Hydroelectric dam scum cleaning control system and method based on PLC

Abstract

The invention provides a hydroelectric dam scum cleaning control system and method based on a PLC, and relates to the technical field of hydroelectric dam scum cleaning, and the hydroelectric dam scum cleaning control system comprises a PLC main control module, a water level scum sensing module, an equipment collaborative scheduling module, a winch driving control module and a dynamic water level adaptive adjustment module. The hydroelectric dam scum cleaning system effectively solves many problems in a traditional hydroelectric dam scum cleaning mode, realizes intelligent management of the whole scum cleaning process through cooperative control of the PLC main control module on all the modules, changes the state that all links are independent of one another in the traditional mode, and improves the overall coordination and automation level of the system.

Description

Technical Field

[0001] This invention belongs to the field of hydropower dam scum removal technology, specifically relating to a PLC-based hydropower dam scum removal control system and method. Background Technology

[0002] During the operation of a hydropower dam, floating debris in the water, such as tree branches, plastic waste, and oil, can easily cause blockages if they are near the water intake of the generating unit, affecting the normal operation of the unit, or even causing equipment failure and reducing power generation efficiency. Currently, traditional methods for cleaning scum from hydropower dams have several shortcomings: First, the interception devices are mostly fixed structures that cannot adapt to water level fluctuations. When the water level rises or falls, the interception barriers are prone to scum leakage or excessive draft, resulting in unstable interception effectiveness. Second, scum cleaning relies on manual dredging by boat, which is labor-intensive and significantly affected by environmental factors such as water flow and weather, leading to low cleaning efficiency. Third, there is a lack of intelligent collaborative control. Scum monitoring, equipment scheduling, and interception device operation are independent of each other, making it difficult to achieve precise linkage. This results in delayed cleaning timing and uncoordinated equipment operation, increasing the risk of scum entering the generating unit. Fourth, the operation of drive equipment such as winches lacks interlocking mechanisms, which can easily lead to safety problems such as wire rope entanglement and equipment damage due to misoperation, affecting the stability of system operation. Summary of the Invention

[0003] This invention provides a PLC-based control system and method for cleaning scum from hydropower dams, in order to solve at least one of the technical problems mentioned above.

[0004] To address the aforementioned technical problems, this invention discloses a PLC-based control system and method for cleaning floating scum from hydropower dams. The system includes: The PLC main control module is used to receive water level information, scum accumulation information and equipment operating status information from various modules of the control system, and generate corresponding control commands to coordinate the work of various modules. The water level and scum sensing module is used to monitor the water level changes in the dam area and the scum accumulation density in the interception zone in real time. When the scum accumulation density in the interception zone reaches a preset threshold, it sends a signal to the PLC main control module, causing the control system to switch from interception mode to scum removal mode. The equipment coordination and scheduling module is used to receive and send slag removal mode instructions, link the slag removal vessel to enter the work standby area according to the preset path, and coordinate the slag removal vessel and slag removal components to perform slag removal operations. The winch drive control module is used to receive the coiling and unfolding instructions sent by the PLC main control module, and drive the first and second winches to complete the coiling or unwinding of the wire rope based on the corresponding instructions, and control the float device to drive the oil boom to coil or unfold. The dynamic water level adaptive adjustment module is used in the process of deploying interception barriers in the scum removal control system of hydropower dams. Based on the water level changes monitored by the scum sensing module, it automatically adjusts the position and attitude of the float device to ensure that the oil boom always maintains a vertical interception attitude on the water surface, thus ensuring the interception effect. The PLC main control module is electrically connected to the water level and scum sensing module, the equipment collaborative scheduling module, the winch drive control module, and the dynamic water level adaptive adjustment module.

[0005] Preferably, the PLC main control module includes: The mode switching submodule is used to switch between interception mode and debris removal mode; The instruction generation submodule is used to receive operation instructions input by the operator, as well as scum accumulation density reaching the threshold signal and water level change signal sensing data sent by the water level and scum sensing module, and to generate winch action instructions, equipment scheduling instructions and mode switching instructions. The interlock control submodule is used to construct the winch action interlock circuit.

[0006] Preferably, the water level scum sensing module includes: The water level dynamic monitoring submodule adopts a monitoring method combining a laser level sensor and a pressure level gauge. The laser level sensor is used for non-contact measurement of water level height, and the pressure level gauge is used for auxiliary calibration. It collects the water level height and water level change rate of the dam area in real time and transmits the collected data to the PLC main control module and the dynamic water level adaptive adjustment module. The scum density analysis submodule integrates a high-definition camera and an infrared sensor. The high-definition camera is used to capture images of scum in the interception area, and the infrared sensor is used to help identify the boundary between scum and water. The captured images are processed using image recognition technology to calculate the coverage area of ​​scum in the interception area. Based on the coverage area of ​​scum in the interception area, the scum aggregation density is calculated, and the scum aggregation density data is transmitted to the threshold judgment submodule. The threshold judgment submodule has a pre-stored scum cleaning trigger threshold. When it receives the scum aggregation density data output by the scum density analysis submodule, it compares it with the preset threshold. When the scum aggregation density reaches the preset threshold, it sends a scum cleaning mode activation signal to the PLC main control module.

[0007] Preferably, the equipment collaborative scheduling module includes: The slag removal equipment positioning submodule is used to obtain the real-time location information of the slag removal vessel and guide it into the operation standby area. The path planning submodule is used to receive instructions sent by the PLC main control module and information on the distribution of scum accumulation areas provided by the water level and scum sensing module. It also combines the dam body structural parameters and uses the path planning algorithm to automatically generate the optimal operation path for the scum removal vessel from its initial position to the operation standby area and from the operation standby area to the scum accumulation area. The multi-device linkage submodule is used to receive instructions from the PLC main control module when the slag removal vessel enters the slag enrichment zone formed by the oil boom. It coordinates the mechanical grab bucket to remove slag, the sludge pump to suck up slag, and at the same time controls the high-pressure water gun to flush away the remaining slag and attached materials.

[0008] Preferably, the winch drive control module includes: The winch status monitoring submodule is used to collect the winch speed and the wire rope winding and unwinding length in real time. A tension sensor is installed on the wire rope to collect the tension value of the wire rope in real time. The collected winch speed, wire rope winding and unwinding length and tension value data are transmitted to the PLC main control module and the tension adaptive adjustment submodule in real time. The synchronous drive submodule receives retract or expand commands sent by the PLC main control module; The tension adaptive adjustment submodule receives the wire rope tension value fed back by the winch status monitoring submodule, compares it with the preset tension range, and adjusts the wire rope tension accordingly.

