the actual extension / retraction stroke, action delay time, and opening / closing angle deviation of the hydraulic cylinder in real time, and compare these indicators with the ideal control values ​​for the corresponding control stage in the current second dam body control strategy. When any indicator deviates from its strategy setting value by more than 5% (configurable), the execution of that control segment is determined to be abnormal. At this time, the oil pressure feedback sensor group starts working, transmitting the change gradient of the current oil pressure curve in real time. If an abnormal oil pressure fluctuation is detected (e.g., fluctuation amplitude exceeding 20% ​​within 1 second), the abnormal control logic is triggered. Upon triggering of the abnormal control logic, the electronic self-reset circuit immediately blocks the continuous action signal of the current hydraulic cylinder and executes the control rollback logic. First, it retrieves a copy of the control parameters recorded during the previous successful execution of the same control phase through the internal cache module of the actuator. This control copy includes control information such as the initial extension / retraction position of the hydraulic cylinder, the maximum pressure point, the action time interval, and the rate of change of the opening / closing angle. This copy is then used as a backup control strategy. Subsequently, the system reactivates the control copy using a soft start method and performs secondary verification after each action to ensure stable control behavior. In this embodiment of the invention, this abnormal recovery mechanism not only enables rapid identification and control strategy replacement of abnormal actions at the execution level but also allows for full-process visual tracking of the dam control process by synchronously displaying the abnormal point location and recovery path in the operation interface. Simultaneously, this mechanism is highly adaptable to unforeseen dynamic disturbances (such as sudden changes in hydrological load and hydraulic resistance shifts), ensuring that the system still possesses redundant control capabilities and a self-stabilizing mechanism under sudden conditions.

[0036] Optionally, the method further includes:

[0037] During the process of the dam body actuator performing the dam body opening and closing actions, the status sensing unit collects the status of the second dam body equipment;

[0038] In this embodiment of the invention, during the opening and closing actions of the ecological hydraulic dam actuator under the control strategy of the second dam body, in order to achieve real-time visual monitoring and remote status display of the operating status, the status perception unit simultaneously initiates the data acquisition process of the second dam body equipment status. This status perception unit comprises a set of multimodal sensors deployed on the hydraulic actuator, articulated structural nodes, and dam surface structural supports, including displacement sensors, attitude detection gyroscopes, hydraulic cylinder stroke sensors, and a temperature and pressure joint monitoring module. The sampling period is controlled within 0.5 seconds to ensure high timeliness and completeness of data acquisition.

[0039] In one implementation of this invention, the hydraulic cylinder's execution state parameters are first obtained by reading the real-time stroke length and cylinder internal pressure changes of the hydraulic actuator. Next, the spatial attitude changes of multi-point pose angle sensors at the connecting mechanism are collected to construct a three-axis attitude change matrix for the connecting node. Finally, the curvature changes, force distribution, and spatial displacement values ​​of the dam surface structure are obtained through an array of tension sensors and deformation monitoring strips arranged on the dam surface structure. After collection, these equipment structural state parameters are classified and organized according to predefined structural codes to form a standardized second dam body equipment state dataset.

[0040] The dam's operating status is reconstructed based on the equipment status of the second dam body, and the reconstruction results are mapped to the preset three-dimensional structure of the target dam body to obtain the current target dam body's visual status object.

[0041] In this embodiment of the invention, based on the structural coding classification results in the second dam equipment status, the status of the hydraulic actuator components, the connection mechanism, and the dam surface structure are extracted and categorized. Then, using a preset equipment operating baseline diagram as a reference template, morphological deviations (such as attitude angle changes and deformation curvature increments) and time delay deviations (such as time offsets of the start and end points of the action response) are calculated for each type of structural parameter. For example, in a hydraulic cylinder assembly, if a group of cylinders should theoretically complete its extension / retraction action at the 2nd second, but is actually delayed to the 3rd second, the time delay deviation of that component is recorded as +1 second. If the attitude angle of the connection mechanism deviates from the attitude axis set in the theoretical structural diagram by more than 15 degrees, it is recorded as a morphological deviation exceeding the limit. Integrating the structural parameters and morphological deviations of the dam body yields the visualized status object of the current target dam body. Subsequently, the structural status points corresponding to each equipment structural code are projected onto the matching nodes of the three-dimensional structure of the target dam body, and the status deviations are expressed using color and flashing. If a device's structure exhibits a deviation in shape or time delay exceeding the system's set state deviation threshold (e.g., a 10° attitude error or a 2-second time delay), the device will be highlighted in the model by flashing red. If the device is operating normally or the deviation is within acceptable limits, it will be displayed in transparent green. The three-dimensional structure of the target dam is its three-dimensional structural model, the details of which have already been described above and will not be repeated here.

[0042] Upload the visualized status object to the ecological hydraulic dam remote control system to trigger the visualization display task of the target dam body.

[0043] In this embodiment of the invention, the visualized status object is uploaded to the data interface corresponding to the remote control system of the ecological hydraulic dam, and a visualization display task is triggered. This visualization display task can realize a panoramic restoration of the dam's current operating status during the opening and closing process in the remote client, assisting maintenance personnel in accurately identifying the source of execution deviations and making timely control decisions. Simultaneously, because the displayed object is based on a real-time status data reconstruction and deviation identification mechanism, it has the characteristics of dynamic updating and rapid anomaly location, significantly improving the transparency and responsiveness of the dam control system.

[0044] Optionally, the reconstructed dam operating state includes:

[0045] Based on the pre-coded equipment structure code, the equipment structure status parameters of the hydraulic actuators, connecting mechanisms and dam surface structure of the dam body are extracted from the equipment status of the second dam body.