[0009] Preferably, the dynamic water level adaptive adjustment module includes: The pontoon attitude sensing submodule installs tilt sensors and displacement sensors on the pontoon device. The tilt sensors monitor the tilt angle of the pontoon device to determine whether the pontoon device is in a horizontal state. The displacement sensors monitor the vertical displacement of the pontoon device along the track to monitor the position change of the pontoon device in real time. The monitored tilt angle and vertical displacement data are transmitted to the PLC main control module and the buoyancy compensation adjustment submodule. The track drive submodule is electrically connected to the track pulley device of the float device. It receives water level change data transmitted by the water level dynamic monitoring submodule. When the water level rises, it drives the track pulley device to slide upward along the track, thereby causing the float device to rise. When the water level drops, the drive track pulley device slides down the track, causing the float device to descend, ensuring that the float device moves synchronously with the water level change; The buoyancy compensation and adjustment submodule receives data on the tilt angle and vertical displacement of the float device from the float attitude sensing submodule. When it detects that the float device tilts due to buoyancy deviation caused by water level changes, it controls the inflation or deflation device on the float to perform inflation or deflation operations, adjusts the air pressure inside the float, and thus changes the buoyancy of the float to compensate for the buoyancy deviation caused by water level changes, keeping the float device in a horizontal state and ensuring that the oil boom always maintains a vertical interception posture on the water surface.

[0010] A PLC-based method for controlling the removal of floating debris from hydropower dams includes the following steps: Step 1: Deploy the interception barrier, and the hydropower dam scum cleaning control system controls the dam scum cleaning components to achieve dynamic water level adaptive adjustment; Step 2: After the water level scum sensing module identifies that the scum accumulation density in the interception area reaches the threshold, the operator activates the scum removal mode through the PLC main control module. The PLC main control module automatically activates the interlock circuit to prevent misoperation, and at the same time sends the scum removal mode command to the equipment coordination and scheduling module. The equipment coordination and scheduling module links the scum removal vessel to enter the operation standby area according to the preset path. The operation standby area is located near the scum accumulation zone outside the oil boom, in preparation for subsequent efficient cleaning. Step 3: The PLC main control module sends a winding command to the first winch and the second winch. The first winch on each side winds up the wire rope, and the second winch on the same side releases the wire rope simultaneously. The winding force of the first winch pulls the float device to move horizontally along the track toward the center of the dam. The float devices on both sides move inward simultaneously, causing the oil boom to retract from the unfolded state into a "V" shape, compressing the dispersed scum into the core accumulation area in front of the dam. Step 4: The slag removal equipment enters the slag enrichment zone formed by the oil boom. The mechanical grab bucket and the sludge suction pump work together to dredge and suck up the concentrated slag in batches, and the high-pressure water gun assists in flushing away the residual attached substances. Step 5: After the slag removal is completed, the PLC main control module triggers a reset command.

[0011] Preferably, step one, the deployment of the interception barrier, includes: The operator starts the system and sends an deployment command through the PLC main control module. The PLC main control module drives the first and second winches on both sides of the dam to release steel wire ropes simultaneously. The released steel wire ropes pull the float device through the movable lock, causing its track pulley device to move horizontally to the outside of the dam body along the preset track. The float device drives the oil boom to deploy and connects with the dam's debris-blocking float to form a continuous arc-shaped interception barrier. The buoyancy provided by the float ensures that the oil boom stands vertically on the water surface, effectively preventing the scum from approaching the unit's water inlet. The hydropower dam scum cleaning control system thus enters the normal interception operation state.

[0012] Preferably, step one, the hydropower dam scum removal control system, controls the dam scum removal components to achieve dynamic water level adaptive adjustment, including: During the operation of the scum removal control system for hydropower dams, when the upstream water level fluctuates, the pontoons automatically rise and fall with the water level. They achieve precise displacement by sliding on the vertical track through the track pulley device. At this time, the pontoon device only moves vertically, ensuring that the oil boom always maintains a vertical interception posture and a suitable draft. The double fixed connection design of the movable lock and the wire rope lock is used to resist the impact of water flow and ensure the continuity and stability of the interception barrier during water level changes.

[0013] Preferably, step six involves the PLC main control module triggering a reset command, including: The first winch on each side releases the wire rope, and the second winch winds up the wire rope. The reverse linkage pulls the float device to move outward along the track, causing the oil boom to unfold again. When the float device reaches the initial position on the track, the oil boom and the debris-blocking float are seamlessly connected again, rebuilding a complete interception barrier. The PLC main control module releases the interlock and exits the slag cleaning mode, and the hydropower dam slag cleaning control system resumes automatic monitoring.

[0014] Compared with the prior art, the present invention has the following beneficial effects: This invention effectively solves many problems existing in traditional methods of cleaning scum from hydropower dams. Through the coordinated control of various modules by the PLC main control module, it achieves intelligent management of the entire scum cleaning process, changing the independent state of each link in the traditional method and improving the overall coordination and automation level of the system. The water level and scum sensing module can monitor water level changes and scum accumulation density in real time, solving the problem that traditional fixed interception devices cannot accurately grasp the scum status. This provides a reliable basis for the system to switch from interception mode to scum cleaning mode in a timely manner, avoiding excessive scum accumulation. The scum interception structure, composed of the float device, oil boom, and dam debris barrier float, combined with the dynamic water level adaptive adjustment module, can automatically adjust the position of the float device according to water level fluctuations. The system ensures that the oil boom remains vertically upright on the water surface, overcoming the problems of leakage or excessive draft that traditional fixed interception devices are prone to when the water level changes. This improves the stability and reliability of the interception effect. The winch drive control module provides precise control over the retraction and deployment of the oil boom, which, in conjunction with the equipment coordination and scheduling module, links the cleanup vessel to the operation. This replaces the traditional method of manual boat dredging, reducing the intensity of manual labor and is not significantly affected by environmental factors such as water flow and weather, thus improving the cleanup efficiency. At the same time, the coordinated cooperation of various components in the system and the potential application of interlocking mechanisms reduce safety issues such as wire rope entanglement and equipment damage caused by misoperation, reduce the risk of floating debris entering the unit's intake, ensure the safe and stable operation of the hydropower dam unit, and improve power generation efficiency. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the PLC-based hydropower dam scum cleaning control system of the present invention; Figure 2 This is a schematic diagram of the dam scum removal component structure of the present invention; Figure 3 This is a schematic diagram of the float device structure of the present invention; Figure 4 This is a schematic diagram showing the connection between the oil boom and the float device of the present invention.

[0016] In the diagram: 1. Oil boom; 2. Float device; 21. Float outer frame; 22. Float; 23. Track pulley device; 24. Movable lock connecting the oil boom; 3. Dam debris containment float; 4. First winch; 41. Wire rope; 5. Second winch; 6. Wire rope lock; 7. Track; 8. Dam body; 9. PLC main control module. Detailed Implementation

[0017] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0018] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0019] The present invention provides the following embodiments. Example 1 This invention provides a PLC-based control system and method for cleaning scum from hydropower dams, such as... Figure 1-4 As shown, the system includes: PLC main control module 9 is used to receive water level information, scum accumulation information and equipment operating status information fed back by each module of the control system, and generate corresponding control commands to coordinate the linkage of each module. The water level and scum sensing module is used to monitor the water level changes in the dam area and the scum accumulation density in the interception zone in real time. When the scum accumulation density in the interception zone reaches the preset threshold, it sends a signal to the PLC main control module 9, causing the control system to switch from the interception mode to the scum removal mode. The equipment coordination and scheduling module is used to receive and send slag removal mode instructions, link the slag removal vessel to enter the work standby area according to the preset path, and coordinate the slag removal vessel and slag removal components to perform slag removal operations. The winch drive control module is used to receive the coiling and unfolding instructions sent by the PLC main control module 9, and drive the first winch 4 and the second winch 5 to complete the coiling or unwinding action of the wire rope 41 based on the corresponding instructions, and control the float device 2 to drive the oil boom 1 to coil or unfold. The dynamic water level adaptive adjustment module is used to automatically adjust the position and attitude of the float device 2 according to the water level changes monitored by the water level floating debris sensing module during the deployment of the interception barrier in the hydropower dam scum cleaning control system, so as to ensure that the oil boom 1 always maintains a vertical interception attitude on the water surface and ensures the interception effect. Among them, the PLC main control module 9 is electrically connected to the water level and scum sensing module, the equipment collaborative scheduling module, the winch drive control module, and the dynamic water level adaptive adjustment module.

[0020] In this embodiment, the scum cleaning component includes a scum interception component: including oil booms 1 symmetrically arranged on both sides of the dam body 8, the oil booms 1 being connected to the float device 2 via a movable lock, and the oil booms 1 being connected to the dam debris-blocking float 3, together forming a scum interception structure. Two sets of winch sets correspond one-to-one with two sets of oil booms 1. Each set of winch sets is connected to the float device 2 by steel wire rope 41, wherein the steel wire rope 41 of the winches in the same set is connected in the middle. The winch assembly includes: a first winch 4 and a second winch 5, with the steel wire rope 41 of the first winch 4 and the second winch 5 connected in the middle; The float device 2 includes: a float outer frame 21, a float 22 installed inside the float outer frame 21, a track pulley device 23 connected to one side of the float outer frame 21, a movable lock 24 connected to the oil boom installed on the other side of the float outer frame 21, a steel wire rope 41 passing through the movable lock 24 connected to the oil boom and connected to the winch assembly, and the track pulley device 23 slidably connected to the track 7. In the float device 2, the wire rope 41 is connected to the wire rope lock 6.

[0021] The working principle and beneficial effects of the above technical solution are as follows: Using the PLC main control module 9 as the core, it receives water level and scum accumulation information from the water level and scum sensing module, as well as equipment operating status information from the equipment coordination and scheduling module and the winch drive control module. It then generates corresponding control commands and coordinates the linkage of each module. The water level and scum sensing module monitors the water level changes and scum accumulation density in the interception zone of the dam area in real time. When the scum accumulation density reaches a preset threshold, it sends a signal to the PLC main control module 9, causing the system to switch from interception mode to scum removal mode. After receiving the scum removal mode command, the equipment coordination and scheduling module links the scum removal vessel to enter the operation standby area according to a preset path and coordinates the scum removal vessel and scum removal components to perform scum removal operations. The winch drive control module receives the PLC... The main control module 9's command to retract or extend drives the first winch 4 and the second winch 5 to retract and extend the wire rope 41, controlling the float device 2 to retract or extend the oil boom 1. The dynamic water level adaptive adjustment module automatically adjusts the position and attitude of the float device 2 according to the water level changes monitored by the water level and scum sensing module, ensuring that the oil boom 1 is always vertically standing on the water surface. The oil boom 1, which is symmetrically arranged in the scum cleaning component, is connected to the float device 2 through a movable lock and works with the dam debris-blocking float 3 to form an interception structure. The two sets of winch groups are connected to the float device 2 through the wire rope 41 to drive the oil boom 1. This invention achieves intelligent management and control of the entire scum removal process. Through the PLC main control module, the linkage of various modules is coordinated, improving the coordination and automation level of system operation. The real-time monitoring of the water level and scum sensing module ensures accurate control of the scum accumulation state and water level changes, providing a reliable basis for mode switching. This allows the system to switch from interception mode to scum removal mode in a timely manner, avoiding excessive scum accumulation. The interception structure formed by the float device 2, the oil boom 1, and the dam debris-blocking float 3, combined with the function of the dynamic water level adaptive adjustment module, ensures that the oil boom 1 always maintains an effective interception posture when the water level changes, improving the stability and reliability of scum interception. The winch drive control module accurately controls the oil boom 1 to retract or expand, and works in conjunction with the equipment coordination scheduling module to link the scum removal vessel operation, replacing the traditional manual boat cleaning method, reducing labor intensity and improving scum removal efficiency. At the same time, the coordinated cooperation of various components in the overall structural design reduces the risk of scum entering the unit's water inlet, ensuring the safe and stable operation of the hydropower dam unit. This invention effectively solves many problems existing in traditional methods of cleaning scum from hydropower dams. Through the coordinated control of various modules by the PLC main control module 9, intelligent management of the entire scum cleaning process is achieved. This changes the independent state of each link in the traditional method, improving the overall coordination and automation level of the system. The water level and scum sensing module can monitor water level changes and scum accumulation density in real time, solving the problem that traditional fixed interception devices cannot accurately grasp the scum status. This provides a reliable basis for the system to switch from interception mode to scum cleaning mode in a timely manner, avoiding excessive scum accumulation. The scum interception structure formed by the float device 2, oil boom 1, and dam debris containment float 3, combined with the dynamic water level adaptive adjustment module, can automatically adjust the position and attitude of the float device 2 according to water level fluctuations, ensuring that the oil boom 1 always stands vertically. On the water surface, this system overcomes the problems of traditional fixed interception devices that are prone to leakage of slag or excessive draft when the water level changes, improving the stability and reliability of the interception effect. The winch drive control module provides precise control over the retraction or deployment of the oil boom 1, and works in conjunction with the equipment coordination and scheduling module to coordinate the operation of the slag removal vessel, replacing the traditional method of manual boat dredging. This reduces the intensity of manual labor and is not significantly affected by environmental factors such as water flow and weather, thus improving slag removal efficiency. At the same time, the coordinated cooperation of various components in the system and the potential application of interlocking mechanisms reduce safety issues such as wire rope entanglement and equipment damage caused by misoperation, reduce the risk of floating slag entering the unit's water intake, ensure the safe and stable operation of the hydropower dam unit, and improve power generation efficiency.

[0022] Example 2 Based on Example 1, the PLC main control module 9 includes: The mode switching submodule is used to switch between interception mode and debris removal mode; The instruction generation submodule is used to receive operation instructions input by the operator, as well as scum accumulation density reaching the threshold signal and water level change signal sensing data sent by the water level and scum sensing module, and to generate winch action instructions, equipment scheduling instructions and mode switching instructions. The interlock control submodule is used to construct the winch action interlock circuit.