[0046] In this embodiment of the invention, to achieve real-time state restoration and structural deviation identification of the second dam body during the execution of the control strategy, the collected equipment state data of the second dam body are first grouped by equipment type according to the equipment structure code. This structure code is based on functional domains and structural nodes, employing a three-segment coding structure of "functional domain number + location identifier + component category." The functional domains include hydraulic actuation domains (such as cylinders and pump stations), connection mechanism domains (such as upper / lower hinges, support pins), and dam surface structure domains (such as movable dam plates, connecting beams). Each segment has a fixed length, facilitating automatic classification and structural mapping. This equipment structure code is a new equipment structure code generated after the updated structural state is mapped to the three-dimensional structural model of the target dam body, and is clearly distinguishable from the original equipment structure code in the three-dimensional structural model.

[0047] In one implementation of this invention, the equipment structural state parameters of the hydraulic actuator mainly include the current extension / retraction stroke of the cylinder (in mm), the hydraulic feedback value inside the cavity (in MPa), and the response delay of the opening and closing action (in seconds); the connecting mechanism extracts three-dimensional attitude changes (such as rotation angles around the X / Y / Z axes, in degrees) and rigidity offset values ​​(in mm); the dam surface structure obtains surface deformation tension values ​​(in N / m), cross-sectional curvature changes, and displacement differences between adjacent nodes. These parameters are respectively derived from linear displacement sensors, high-precision IMUs, hydraulic feedback elements, and strain gauge sensors deployed at key structural nodes.

[0048] The morphological deviation and time delay deviation between the preset equipment operation baseline diagram and the corresponding equipment structural state parameters are calculated to obtain the second dam body operation state deviation.

[0049] In this embodiment of the invention, a corresponding preset equipment operation baseline diagram is loaded. This baseline diagram is supplemented by a structural stability template constructed from equipment status data collected under multiple typical hydrological conditions and in both open and closed states. This template forms a parameterized reference value range, which is stored in the remote control system database and matched one-to-one according to the structural codes. Subsequently, the differences between the equipment status parameters corresponding to each structural code and the ideal values ​​in the baseline diagram are calculated, generating two types of deviation indicators: one is morphological deviation, which mainly measures the difference between deformation parameters such as attitude angle, displacement, and curvature value and the ideal state; the other is time delay deviation, which reflects the temporal offset between the actual completion time of the action and the baseline. If the cylinder extension / retraction differs by 15mm, or the response delay exceeds 1.8 seconds, it is considered to have a significant deviation.

[0050] Using the equipment structure code as the anchor point, the operational status deviation of the second dam body is mapped to the three-dimensional structure of the target dam body. Equipment structures with either morphological deviation or time delay deviation exceeding the preset status deviation threshold are visualized in red flashing form, while other equipment structures are visualized in green transparent form, thus obtaining the visualized status object of the current target dam body.

[0051] In this embodiment of the invention, the equipment structure code is used as the anchor point to map each deviation data to the three-dimensional dam structure. Specifically, during the mapping process, the position of the three-dimensional node corresponding to the structure code is identified, and a color identifier is determined according to the deviation threshold. For any equipment structure, if either its shape deviation or time delay deviation exceeds a preset threshold (e.g., a 10-degree attitude deviation or a 2-second response delay), the node is displayed as a flashing red to indicate an abnormal operating state; if both are within the tolerance range, it is displayed as a semi-transparent green to indicate a normal operating state.

[0052] Figure 2 This is a schematic diagram of a hydraulic dam structure provided in an embodiment of this application. Figure 2 As shown, multiple structural regions can be set in the hydraulic dam structure. For example, the multiple structural regions may include: an upper hinge assembly unit 101 located on the upper part of the dam body, a hydraulic movable dam main dam plate 102 for water flow regulation, a hydraulic cylinder 103 for performing opening and closing actions, and a lower hinge assembly unit 104 fixed on the dam body foundation structure.

[0053] The upper hinge assembly unit 101 is mainly used to connect the rotation axis of the upper part of the dam body and the dam surface structure. Its structure may include components such as an upper hinge support, a limit pin, a torque transmission shaft, and a self-lubricating bushing. This unit can realize stable support and angle guidance of the dam body during the opening and closing process, ensuring that the main dam plate has reliable attitude control capability in the open or closed state.

[0054] The main dam plate 102 of the hydraulic movable dam is the main opening and closing component of the dam. Its structure is usually made of a welded frame of high-strength corrosion-resistant steel plates, which has a certain degree of rigidity and flexibility. It can complete actions such as water blocking and water release under hydraulic drive. The dam plate and the upper and lower hinge assembly units are all connected by pins to achieve effective force transmission.

[0055] Hydraulic cylinder 103 serves as the main actuator, using the extension and retraction of the piston rod to drive the dam plate body for opening and closing control. The hydraulic cylinder structure may include a cylinder body, piston assembly, sealing rings, pressure oil circuit interface, and stroke feedback sensor, and works in conjunction with a remote hydraulic station to complete pressure transmission and motion execution.

[0056] The lower hinge assembly unit 104 is installed in the dam foundation or concrete base. Its main function is to form the lower fixed rotation fulcrum of the movable dam body. Its structural components may include base support, hinge bearing, guide and limiting components, and structural reinforcing ribs. This unit can withstand the torque changes of the dam body under different water level pressures and is connected with the hydraulic cylinder to form a complete power transmission link.

[0057] In this embodiment, the division of functional areas is defined based on the actual execution parts of the dam control system, and is not limited to the shape and number shown in the illustrations. In actual engineering, the structural configuration of the hydraulic dam can be customized according to hydrological characteristics, topography, and control requirements. Figure 2 This is only provided for understanding the functional structure of the embodiments of this application.

[0058] Optionally, determining the three-dimensional operational state of the target dam body in step S2 includes:

[0059] The initial attitude change of the target dam body at the current moment is determined based on the changes in the extension and retraction length, opening and closing angle, and action response time of the hydraulic cylinder in the equipment status of the first dam body.