[0023] In this embodiment, when the operator activates the slag cleaning mode through the mode switching submodule, the interlocking circuit is automatically activated to prevent the winch group, including the first winch 4 and the second winch 5, from malfunctioning. At the same time, it ensures that other unrelated operations will not interfere with the slag cleaning process during the operation of the slag cleaning mode.

[0024] In this embodiment, the winch operation commands include a retracting command and an unfolding command; Equipment dispatch instructions are used to direct the slag removal vessel to enter the operation standby area; The mode switching command is used to switch between interception mode and debris removal mode.

[0025] In this embodiment, a winch action interlock circuit is constructed to control the first winch 4 and the second winch 5 on the same side to maintain the synchronization of winding and releasing during operation, so as to avoid problems such as wire rope 41 tangling. At the same time, an equipment operation permission interlock logic is established so that the slag cleaning equipment can only perform operation under specific conditions, such as after the slag cleaning mode is activated, to prevent misoperation when multiple devices work together.

[0026] The working principle and beneficial effects of the above technical solution are as follows: The mode switching submodule of PLC main control module 9 is responsible for switching between interception mode and slag removal mode. When the operator activates the slag removal mode, the interlocking circuit is automatically activated to prevent the first winch 4, the second winch 5 and other winch groups from malfunctioning. At the same time, it avoids irrelevant operations from interfering with the slag removal process during the operation of the slag removal mode. The instruction generation submodule receives the operation instructions input by the operator, as well as the sensing data such as the slag aggregation density reaching the threshold signal and the water level change signal sent by the water level and slag sensing module. Based on this, it generates winch action instructions, including retraction instructions and unfolding instructions, equipment scheduling instructions to direct the slag removal vessel to enter the operation standby area, and mode switching instructions to switch between interception mode and slag removal mode. The interlocking control submodule constructs the winch action interlocking circuit to ensure that the first winch 4 and the second winch 5 on the same side maintain the synchronization of winding and releasing when they move, to avoid the wire rope 41 from getting tangled. At the same time, it establishes equipment operation permission interlocking logic, allowing the slag removal equipment to operate only under specific conditions such as the activation of the slag removal mode, to prevent malfunctions when multiple devices are working together. The mode switching submodule enables reliable switching between interception mode and slag removal mode, and ensures operational safety during mode switching through interlocking loops, avoiding interference from malfunctions to system operation. The instruction generation submodule can generate precise control instructions based on diverse input information, ensuring that each device operates according to preset logic, thus improving the accuracy and targeting of system control. The interlocking control submodule effectively prevents problems such as wire rope entanglement and multi-device conflicts through winch action interlocking and equipment operation permission interlocking, ensuring the stability and safety of equipment collaborative operation, and improving the overall control reliability of PLC main control module 9, providing core guarantee for the intelligent operation of the entire system process.

[0027] Example 3 Based on Example 1, the water level scum sensing module includes: The water level dynamic monitoring submodule adopts a monitoring method combining a laser level sensor and a pressure level gauge. The laser level sensor is used for non-contact measurement of water level height, and the pressure level gauge is used for auxiliary calibration. It collects the water level height and water level change rate of the dam area in real time and transmits the collected data to the PLC main control module 9 and the dynamic water level adaptive adjustment module. The scum density analysis submodule integrates a high-definition camera and an infrared sensor. The high-definition camera is used to capture images of scum in the interception area, and the infrared sensor is used to help identify the boundary between scum and water. The captured images are processed using image recognition technology to calculate the coverage area of ​​scum in the interception area. Based on the coverage area of ​​scum in the interception area, the scum aggregation density is calculated, and the scum aggregation density data is transmitted to the threshold judgment submodule. The threshold judgment submodule has a pre-stored scum cleaning trigger threshold. When it receives the scum aggregation density data output by the scum density analysis submodule, it compares it with the preset threshold. When the scum aggregation density reaches the preset threshold, it sends a scum cleaning mode activation signal to the PLC main control module 9.

[0028] In this embodiment, the scum removal trigger threshold is set based on the dam unit's safe operation requirements and past scum removal experience.

[0029] The working principle and beneficial effects of the above technical solution are as follows: The water level dynamic monitoring submodule of the water level scum sensing module adopts a combination of laser liquid level sensor and pressure water level gauge for monitoring. The laser liquid level sensor measures the water level height non-contactly, and the pressure water level gauge assists in calibration. It collects the water level height and water level change rate of the dam area in real time and transmits the data to the PLC main control module 9 and the dynamic water level adaptive adjustment module. The scum density analysis submodule integrates a high-definition camera and an infrared sensor. The high-definition camera captures images of scum in the interception area, and the infrared sensor assists in identifying the boundary between scum and water. The image is processed through image recognition technology to calculate the scum coverage area and convert it into scum aggregation density. The data is transmitted to the threshold judgment submodule. The threshold judgment submodule has a pre-stored scum cleaning trigger threshold set according to the dam unit's safe operation requirements and scum cleaning experience. It compares the received scum aggregation density data with the preset threshold. When the threshold is reached, it sends a scum cleaning mode activation signal to the PLC main control module 9. The dynamic water level monitoring submodule uses a combination of two sensors: a laser level sensor for convenient non-contact measurement and a pressure level gauge for calibration, improving the accuracy of water level height and rate of change monitoring. This provides reliable data support for dynamic adaptive water level adjustment. The scum density analysis submodule combines a high-definition camera and an infrared sensor to accurately identify scum boundaries and calculate aggregation density using image recognition technology, ensuring accurate scum status monitoring and avoiding missed or false scum detection. The threshold judgment submodule triggers a scum removal mode based on a preset threshold, making the timing of scum removal operations more reasonable. This prevents ineffective scum removal when there is insufficient scum and avoids interception failure when there is excessive scum. Overall, this improves the system's ability to perceive water level and scum status, providing accurate data for subsequent control decisions.

[0030] Example 4 Based on Example 1, the device collaborative scheduling module includes: The slag removal equipment positioning submodule is used to obtain the real-time location information of the slag removal vessel and guide it into the operation standby area. The path planning submodule is used to receive instructions sent by the PLC main control module 9 and information on the distribution of scum accumulation areas provided by the water level and scum sensing module. At the same time, combined with the structural parameters of the dam body 8, the path planning algorithm is used to automatically generate the optimal operation path for the scum removal vessel from its initial position to the operation waiting area and from the operation waiting area to the scum accumulation area. The multi-device linkage submodule is used to receive instructions from the PLC main control module 9 after the slag removal vessel enters the slag enrichment zone formed by the oil boom 1. It coordinates the mechanical grab bucket to remove slag, the sludge suction pump to suck up slag, and at the same time controls the high-pressure water gun to flush away the remaining slag and attached materials.

[0031] In this embodiment, the slag removal equipment positioning submodule uses GPS positioning technology and dam body reference coordinates to obtain the real-time location information of the slag removal vessel. The dam body reference coordinates provide a reference for the positioning of the slag removal vessel. By combining the two, the position of the slag removal vessel can be accurately located.

[0032] In this embodiment, the structural parameters of the dam body 8 include the dam body length and the distribution of facilities on the dam body.

[0033] In this embodiment, the optimal operating path of the slag removal vessel from its initial position to the work standby area and from the work standby area to the slag accumulation area can avoid dam facilities, the installation position of dam facilities such as the dam debris interception float 3, and areas of water turbulence, ensuring the safe and efficient operation of the slag removal vessel.

[0034] In this embodiment, the multi-device linkage submodule establishes communication connections with the control systems of the slag removal equipment such as the mechanical grab bucket, sludge suction pump, and high-pressure water gun of the slag removal vessel.

[0035] The working principle and beneficial effects of the above technical solution are as follows: The slag removal equipment positioning submodule of the equipment collaborative scheduling module is based on GPS positioning technology and linkage with the dam body reference coordinates to obtain the real-time position information of the slag removal vessel. With the dam body reference coordinates as a reference, the slag removal vessel is accurately located and guided to enter the operation standby area. The path planning submodule receives the instructions from the PLC main control module 9 and the slag accumulation area distribution information provided by the water level slag sensing module. Combined with the structural parameters such as the length of the dam body 8 and the distribution of facilities, the path planning algorithm is used to generate the optimal operation path for the slag removal vessel from the initial position to the operation standby area and then to the slag accumulation area. This path avoids dam facilities such as the installation position of the dam's debris-blocking float 3 and the turbulent water flow area. The multi-equipment linkage submodule communicates with the slag removal equipment control system of the slag removal vessel, such as the mechanical grab bucket, sewage suction pump, and high-pressure water gun. When the slag removal vessel enters the slag enrichment zone formed by the oil boom 1, it receives the instructions from the PLC main control module 9 to coordinate the collaborative operation of each device and realize the coordination of slag retrieval, suction and residual attachment flushing. The slag removal equipment positioning submodule, linked with the dam's baseline coordinates via GPS, enables precise positioning and guidance of the slag removal vessel, ensuring its accurate entry into the operational waiting area and laying the foundation for subsequent slag removal operations. The path planning submodule generates the optimal operational path, which avoids dam facilities and turbulent water flow areas, ensuring the safety of the slag removal vessel while shortening the travel distance and improving operational efficiency. The multi-equipment linkage submodule coordinates the mechanical grab bucket, sludge pump, high-pressure water gun, and other equipment to work together, enabling the batch dredging, suction, and effective flushing of residual slag, improving the thoroughness and efficiency of slag removal, enhancing the overall coordination and operational effectiveness of the slag removal equipment, shortening the slag removal time, and reducing the impact of slag on unit operation.

[0036] Example 5 Based on Example 1, the winch drive control module includes: The winch status monitoring submodule is used to collect the winch speed and the winding and unwinding length of the wire rope 41 in real time. A tension sensor is installed on the wire rope 41 to collect the tension value borne by the wire rope 41 in real time. The collected winch speed, wire rope 41 winding and unwinding length and tension value data are transmitted to the PLC main control module 9 and the tension adaptive adjustment submodule in real time. The synchronous drive submodule receives retract or expand commands sent by the PLC main control module 9; The tension adaptive adjustment submodule receives the tension value of the wire rope 41 from the winch status monitoring submodule, compares it with the preset tension range, and adjusts the tension of the wire rope 41.

[0037] In this embodiment, the winch status monitoring submodule collects the rotational speed of the winches and the winding and unwinding length of the wire rope 41 in real time by installing encoders on the first winch 4 and the second winch 5.

[0038] In this embodiment, when the synchronous drive submodule receives the retraction command, it controls the first winch 4 on each side to perform the wire rope 41 winding operation, and at the same time controls the second winch 5 on the same side to perform the wire rope 41 release operation synchronously, and the winding speed and the release speed are matched. The winding force of the first winch 4 pulls the float device 2 to move horizontally along the track 7 towards the center of the dam body. The float devices 2 on both sides move inward synchronously, driving the oil boom 1 to retract from the unfolded state to a V” shape. When the synchronous drive submodule receives the deployment command, it controls the first winch 4 on each side to release the wire rope 41, and the second winch 5 on the same side synchronously winds up the wire rope 41, driving the float device 2 to move horizontally along the track 7 to the outside of the dam body 8, so that the oil boom 1 is deployed.

[0039] In this embodiment, when the tension value exceeds the preset upper limit, the tension adaptive adjustment submodule automatically reduces the driving torque of the winch, reduces the tension on the wire rope 41, and prevents the wire rope 41 from breaking due to over-tension; when the tension value is lower than the preset lower limit, it automatically increases the driving torque of the winch to keep the wire rope 41 taut and avoid slack entanglement.

[0040] The working principle and beneficial effects of the above technical solution are as follows: The winch status monitoring submodule of the winch drive control module collects the winch speed and the winding and unwinding length of the wire rope 41 in real time by installing encoders on the first winch 4 and the second winch 5. Tension sensors are installed on the wire rope 41 to collect tension values, and this data is transmitted in real time to the PLC main control module 9 and the tension adaptive adjustment submodule. The synchronous drive submodule receives the winding or unwinding commands from the PLC main control module 9. When a winding command is received, it controls the first winch 4 on each side to wind up the wire rope 41, and the second winch 5 on the same side to release synchronously with matching winding and unwinding speeds. The traction float device 2 moves towards the center of the dam, causing the oil boom 1 to retract into a "V" shape. When the shape receives the unfolding command, it controls the first winch 4 to release and the second winch 5 to wind up the steel wire rope 41, driving the float device 2 to move to the outside of the dam body 8, so that the oil boom 1 unfolds. The tension adaptive adjustment submodule compares the tension value of the steel wire rope 41 fed back by the winch status monitoring submodule with the preset range. When it exceeds the upper limit, it reduces the drive torque of the winch and increases the drive torque when it is below the lower limit, thus adjusting the tension. The winch status monitoring submodule collects real-time data on winch speed, wire rope length, and tension, providing data support for precise winch operation control and ensuring the system can promptly grasp the equipment's operating status. The synchronous drive submodule enables synchronized operation of the first winch 4 and the second winch 5, ensuring the symmetry and stability of the oil boom 1's retraction and deployment, effectively compressing scum into the accumulation zone or allowing the interception barrier to fully deploy. The tension adaptive adjustment submodule adjusts the tension of the wire rope 41 in real time, avoiding wire rope breakage due to excessive tension and slack entanglement due to insufficient tension, extending the wire rope's service life, ensuring the reliability of the winch drive, and comprehensively improving the stability and safety of the winch group's operation, ensuring the precise and effective operation of the oil boom 1.