[0060] In this embodiment of the invention, the initial attitude change of the target dam at that moment is constructed by utilizing the hydraulic cylinder extension / retraction length, the change in the opening / closing angle of the main dam plate, and the action response time parameters of each control component, all obtained in real time from the first dam equipment status. Figure 1 Taking the hydraulic dam structure shown as an example, the upper hinge assembly unit 101 and the lower hinge assembly unit 104 serve as the rotation fulcrum of the main dam plate 102. The extension and retraction of the piston rod of the hydraulic cylinder 103 directly affects the opening angle change of the main dam plate. Within the current control cycle, the system extracts the actual stroke value of the hydraulic cylinder 103, the angle change rate of the main dam plate 102, and the response delay between the start of the hydraulic cylinder and the start of the angle change. These three factors together constitute the time-space dynamic characteristics of the initial attitude change of the dam body.

[0061] The correlation of action response between various dam equipment in the initial attitude change is calculated based on the action response time parameter, and the set of equipment with a correlation higher than the preset correlation threshold is divided into functional areas;

[0062] Based on the action response time parameters between each component, an action response matrix is ​​constructed to calculate the degree of synchronization between hydraulic cylinder 103 and upper hinge assembly unit 101, and between hydraulic cylinder 103 and lower hinge assembly unit 104. If the response time difference between any two components is less than a preset response correlation threshold (e.g., 0.5 seconds), their actions are considered to have high coupling. The system then divides component combinations with high response correlation into the same functional area. Taking the structure in the figure as an example, hydraulic cylinder 103 and lower hinge assembly unit 104 are identified as a combination area with high action response coordination.

[0063] Extract the spatial transformation features of each functional region under the initial attitude change to form the partition structure state, and identify and optimize the spatial transformation conflict components based on the partition structure state to obtain the updated partition structure state.

[0064] In this embodiment of the invention, the spatial transformation features of each functional area during the initial attitude change process are further extracted, specifically including data such as the displacement trajectory of the hydraulic cylinder body, the angle transformation curve of the main dam plate, and the offset angle of the connecting axis, to generate the corresponding partition structure state. To detect possible spatial interference or malfunctions, a preset dam body spatial coordinate system is constructed in this embodiment of the invention, and the changing trends of the attitude vector directions of each component are compared under different control time slices. If the angle between the attitude vector direction of a certain device and other devices in its functional area is less than a preset direction threshold (e.g., 15°), it is determined to be a spatial transformation conflict component.

[0065] In one implementation of this invention, when the piston rod direction of the hydraulic cylinder 103 conflicts with the rotation vector angle direction of the main dam plate 102 (i.e., the included angle is less than a set threshold for a certain period of time), the hydraulic cylinder 103 is separated from its current functional area, and its response time parameters are reassessed. It is then reassigned to another functional area whose action cycle is closest to its current one, for example, by adjusting it to form a new coordinated action area with the lower hinge assembly unit 104. After this process is completed, the system updates the partition structure state, forming an interpretable action area mapping logic.

[0066] The updated partition structure state is mapped to the three-dimensional structure of the target dam body to obtain the three-dimensional operating state of the target dam body.

[0067] In this embodiment of the invention, optimized information such as attitude vectors, relative displacements of components, and angular response characteristics of each functional area are integrated and mapped onto the three-dimensional structure of the target dam. By binding unique device identifiers with component models, the mapping of actual data to a three-dimensional spatial structure is achieved, generating the three-dimensional operating state of the target dam under the current control cycle. This operating state supports subsequent adaptation evaluation and deviation correction of control strategies, and visually presents the spatial coordinated action state of the various components of the dam.

[0068] Optionally, identifying and optimizing spatial transformation conflict components includes:

[0069] The orientation vector direction of the partition structure state in adjacent time periods is detected by applying a preset dam body spatial coordinate system;

[0070] In this embodiment, the attitude vector direction of the equipment in each structural section is accurately identified based on a preset dam body spatial coordinate system. The dam body spatial coordinate system can be constructed into a three-dimensional reference axis system according to the laying direction of the main dam plate, the installation baseline of the hydraulic cylinder, and the axes of the upper and lower hinges. The Z-axis is usually defined as the overall opening direction of the dam body, the X-axis is defined as the extension axis of the dam body along the river channel, and the Y-axis is the structural support axis perpendicular to the dam face. In actual operation, the attitude change of each component will be based on this spatial coordinate system to generate a set of three-dimensional direction vectors to describe the instantaneous state changes of the equipment.

[0071] If the angle between the attitude vector direction of any device in the partition structure state at the current moment and the attitude vector direction of other devices in the functional area at adjacent moments or at the current moment is less than a preset angle threshold, then the device pair is determined to be a spatial transformation conflict component pair.

[0072] In one implementation of this invention, the attitude vector directions of all components within the functional areas of the target dam body at the current moment and the previous control moment are first extracted and mapped to the corresponding vector space in the dam body's spatial coordinate system. For example, the attitude vector of hydraulic cylinder 103 at time t0 is v1, its attitude vector at time t1 is v2, and the attitude vector of main dam plate 102 at time t0 is v3. The consistency of their action trends is analyzed based on the angular relationship between these vectors. If the angle between the attitude vector direction of any device at the current moment and the attitude vector direction of other devices within the same functional area at the current or adjacent moments is less than a preset directional angle threshold (e.g., 12°), then the pair of components is determined to be a spatial transformation conflict component pair with a risk of spatial interference.

[0073] Taking the hydraulic cylinder 103 and the main dam plate 102 in the figure as an example, when the attitude vector of the hydraulic cylinder 103 in a certain control cycle is highly coincident with the action direction of the main dam plate in the previous cycle, and the included angle between the two is lower than the direction angle threshold, then the pair of components is identified as spatial transformation conflict components.

[0074] The component with the smallest angle between the centering attitude vector direction of the spatial transformation conflict component and the main control direction axis in the dam body spatial coordinate system is separated into a corresponding functional region. Based on the action response time parameter of the separated component, it is assigned to the functional region with the closest action response time to update the partition structure state and obtain the updated partition structure state.