[0041] Example 6 Based on Example 1, the dynamic water level adaptive adjustment module includes: The float attitude sensing submodule installs an inclination sensor and a displacement sensor on the float device 2. The inclination sensor is used to monitor the tilt angle of the float device 2 to determine whether the float device 2 is in a horizontal state. The displacement sensor is used to monitor the vertical displacement of the float device 2 along the track 7, so as to keep track of the position change of the float device 2 in real time, and transmit the monitored tilt angle and vertical displacement data to the PLC main control module 9 and the buoyancy compensation adjustment submodule. The track drive submodule is electrically connected to the track pulley device 23 of the float device 2. It receives water level change data transmitted by the water level dynamic monitoring submodule. When the water level rises, it drives the track pulley device 23 to slide upward along the track 7, thereby causing the float device 2 to rise. When the water level drops, the drive track pulley device 23 slides down along the track 7, causing the float device 2 to descend, ensuring that the float device 2 moves synchronously with the water level change; The buoyancy compensation adjustment submodule receives data on the tilt angle and vertical displacement of the float device 2 from the float attitude sensing submodule. When it detects that the float device 2 tilts due to buoyancy deviation caused by water level changes, it controls the inflation or deflation device on the float 22 to perform inflation or deflation operations, adjusts the air pressure inside the float 22, and thus changes the buoyancy of the float 22 to compensate for the buoyancy deviation caused by water level changes, so that the float device 2 remains in a horizontal state and ensures that the oil boom 1 always maintains a vertical interception posture on the water surface.

[0042] The working principle and beneficial effects of the above technical solution are as follows: The float attitude sensing submodule of the dynamic water level adaptive adjustment module monitors the tilt angle by installing an angle sensor on the float device 2 to determine whether it is horizontal. It monitors the vertical displacement of the float device 2 along the track 7 by a displacement sensor and transmits the data to the PLC main control module 9 and the buoyancy compensation adjustment submodule. The track drive submodule is electrically connected to the track pulley device 23 of the float device 2 and receives the water level change data from the water level dynamic monitoring submodule. When the water level rises, it drives the track pulley device 23 to slide up along the track 7, driving the float device 2 to rise. When the water level falls, it drives it to slide down, driving the float device 2 to fall, ensuring that the float device 2 moves synchronously with the water level. The buoyancy compensation adjustment submodule receives the tilt angle and vertical displacement data from the float attitude sensing submodule. When the float device 2 tilts due to buoyancy deviation caused by water level changes, it controls the inflation and deflation device on the float 22 to adjust the internal air pressure, change the buoyancy magnitude, compensate for the deviation, keep the float device 2 horizontal, and ensure that the oil boom 1 stands vertically on the water surface. The float attitude sensing submodule monitors the tilt angle and vertical displacement of the float device 2 in real time, providing accurate data for attitude adjustment. The track drive submodule drives the float device 2 to rise and fall synchronously with the water level, ensuring that it is always in a suitable water surface position and avoiding interception failure due to water level changes. The buoyancy compensation adjustment submodule adjusts the buoyancy compensation deviation of the float 22 to keep the float device 2 horizontal, ensuring that the oil boom 1 is always vertically standing on the water surface, ensuring the continuity and stability of the interception barrier. Even when the water level fluctuates, it can effectively block the floating debris from approaching the unit's water inlet, improving the system's adaptability to water level changes and the reliability of the interception effect.

[0043] Example 7 Based on Example 1, the PLC-based method for controlling the removal of floating debris from hydropower dams includes the following steps: Step 1: Deploy the interception barrier, and the hydropower dam scum cleaning control system controls the dam scum cleaning components to achieve dynamic water level adaptive adjustment; Step 2: After the water level scum sensing module identifies that the scum accumulation density in the interception area has reached the threshold, the operator activates the scum cleaning mode through the PLC main control module 9. The PLC main control module 9 automatically activates the interlock circuit to prevent misoperation, and at the same time sends the scum cleaning mode command to the equipment coordination and scheduling module. The equipment coordination and scheduling module links the scum cleaning vessel to enter the operation standby area according to the preset path. The operation standby area is located near the scum enrichment zone outside the oil boom 1, in preparation for subsequent efficient cleaning. Step 3: The PLC main control module 9 sends a winding command to the first winch 4 and the second winch 5. The first winch 4 on each side winds up the steel wire rope 41, and the second winch 5 on the same side releases the steel wire rope simultaneously. The winding force of the first winch 4 pulls the float device 2 to move horizontally along the track 7 towards the center of the dam. The float devices 2 on both sides move inward simultaneously, driving the oil boom 1 to retract from the unfolded state into a "V" shape, compressing the dispersed scum into the core accumulation area in front of the dam. Step 4: The slag removal equipment enters the slag enrichment zone formed by the oil boom 1. The mechanical grab bucket and the sludge suction pump work together to dredge and suck up the concentrated slag in batches. The high-pressure water gun assists in flushing away the residual attached substances. Step 5: After the slag removal is completed, the PLC main control module 9 triggers a reset command.

[0044] Preferably, step one, the deployment of the interception barrier, includes: The operator starts the system and sends an deployment command through the PLC main control module 9. The PLC main control module 9 drives the first winch 4 and the second winch 5 on both sides of the dam to release the steel wire rope 41 simultaneously. The released steel wire rope 41 pulls the float device 2 through the movable lock 24, causing its track pulley device 23 to move horizontally along the preset track 7 to the outside of the dam body 8. The float device 2 drives the oil boom 1 to deploy and connects with the dam's debris-blocking float 3 to form a continuous arc-shaped interception barrier. The buoyancy provided by the float 22 ensures that the oil boom 1 stands vertically on the water surface, effectively blocking the scum from approaching the unit's water inlet. The hydropower dam scum cleaning control system thus enters the normal interception operation state.

[0045] Preferably, step one, the hydropower dam scum removal control system, controls the dam scum removal components to achieve dynamic water level adaptive adjustment, including: During the operation of the hydropower dam scum cleaning control system, when the upstream water level fluctuates, the float 22 automatically rises and falls with the water level. It achieves precise displacement by sliding on the vertical track 7 through the track pulley device 23. At this time, the float device 2 only moves vertically to ensure that the oil boom 1 always maintains a vertical interception posture and a suitable draft. The double fixed connection design of the movable lock 24 and the wire rope lock 6 is used to resist the impact of water flow and ensure the continuity and stability of the interception barrier during water level changes.

[0046] Preferably, step six involves the PLC main control module 9 triggering a reset command, including: The first winch 4 on each side releases the wire rope, and the second winch 5 winds up the wire rope. The reverse linkage pulls the float device 2 to move outward along the track 7, causing the oil boom 1 to unfold again. When the float device 2 reaches the initial position of the track, the oil boom and the debris-blocking float 3 are seamlessly connected again, rebuilding the complete interception barrier. The PLC main control module 9 releases the interlock and exits the slag cleaning mode, and the hydropower dam slag cleaning control system returns to the automatic monitoring state.