[0075] In this embodiment, the angle between the attitude vector of each pair of conflicting components and the main control direction axis (e.g., the Z-axis) in the dam's spatial coordinate system is further calculated, and the component with the smallest angle is selected as the priority separation object. If the attitude direction of the hydraulic cylinder 103 is almost parallel to the Z-axis, while the angle between the main dam plate 102 and the Z-axis is large, the hydraulic cylinder 103 is separated from the current functional area to reduce the risk of conflict caused by angle intersection in future control cycles. Subsequently, based on the historical response time parameters of the hydraulic cylinder 103, it is rematched to the functional area with the closest action response time. For example, if the start-up time difference between the hydraulic cylinder 103 and the lower hinge assembly unit 104 in the previous control cycle is less than 0.3 seconds, which is significantly better than the response consistency with the main dam plate, then the hydraulic cylinder 103 is assigned to the functional area dominated by 104. After the component partitioning and updating are completed, the structural state of the corresponding functional areas also changes accordingly. The updated partitioned structural state will become the basic input for subsequent three-dimensional operational state mapping and control strategy selection, ensuring that the entire dam control system still has clear action boundaries and structural mapping logic even in the event of spatial conflict risks. This process effectively improves the system's structural interpretability, execution robustness, and the mutual exclusion control accuracy of spatial commands.

[0076] The beneficial effects of identifying conflicting components and re-dividing functional areas are: it can effectively solve the spatial interference problem caused by overlapping action paths or uncoordinated response timing of multiple devices within the same control cycle. This not only enhances the structural coordination during dam opening and closing but also improves the stability and safety of control strategy execution, avoiding risks such as hydraulic cylinder overload and dam surface misalignment caused by accidental activation, jamming, or torsion, thereby ensuring the adaptive adjustment capability and structural reliability of the entire hydraulic dam system during dynamic operation.

[0077] Optionally, step S3, identifying the deviation between the current watershed state parameters and the watershed state during the corresponding hydrological season, includes:

[0078] The identification code and current date of the watershed where the dam is located are obtained through a remote communication component;

[0079] By combining the identification code of the watershed where the dam is located with the current date to determine the hydrological season of the current watershed;

[0080] Extract historical statistical reference value sets for the current hydrological seasonal period in the watershed;

[0081] In one implementation of this invention, a remote communication component deployed upstream of the hydraulic dam's data acquisition bus first acquires in real time the unique identification code of the watershed to which the target dam belongs and the current system date. For example, if the currently acquired watershed code is "LS-0412" and the corresponding acquisition date is "July 24th", the hydrological seasonal division range of watershed LS-0412 is automatically retrieved from the database of the remote control system based on this code. This rule is established by the hydrological research institute based on many years of historical data and typically includes dividing the year into three segments: "high water period", "low water period", and "storage period". Each segment is defined by a continuous date range and includes historical statistical intervals for hydrological parameters such as water level, flow velocity, and flow rate. Subsequently, the current date is matched with the hydrological seasonal mapping rule of watershed LS-0412 to determine that the current seasonal period is the "high water period". Typical statistical reference values ​​for water level, flow velocity, and flow rate from the three years adjacent to the current date within the "high water period" are extracted and recorded as the historical statistical reference value group. For example, for water level parameters, the average daily water level from mid-to-late July over the past three years was extracted to form a numerical set containing 30 sets of data, which was used to construct a comparison benchmark.

[0082] By comparing the deviation of the current watershed state parameters from the historical statistical reference value set, an initial deviation measurement set is obtained.

[0083] The initial deviation measurement focuses on the deviations of water level, flow velocity, and flow rate, and calculates a comprehensive deviation weight index according to a preset weight ratio. If this index exceeds a preset deviation identification threshold, it is determined that there is a watershed state deviation in the current watershed hydrological season.

[0084] In this embodiment of the invention, the real-time monitored water level, flow velocity, and flow rate values ​​for the current time period are obtained from the state sensing unit, and their percentile deviations in the corresponding historical statistical reference value groups are compared. Assuming the current water level is 5.6 meters, and the historical average range for this time period is between 6.2 meters and 6.8 meters, the deviation rate is approximately 10% or more, indicating a significant water level deviation. The deviations for flow velocity and flow rate are calculated in the same manner. To avoid misjudgments due to fluctuations in a single parameter, this embodiment of the invention employs a multi-parameter weighted deviation identification mechanism. Based on preset weight ratios (e.g., water level 50%, flow velocity 30%, flow rate 20%), the three deviation values ​​are calculated to form a comprehensive deviation weight index. In this embodiment, if the comprehensive deviation value exceeds a set identification threshold (e.g., 12%), it is automatically determined that there is a significant mismatch between the current watershed state and the hydrological seasonality, triggering the hydrological seasonality correction process in subsequent steps.

[0085] Optionally, step S3, which involves correcting the current hydrological season of the watershed, includes:

[0086] When it is determined that there is a deviation in the hydrological season of the current watershed, the seasonal transition interval corresponding to the target watershed is extracted from the hydrological season division range, and the candidate hydrological season is determined according to the relative position of the current time in the transition interval.

[0087] In one implementation of this invention, when it is determined that there is a significant deviation between the current hydrological season and the actual state of the watershed, the hydrological season division range is retrieved. This division range is constructed by the hydrological environmental management agency based on years of monitoring results and statistical trends, and typically includes a clear time transition interval between the "high-water season-storage period" and the "storage period-dry season." Each transition segment is set with a 15-day or 30-day base time window and is defined as a switchable transition interval. Taking the target watershed "LS-0412" as an example, if the current date is July 24, historical records show that the "high-water season" generally lasts until July 20, while the "storage period" begins on July 25. Therefore, July 21 to 24 is the "high-water-storage" transition segment of this watershed. The two types of hydrological seasons within this segment are used as candidate sets, denoted as "high-water season candidate" and "storage period candidate."

[0088] Calculate the fitting residuals between the current watershed state parameters and each candidate seasonal period in the alternative hydrological seasonal period;

[0089] In one implementation of this invention, hydrological state parameters such as current water level, flow velocity, and flow rate are compared with historical daily average reference parameter sequences for both "high-water season candidates" and "storage regulation period candidates" within the same time period (i.e., July 21-24). To quantify the degree of difference, the current hydrological state vector is compared with the standard vector of each candidate season using a dimension-by-dimensional difference calculation, and the squared residuals are weighted and summed to form the fitting residual value corresponding to each candidate season. For example, if the residual of the "storage regulation period candidate" is 0.082 and the residual of the "high-water season candidate" is 0.036, then the current state is more consistent with the "high-water season".

[0090] The hydrological seasonal period with the smallest fitting residual is selected from the candidate hydrological seasonal periods as the actual hydrological seasonal period of the basin at the current moment.

[0091] In this embodiment, the seasonal period type with the smallest fitting residual value is selected from the candidate hydrological seasonal periods as the "actual hydrological seasonal period of the basin" at the current moment, which is used for subsequent control strategy matching and adjustment processes.

[0092] By correcting the current hydrological season of the basin, this invention can accurately identify the current season type when the hydrological state of the basin changes under conditions of ambiguous boundaries or abnormal climate. This avoids the misjudgment phenomenon caused by the traditional fixed calendar division strategy, provides a more realistic decision-making basis for dam opening and closing control, and ensures accurate capture of the scheduling window and strategy adaptation.

[0093] Optionally, the first dam control strategy in step S4, which matches the actual hydrological season of the watershed, includes:

[0094] Based on the actual hydrological season in the basin, the historical control strategy index table corresponding to that season is retrieved from the remote control system of the ecological hydraulic dam.

[0095] In one implementation of this invention, firstly, based on the "actual hydrological season of the watershed" identified in step S3, the historical control strategy index table corresponding to that season is retrieved from the strategy database of the ecological hydraulic dam remote control system. This index table is pre-built by the system administrator based on control logs and dam execution status over a period of five years or longer, covering control strategy entries for different watersheds, different seasons, and dam types. Each index includes fields such as control strategy number, applicable dam type code, hydraulic cylinder structure configuration summary, execution sequence, opening / closing angle range, and historical response data summary.

[0096] Extract a set of candidate control strategies that match the target dam type and hydraulic system configuration from the historical control strategy index table;

[0097] In this embodiment of the invention, taking the target dam body numbered "HN-YQ-2022" as an example, its dam body type is a "single-cylinder symmetrical double-hinge support structure," and its hydraulic system configuration is "dual-cylinder parallel connection + symmetrical opening and closing hinge + variable frequency oil pump group." The hydraulic cylinder model is "YH140×160-3000," with a maximum cylinder diameter of 140mm, a stroke of 3000mm, and an opening and closing angle range of 15° to 80°. Using this structural information as a filtering condition, all strategy entries in the historical control strategy index table are traversed to extract control strategies with completely identical structural configurations or within the preset tolerance range, forming a candidate control strategy set.

[0098] The hydraulic cylinder parameters of the target dam's hydraulic system are calculated, and the applicability of the execution configuration of each control strategy in the candidate control strategy set is used to screen the first dam control strategy candidate set.

[0099] In this embodiment of the invention, the response suitability index of the current hydraulic system of the target dam is calculated based on parameters such as the current hydraulic cylinder diameter, maximum stroke, and piston rod extension / retraction sensitivity. Combined with the preset execution configurations in the control strategy, such as the starting pressure threshold, valve control time interval, and segmented opening / closing angle, parameter adaptability is calculated for each candidate control strategy. If the cylinder diameter difference is less than 5mm, the stroke difference is less than 100mm, and the control stage configuration is consistent, it is marked as "configuration adapted," and the rest are eliminated. Through the above screening process, a first set of candidate control strategies for the dam is formed.

[0100] Extract the response feature vector from the three-dimensional operating state of the target dam body, including the current actual extension and retraction length of the hydraulic cylinder and the opening and closing resistance of the base, and score the similarity between the response feature vector and the historical response feature vector of each strategy in the first dam body control strategy candidate set;

[0101] The strategy with the highest similarity score from the candidate set of control strategies for the first dam body is selected as the control strategy for the first dam body.

[0102] In a further implementation of this invention, based on the three-dimensional operating state of the target dam, the actual extension / retraction length sequence of the current hydraulic cylinder is extracted. Combined with data from the opening / closing resistance feedback sensor on the dam surface structure, a response feature vector of the dam at the current moment is constructed, denoted as [R1, R2, ..., Rn]. This vector includes characteristic indicators such as the force-displacement change slope, response time delay, and attitude correction trend under different opening / closing angle segments. Furthermore, the response feature vector recorded in the historical execution log of each candidate control strategy is called, and a cosine similarity score is performed between this vector and the current response feature of the target dam.

[0103] Taking "Strategy K-2021-F1" as an example, its similarity score between its historical feature vector and current feature vector is 0.92 (out of 1.0). Other strategies such as "Strategy J-2020-D4" and "Strategy M-2022-H5" have scores of 0.83 and 0.79 respectively. Therefore, "Strategy K-2021-F1" is selected as the first dam body control strategy from the candidate set of first dam body control strategies.

[0104] Optionally, the candidate set of control strategies for the first dam body includes:

[0105] Extract the number of hydraulic cylinders, maximum stroke value and opening / closing angle control range of each functional area in the three-dimensional operation state of the target dam, and construct the current hydraulic system structure vector of the dam body.

[0106] In one implementation of this invention, the hydraulic cylinder configuration parameters of each functional area at the current moment are first extracted based on the three-dimensional operating state of the target dam. Taking the dam numbered "YH-SD-2023" as an example, in its partitioned structure, the upper dam face functional area is configured with 4 sets of hydraulic cylinders, with a cylinder diameter of 160mm, a maximum stroke of 2800mm, and an opening and closing angle control range of [12°, 78°]; the lower dam face functional area is configured with 2 sets of hydraulic cylinders, with a cylinder diameter of 140mm, a maximum stroke of 2500mm, and an opening and closing angle control range of 10°~65°. The above data is structured and combined to form the current dam hydraulic system structure vector. The structure vector fields include, in sequence: hydraulic cylinder quantity distribution, cylinder diameter, stroke, opening and closing angle control range, cylinder arrangement position index, etc.