[0047] The working principle and beneficial effects of the above technical solution are as follows: First, the interception barrier is deployed. The operator sends an deployment command through the PLC main control module 9, driving the first winch 4 and the second winch 5 to release the steel wire rope 41, pulling the float device 2 to move to the outside of the dam body 8, so that the oil boom 1 is deployed and forms an arc-shaped interception barrier with the dam's debris-blocking float 3. At the same time, the system controls the scum cleaning component to achieve dynamic water level adaptive adjustment. Through the rise and fall of the float 22 with the water level, the sliding of the track pulley device 23, and buoyancy compensation, the vertical posture of the oil boom 1 is maintained. After the water level scum sensing module identifies that the scum accumulation density reaches the threshold, the operator activates the scum cleaning mode through the PLC main control module 9, activates the interlocking circuit, and the equipment coordination scheduling module links the scum cleaning vessel to enter the operation standby area. Then, the PLC main control module 9 sends a retraction command, so that the oil boom 1 retracts into a "V" shape to compress the scum. The scum cleaning equipment enters the enrichment zone, and the scum is cleaned in coordination by the mechanical grab bucket, the suction pump, and the high-pressure water gun. After the scum cleaning is completed, the PLC... The main control module 9 triggers a reset command, causing the oil boom 1 to re-deploy and the system to return to interception mode; This control method standardizes the entire process of scum removal, from the deployment of the interception barrier to its reset after scum removal. Each step is tightly integrated, ensuring standardized and consistent operation. The dynamic water level adaptive adjustment step ensures that the oil boom 1 maintains an effective interception posture even during water level fluctuations, improving interception reliability. When the scum removal mode is activated, an interlocking circuit is used to prevent misoperation and ensure equipment safety. The oil boom 1 retracts into a "V" shape, compressing the scum into the accumulation area for centralized processing by the scum removal equipment, improving scum removal efficiency. The coordinated operation of the mechanical grab bucket, suction pump, and high-pressure water gun ensures thorough scum removal. The reset command allows the system to quickly return to the interception state, reducing the interception gap and overall lowering the risk of scum entering the unit, ensuring the safe and stable operation of the dam unit and improving the operational efficiency and safety of the hydropower dam.

[0048] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A PLC-based control system for cleaning scum from hydropower dams, characterized in that: The application relates to a water level and scum sensing module for monitoring the water level change of a dam water area and the scum gathering density of an interception area in real time, and sending a signal to a PLC main control module (9) when the scum gathering density of the interception area reaches a preset threshold, so that the control system is switched from an interception mode to a scum cleaning mode. The application relates to a device cooperative scheduling module for receiving and sending a scum cleaning mode instruction, and linking and driving a scum cleaning ship to enter an operation standby area according to a preset path and cooperating with a scum cleaning component to perform a scum cleaning operation. The application relates to a winch driving control module for receiving a winding instruction and an unwinding instruction sent by the PLC main control module (9), driving a first winch (4) and a second winch (5) to complete a winding or unwinding action of a steel wire rope (41) based on the corresponding instruction, and controlling a floating pontoon device (2) to drive a boom (1) to wind or unwind. The application relates to a dynamic water level self-adaptive adjusting module for automatically adjusting the position and posture of the floating pontoon device (2) according to the water level change monitored by the water level and scum sensing module during the interception barrier deployment process of the water and electricity dam scum cleaning control system, ensuring that the boom (1) always maintains a vertical interception posture on the water surface and guaranteeing the interception effect. The PLC main control module (9) is electrically connected with the water level and scum sensing module, the device cooperative scheduling module, the winch driving control module and the dynamic water level self-adaptive adjusting module. The PLC main control module (9) comprises a mode switching sub-module for realizing the switching between the interception mode and the scum cleaning mode, an instruction generating sub-module for receiving an operation instruction input by an operator, a scum gathering density threshold signal sent by the water level and scum sensing module and water level change signal sensing data, and generating a winch action instruction, a device scheduling instruction and a mode switching instruction, and an interlocking control sub-module for constructing a winch action interlocking loop. The water level and scum sensing module comprises a water level dynamic monitoring sub-module adopting a monitoring mode of combining a laser liquid level sensor and a pressure type water level gauge, the laser liquid level sensor being used for non-contact measurement of a water level height, the pressure type water level gauge being used for auxiliary calibration, real-time collection of the water level height and the water level change rate of the dam water area and transmission of the collected data to the PLC main control module (9) and the dynamic water level self-adaptive adjusting module, and a scum density analysis sub-module integrating a high-definition camera and an infrared sensor, the high-definition camera being used for shooting a scum image of the interception area, the infrared sensor being used for auxiliary identification of the boundary between the scum and the water body, processing of the shot image through an image recognition technology, calculation of the coverage area of the scum in the interception area, conversion of the scum gathering density based on the coverage area of the scum in the interception area and transmission of the scum gathering density data to a threshold judgment sub-module.

2. The PLC-based control system for cleaning of floating sludge from the surface of the water reservoir of a hydroelectric dam according to claim 1, characterized in that: ​ ​ ​ ​ 3. The PLC based control system for scum cleaning of hydroelectric dam as claimed in claim 1 wherein: ​ ​ ​ The threshold judging submodule internally pre-stores a scum cleaning triggering threshold value, compares the scum aggregation density data output by the scum density analyzing submodule with the pre-set threshold value after receiving the scum aggregation density data, and sends a scum cleaning mode activation signal to the PLC main control module (9) when the scum aggregation density reaches the pre-set threshold value.

4. The PLC based scum cleaning control system for hydroelectric dam as claimed in claim 1 wherein: The device cooperative scheduling module comprises: The scum cleaning device positioning submodule is configured to acquire real-time position information of the scum cleaning ship and guide the scum cleaning ship to enter the standby operation area; The path planning submodule is configured to receive instructions sent by the PLC main control module (9) and distribution information of the scum aggregation area provided by the water level and scum sensing module, and automatically generate an optimal operation path of the scum cleaning ship from an initial position to the standby operation area and from the standby operation area to the scum aggregation area by using a path planning algorithm in combination with structure parameters of the dam body (8); The multi-device linkage submodule is configured to receive instructions of the PLC main control module (9) after the scum cleaning ship enters the scum enrichment zone formed by the oil containment boom (1) being closed, coordinate the mechanical grab to perform scum salvage, and control the high-pressure water gun to flush residual scum attachments.