[0107] The hydraulic cylinder start-up sequence, cylinder diameter configuration, control segment length and opening / closing angle change stages are extracted from the candidate control strategy set to obtain the structural matching control strategy set.

[0108] The structural vector of the current dam hydraulic system is calculated separately from the hydraulic cylinder diameter error, stroke range difference, opening and closing angle control segment difference and cylinder arrangement number ratio deviation between each control strategy in the structural matching control strategy set. Based on the preset scoring weight ratio, the structural adaptation score is calculated comprehensively.

[0109] By removing strategies with a fit degree lower than a preset fit degree from the set of structure matching control strategies, a preliminary set of control strategy candidates is obtained.

[0110] In this embodiment, the hydraulic system execution structure information recorded by each control strategy is sequentially read from the formed candidate control strategy set. Each strategy entry clearly lists the hydraulic cylinder starting sequence (e.g., "Sequence 1: Right cylinder → Left cylinder on the upper dam face; Sequence 2: Cylinders in parallel on the lower dam face"), cylinder diameter configuration (e.g., 160mm×4, 140mm×2), control segment length (e.g., "10° action per segment"), and the distribution of opening and closing angle change stages (e.g., "Stage 1: 10°-30°; Stage 2: 30°-60°"). The cylinder diameter error (in mm), stroke range difference (in cm), and opening and closing angle control segment difference (in °) are compared with each strategy entry to determine the proportional deviation of the number of cylinders (statistically by functional area). Each error is used as a scoring factor. In one embodiment of the invention, the preset scoring weight ratios are: cylinder diameter error 30%, stroke range difference 25%, opening and closing angle control segment difference 25%, and cylinder arrangement ratio deviation 20%. For example, strategy "KD-2021-XF" achieves a perfect score because its cylinder diameter configuration is completely matched to the target dam body; its stroke is slightly shorter by 50mm, resulting in a 2% deduction; its opening and closing angle settings are basically the same, with only a 5° difference in the high-position section, resulting in a 3% deduction; and its cylinder arrangement ratio is consistent, also achieving a perfect score. Therefore, its structural adaptation score is approximately 95 points (out of 100). All strategy scores are ranked, and strategies scoring below the set adaptation threshold of 80 points are removed to form a preliminary candidate set of control strategies.

[0111] By combining the action response time parameters of the equipment in each functional area, the maximum response time difference between functional areas is calculated; control strategies with control intervals smaller than the maximum response time difference are removed from the preliminary control strategy candidate set to form the first dam body control strategy candidate set.

[0112] In one implementation of this invention, the maximum response time difference is used as a judgment mechanism to ensure that the strategy can match the response speed of equipment in each functional area during execution. Specifically, the response time parameters of equipment actions in each functional area of ​​the target dam are extracted, such as hydraulic cylinder response time, valve group delay, feedback signal closed-loop time, etc., and the maximum response time difference between functional areas is calculated. For example, if the fastest response in the upper dam face is 1.5 seconds and the slowest response in the lower dam face is 3.1 seconds, then the maximum response time difference is 1.6 seconds. The control execution interval of each strategy in the preliminary control strategy candidate set is traversed. If there is a strategy where the time interval between consecutive control commands is less than 1.6 seconds, then the strategy is considered to be unable to guarantee response synchronization and is eliminated. Based on the dual screening conditions of structural parameter matching and dynamic response coordination, this invention obtains a first dam control strategy candidate set that is structurally suitable and has reasonable control logic, which is used for further screening of the best strategy in the subsequent response feature vector scoring stage, and effectively avoids the subjective strategy selection influence caused by the single screening condition in the prior art.

[0113] Optionally, determining the operating status correction parameters in step S4 includes:

[0114] Based on the opening and closing angles, hydraulic cylinder extension and retraction amounts and action execution sequences corresponding to each control stage in the first dam body control strategy, calculate the ideal attitude adjustment value, ideal displacement value and ideal response time value of each functional area to obtain the ideal adjustment value of the functional area.

[0115] In this embodiment of the invention, to achieve dynamic optimization and enhanced adaptability of the control strategy, a second dam control strategy that better suits the current operating state is proposed, based on the original first dam control strategy. This mechanism compares the ideal adjustment values ​​and actual state deviations of each functional area item by item, and combines this with correction scale parameters to ensure that the generated control strategy possesses precise control capabilities and structural response coordination.

[0116] In one implementation of this invention, control stage information is first extracted from the selected first dam body control strategy. Taking the "SD-HQ-2022" strategy as an example, this strategy includes five control stages, each defining segmented control actions from an opening / closing angle of 10° to 75°. In each stage, the corresponding target extension / retraction of the hydraulic cylinder (e.g., 850mm for the first stage, 1150mm for the second stage), the target range of the opening / closing angle (e.g., 10°–25°), and the preset action execution sequence for that stage (e.g., completion within 2.0 seconds) are recorded. Based on the parameters of each stage, the ideal attitude adjustment value (in degrees), ideal displacement value (in mm), and ideal response time value (in seconds) for the corresponding functional area are calculated. For example, the ideal adjustment value for the dam front edge functional area in stage three is an increase of 15° in the opening / closing angle, a cylinder extension of 1200mm, and a response time of 2.5 seconds, forming a complete table of ideal adjustment values ​​for the functional areas.

[0117] The actual attitude deviation, displacement value deviation and response time value deviation of each functional area are extracted from the operational state deviation of the first dam body to obtain the actual state value of the functional area.

[0118] In this embodiment of the invention, the actual state parameters of each functional area are extracted from the operational state deviation of the first dam body. For example, the actual deviation of the leading edge functional area is a 10° attitude offset, a hydraulic cylinder extension / retraction amount lower than the reference value by 90mm, and a response time delay of 0.6 seconds. These actual attitude deviations, displacement deviations, and time delays are uniformly merged into the actual state values ​​of the functional areas, corresponding one-to-one with the ideal adjustment values.

[0119] Based on the ideal adjustment value of the functional area and the actual state deviation of each functional area in the deviation of the first dam body's operating state, the operating state correction coefficient corresponding to each functional area is calculated within the preset correction scale range.

[0120] The operating status correction coefficient is mapped to the first dam body control strategy, and the opening and closing angles, hydraulic cylinder extension and retraction amounts, and action execution sequences corresponding to each control stage are adjusted accordingly to obtain the second dam body control strategy.

[0121] In one implementation of this invention, after the deviation is determined, a correction coefficient is calculated for each functional area. To control the degree of correction within a safe range, a preset correction scale range is set, such as attitude correction not exceeding ±20%, displacement adjustment not exceeding ±100mm, and response time adjustment not exceeding ±1 second. Based on this, the correction ratio is calculated by comparing the ideal adjustment value with the actual state value. For example, if the ideal attitude adjustment is 15° and the actual deviation is 10°, then the attitude correction coefficient is 1 + (10° / 15°) × correction ratio control factor. This attitude correction coefficient is applied to the opening and closing angles, cylinder extension and retraction targets, and execution time settings of the relevant control stages in the first dam control strategy, thereby dynamically adjusting the control parameters of each stage. For example, in the third stage of the control strategy "SD-HQ-2022", the original setting is cylinder extension and retraction of 1200mm, opening and closing angle from 40° to 55°, and execution time of 2.5 seconds. After deviation assessment and correction calculations, this stage was adjusted to a telescopic extension of 1250mm, an opening / closing angle from 42° to 57°, and an execution time of 2.3 seconds. These adjustments were automatically updated and recorded by the system in the second dam control strategy, ensuring the control strategy has adaptive capabilities to current state deviations. It is worth noting that the correction proportional control factor in this invention is an empirically set proportional adjustment parameter used to proportionally map the deviations (attitude, displacement, response time) in each functional area to the corresponding adjustment amount of the control parameters in the control strategy. Essentially, it is a dynamically scaling adjustment factor within a safe control range.

[0122] It is worth noting that existing control methods are mostly based on personalized dam modeling, which cannot adapt to changes in different watersheds, seasons, or equipment layouts. This invention maps deviations to generalizable operational state correction parameters, enabling control strategies to be ported and reused across dams through structural matching and correction parameter compensation, greatly improving the maintenance efficiency and engineering application scope of the control system. Furthermore, since the correction parameters are generated with dual references to watershed hydrological seasonal identification and dam operational state baseline maps, strategy adjustments more closely reflect the real watershed environment, effectively addressing the interference of hydrological condition fluctuations on control response and enhancing the safety of ecological hydraulic dam operation.

[0123] Therefore, the embodiments should be considered as exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalents of the application are intended to be included within the invention.

[0124] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A method of remote visual control of an ecological hydraulic dam control system, characterized in that, The application is applied to an ecological hydraulic dam remote control system, which comprises a remote communication component and a dam body execution mechanism connected with a state sensing unit in a communication network, wherein the state sensing unit and the dam body execution mechanism are connected with the remote communication component in the communication network; the method comprises the following steps: Step S1: real-time acquisition of water level value, pressure value or flow rate value by the state sensing unit, determination of first dam body device state and current basin state parameter when any parameter of the water level value, pressure value or flow rate value exceeds the corresponding dynamic control threshold value; Step S2: determination of the three-dimensional running state of the target dam body according to the first dam body device state, comparison of the three-dimensional running state with the deviation of the preset device running baseline graph, and obtaining of the first dam body running state deviation; the determination of the three-dimensional running state of the target dam body in step S2 comprises: determination of the initial posture change condition of the target dam body at the current time according to the hydraulic cylinder extension length, opening and closing angle change value and action response time parameter in the first dam body device state; calculation of the action response correlation between each dam body device in the initial posture change condition based on the action response time parameter, and division of the device set with a correlation higher than a preset correlation threshold value into a functional area; extraction of the spatial transformation feature of each functional area in the initial posture change condition, formation of a partition structure state, identification and optimization of a spatial transformation conflict component according to the partition structure state, and obtaining of an updated partition structure state; mapping of the updated partition structure state to the three-dimensional structure of the target dam body, and obtaining of the three-dimensional running state of the target dam body; Step S3: obtaining of the identification code and current date of the basin where the dam body is located by the remote communication component, determination of the hydrological seasonal period of the current basin, identification of the basin state parameter and the basin state deviation of the corresponding hydrological seasonal period, correction of the hydrological seasonal period of the current basin, and obtaining of the actual hydrological seasonal period of the basin; Step S4: obtaining of the historical control strategy of each hydrological seasonal period by the ecological hydraulic dam remote control system, matching of the first dam body control strategy of the actual hydrological seasonal period of the basin by using the historical control strategy, determination of the running state correction parameter according to the first dam body control strategy and the first dam body running state deviation, and determination of the second dam body control strategy; Step S5: transmission of the second dam body control strategy to the corresponding dam body execution mechanism to execute the dam opening and closing action.

2. The method of remote visual control of an ecological hydraulic dam control system according to claim 1, characterized in that, The method further comprises: acquisition of the second dam body device state by the state sensing unit in the process of executing the dam opening and closing action by the dam body execution mechanism; reconstruction of the dam running state according to the second dam body device state, and mapping of the reconstruction result to the three-dimensional structure of the preset target dam body to obtain a visual state object of the current target dam body; uploading of the visual state object to the ecological hydraulic dam remote control system to trigger the visual display task of the target dam body.