5. The PLC based scum cleaning control system for hydroelectric dam as claimed in claim 1 wherein: The winch driving control module comprises: The winch state monitoring submodule is configured to acquire the rotation speed of the winch and the length of the steel wire rope (41) in real time, install a tension sensor on the steel wire rope (41) to acquire the tension value borne by the steel wire rope (41) in real time, and transmit the acquired rotation speed of the winch, the length of the steel wire rope (41), and the tension value data to the PLC main control module (9) and the tension self-adaptive adjusting submodule in real time; The synchronous driving submodule receives the closing instruction or the opening instruction sent by the PLC main control module (9); The tension self-adaptive adjusting submodule receives the tension value of the steel wire rope (41) fed back by the winch state monitoring submodule, compares the tension value with a pre-set tension range, and adjusts the tension of the steel wire rope (41).

6. The PLC based scum cleaning control system for hydroelectric dams as claimed in claim 1 wherein: The dynamic water level self-adaptive adjusting module comprises: The float posture sensing submodule is configured to install an inclination sensor and a displacement sensor on the float device (2), the inclination sensor is configured to monitor the inclination angle of the float device (2) to determine whether the float device (2) is in a horizontal state, and the displacement sensor is configured to monitor the vertical displacement of the float device (2) along the track (7) to master the position change of the float device (2) in real time, and transmit the monitored inclination angle and vertical displacement data to the PLC main control module (9) and the buoyancy compensation adjusting submodule; The track driving submodule is electrically connected with the track pulley device (23) of the float device (2), receives the water level change data transmitted by the water level dynamic monitoring submodule, drives the track pulley device (23) to slide upward along the track (7) to drive the float device (2) to rise when the water level rises, and drives the track pulley device (23) to slide downward along the track (7) to drive the float device (2) to descend when the water level falls, so as to ensure that the float device (2) moves synchronously with the water level change; The track driving submodule is electrically connected with the track pulley device (23) of the float device (2), receives the water level change data transmitted by the water level dynamic monitoring submodule, drives the track pulley device (23) to slide upward along the track (7) to drive the float device (2) to rise when the water level rises, and drives the track pulley device (23) to slide downward along the track (7) to drive the float device (2) to descend when the water level falls, so as to ensure that the float device (2) moves synchronously with the water level change; The buoyancy compensation adjusting sub-module receives the inclination angle and vertical displacement data of the buoy device (2) fed back by the buoy posture sensing sub-module. When it is monitored that the buoy device (2) inclines due to the buoyancy deviation caused by the water level change, the inflation or deflation operation of the inflation and deflation device on the buoy (22) is controlled to adjust the air pressure in the buoy (22), thereby changing the buoyancy of the buoy (22), compensating for the buoyancy deviation caused by the water level change, and keeping the buoy device (2) in a horizontal state, so as to ensure that the oil containment boom (1) always maintains the interception posture of being vertically erected on the water surface.

7. The PLC-based control method for cleaning floating sludge in a hydropower dam, for cleaning floating sludge based on the PLC-based control system for cleaning floating sludge in a hydropower dam according to any one of claims 1-6, characterized in that: The method comprises the following steps: Step one, deploy the interception barrier, and the water and electricity dam floating sludge cleaning control system controls the dam floating sludge cleaning assembly to realize dynamic water level self-adaptive adjustment; Step two, after the water level floating sludge sensing module identifies that the floating sludge aggregation density in the interception area reaches a threshold value, the operator activates the sludge cleaning mode through the PLC main control module (9), the PLC main control module (9) automatically enables the interlocking loop to prevent misoperation, and sends a sludge cleaning mode instruction to the equipment cooperative scheduling module, the equipment cooperative scheduling module links the sludge cleaning ship to enter the standby operation area according to the preset path, and the standby operation area is positioned near the floating sludge enrichment zone outside the oil containment boom (1), thereby preparing for subsequent efficient cleaning; Step three, the PLC main control module (9) sends a folding instruction to the first winch (4) and the second winch (5), the first winch (4) on each side winds the steel wire rope (41), and the second winch (5) on the same side synchronously releases the steel wire rope, the first winch (4) winding force pulls the buoy device (2) to move horizontally along the track (7) to the center of the dam body, and the buoy devices (2) on both sides move synchronously inward, thereby driving the oil containment boom (1) to fold from the unfolded state to a "V" shape, and compressing the dispersed floating sludge to the core aggregation area in front of the dam; Step four, the sludge cleaning equipment enters the floating sludge enrichment zone formed by the folding of the oil containment boom (1), and the mechanical grab bucket and the sewage suction pump cooperate with each other to batch salvage and suck the concentrated floating sludge, and the high-pressure water gun assists in flushing the residual attachments; Step five, after the sludge cleaning is completed, the PLC main control module (9) triggers a reset instruction.

8. The PLC-based control method for cleaning the scum of a hydroelectric dam according to claim 7, characterized in that: Step one, the interception barrier deployment comprises: The operator starts the system and sends an unfolding instruction through the PLC main control module (9), the PLC main control module (9) drives the first winch (4) and the second winch (5) on both sides of the dam to synchronously release the steel wire rope (41), the released steel wire rope (41) pulls the buoy device (2) through the movable lock (24), so that the track pulley device (23) of the buoy device (2) moves horizontally along the preset track (7) to the outside of the dam body (8), the buoy device (2) drives the oil containment boom (1) to unfold and link with the dam pollution interception floating buoy (3) to form a continuous arc-shaped interception barrier, and the buoyancy provided by the buoy (22) ensures that the oil containment boom (1) is vertically erected on the water surface, effectively blocking the floating sludge from approaching the water inlet of the unit, and the water and electricity dam floating sludge cleaning control system thus enters the normal interception operation state.

9. The PLC-based control method for cleaning the scum of a hydroelectric dam according to claim 7, characterized in that: Step one, the water and electricity dam floating sludge cleaning control system controls the dam floating sludge cleaning assembly to realize dynamic water level self-adaptive adjustment, which comprises: When the upstream water level fluctuates during the operation of the hydroelectric dam floating sludge cleaning control system, the float (22) automatically rises and falls with the water level, and precise displacement is achieved through the sliding of the track pulley device (23) on the vertical track (7). At this time, the float device (2) only makes vertical movement, ensuring that the oil containment boom (1) always maintains a vertical interception posture and an appropriate draft depth. The double fixation design of the movable lock (24) and the steel wire rope lock (6) is used to resist water flow impact and ensure the continuity and stability of the interception barrier during water level changes.

10. The PLC-based control method for cleaning of floating sludge in a hydroelectric dam according to claim 7, characterized in that: Step six PLC main control module (9) triggers the reset instruction, including: The first winch (4) on each side releases the steel wire rope, and the second winch (5) winds up the steel wire rope. The reverse linkage pulls the float device (2) to move outward along the track (7) to the initial position, driving the oil containment boom (1) to unfold again. When the float device (2) reaches the initial position of the track, the oil containment boom and the trash boom (3) are seamlessly connected again, rebuilding the complete interception barrier. The PLC main control module (9) releases the interlock and exits the sludge cleaning mode, and the hydroelectric dam floating sludge cleaning control system returns to the automatic monitoring state.

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