3. The method of remote visual control of an ecological hydraulic dam control system according to claim 2, characterized in that, The reconstruction of the dam running state comprises: extraction of the device structure state parameter of the dam hydraulic execution component, the connecting mechanism and the dam surface structure part from the second dam body device state according to the pre-encoded device structure code; calculation of the shape deviation and time delay deviation between the preset device running baseline graph and the corresponding device structure state parameter to obtain the second dam body running state deviation; With the device structure code as the anchor point, the second dam body operating state deviation is mapped into the three-dimensional structure of the target dam body, and the device structures with any one of the existing morphological deviation and the time delay deviation exceeding the preset state deviation threshold are visualized in the form of red flashing, and the remaining device structures are visualized in the form of green transparency, obtaining the visualized state object of the current target dam body.

4. The method of remote visual control of an ecological hydraulic dam control system according to claim 1, characterized in that, The spatial transformation conflict component is identified and optimized, including: Applying a preset dam body spatial coordinate system to detect the attitude vector direction of the partition structure state at the adjacent time; If the included angle between the attitude vector direction of any device in the partition structure state at the current time and the attitude vector direction of other devices in the functional area at the adjacent time or the current time is less than the preset direction included angle threshold, it is determined that the device pair is a spatial transformation conflict component pair; The component with the smallest included angle between the attitude vector direction and the main control direction axis in the dam body spatial coordinate system is split out of the corresponding functional area, and according to the action response time parameter of the split component, it is divided into the functional area with the closest action response time, to update the partition structure state, and obtain the updated partition structure state.

5. The method of remote visual control of an ecological hydraulic dam control system according to claim 1, characterized in that, The step S3 of identifying the current basin state parameter and the basin state deviation of the corresponding hydrological season period includes: Obtaining the identification code and the current date of the basin where the dam body is located through the remote communication component; Match the current hydrological season period division range of the basin corresponding to the identification code and the current date of the dam body to determine the hydrological season period of the current basin; Extract the historical statistical reference value group of the hydrological season period of the current basin; Compare the deviation degree of the current basin state parameter in the historical statistical reference value group to obtain the initial deviation metric set; According to the preset weight proportion, calculate the comprehensive deviation weight index of the deviation values of water level, flow rate and flow in the initial deviation metric set, if the index exceeds the preset deviation identification threshold, it is determined that the hydrological season period of the current basin has a basin state deviation.

6. The method of remote visual control of an ecological hydraulic dam control system according to claim 1, characterized in that, The step S3 of correcting the hydrological season period of the current basin includes: When it is determined that the hydrological season period of the current basin has a basin state deviation, extract the seasonal transition interval corresponding to the target basin from the hydrological season period division range, and determine the candidate hydrological season period according to the relative position of the current time in the transition interval. Calculate the fitting residual of the current basin state parameter and each candidate season period in the candidate hydrological season period; Select the hydrological season period with the smallest fitting residual from the candidate hydrological season period as the actual hydrological season period of the basin at the current time.

7. The method of remote visual control of an ecological hydraulic dam control system according to claim 1, characterized in that, The step S4 of matching the first dam body control strategy of the actual hydrological season period of the basin includes: Based on the actual hydrological season period of the basin, call the historical control strategy index table corresponding to the season period from the remote control system of the ecological hydraulic dam; Extract the candidate control strategy set matched with the dam type and hydraulic system configuration of the target dam from the historical control strategy index table; Calculate the execution configuration applicability of the hydraulic cylinder parameters of the hydraulic system of the target dam and each control strategy in the candidate control strategy set to filter the first dam body control strategy candidate set; extract a response feature vector including an actual telescopic length of the hydraulic cylinder and a response characteristic of the base opening and closing resistance from a three-dimensional running state of the target dam body, and perform similarity scoring on the response feature vector and a historical response feature vector of each strategy in a first dam body control strategy candidate set; select a strategy with the highest similarity score from the first dam body control strategy candidate set as the first dam body control strategy.

8. The method of remote visual control of an ecological hydraulic dam control system according to claim 7, characterized in that, The screening of the first dam body control strategy candidate set comprises: extracting the number of hydraulic cylinders corresponding to each functional area, the maximum stroke value and the opening and closing angle control range in the three-dimensional running state of the target dam body, and constructing a current dam hydraulic system structure vector; extracting the hydraulic cylinder body starting sequence, cylinder diameter configuration, control segment length and opening and closing angle change stage from the candidate control strategy set to obtain a structure matching control strategy set; respectively calculating the hydraulic cylinder diameter error, stroke range difference, opening and closing angle control paragraph difference and cylinder arrangement quantity proportion deviation between the current dam hydraulic system structure vector and each control strategy in the structure matching control strategy set, and comprehensively calculating the structure adaptation score based on the preset score weight proportion; eliminating the strategies with an adaptation degree lower than a preset adaptation degree threshold from the structure matching control strategy set to obtain a preliminary control strategy candidate set; combining the action response time parameters of the equipment in each functional area, calculating the maximum response time difference between the functional areas, and eliminating the control strategies with a control interval smaller than the maximum response time difference from the preliminary control strategy candidate set to form the first dam body control strategy candidate set.

9. The method of remote visual control of an ecological hydraulic dam control system according to claim 1, characterized in that, The determination of the running state correction parameter in step S4 comprises: calculating the ideal adjustment value, ideal displacement value and ideal response time value of each functional area based on the opening and closing angle, hydraulic cylinder telescopic amount and action execution time sequence corresponding to each control stage in the first dam body control strategy to obtain the ideal adjustment value of the functional area; extracting the actual posture deviation, displacement value deviation and response time value deviation of each functional area from the first dam body running state deviation to obtain the actual state value of the functional area; calculating the running state correction coefficient corresponding to each functional area within a preset correction scale range based on the ideal adjustment value of the functional area and the actual state deviation of each functional area in the first dam body running state deviation; mapping the running state correction coefficient to the first dam body control strategy, correspondingly adjusting the opening and closing angle, hydraulic cylinder telescopic amount and action execution time sequence corresponding to each control stage, and obtaining a second dam body control strategy.

Images