Floating type fishway automatic water filling and draining control method, device and equipment and medium

Abstract

The invention relates to the technical field of water conservancy projects, and provides a floating type fishway automatic water filling and draining control method, device and equipment and a medium, the method is applied to a floating type fishway, and the method comprises the steps that the inlet water depth in an initialized floating section of an adjustable water cabin is adjusted to be the same as the middle water depth in the floating section; when the inlet water depth and the middle water depth meet the preset starting condition, the adjustable water cabin is controlled to conduct water filling and discharging on the floating section according to the real-time water filling and discharging amount; wherein the real-time water filling and discharging amount is obtained according to the inlet water depth, the middle water depth, the floating section size information and the initial water amount in the adjustable water cabin, and the initial water amount is the remaining water storage amount in the adjustable water cabin after water filling and discharging are completed every time. By means of the linkage design of the floating sections and the adjustable water cabins, the device has the high adaptability to the large-amplitude-variation water level of the river channel. Through the closed-loop process of water depth monitoring in the floating section, real-time water filling and discharging amount calculation and water filling and discharging automatic control, real-time regulation and control of fishway hydraulic conditions are achieved, and the fish passing effect and stability are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of water conservancy engineering technology, and more specifically, to an automatic filling and draining control method, device, equipment, and medium for floating fish passages. Background Technology

[0002] In river water conservancy and hydropower engineering construction, fishways serve as crucial supporting facilities for ensuring fish migration and reproduction, and their effectiveness directly impacts the integrity of the watershed's aquatic ecosystem. The core function of fishways relies on stable hydraulic conditions, and the control of water inflow and outflow is the key to maintaining these conditions. By rationally regulating the water level, depth, and flow velocity at the fishway inlet and inside, suitable migration channels can be provided for fish, ensuring their smooth entry and completion of migration.

[0003] Most current mainstream fishway facilities are designed with fixed structures, and their location, dimensions, and hydraulic parameters are difficult to adjust after construction. Correspondingly, the filling and drainage control methods are mostly based on preset fixed operating conditions or adopt passive adaptation schemes with multiple fish inlets. In actual operation, river water levels often fluctuate significantly due to seasonal changes, runoff fluctuations, and other factors. When the inlet water level drops significantly, the fishway inlet depth will be significantly less than the outlet depth, leading to a substantial increase in inlet flow velocity and even a drop in water level, affecting fish entry. When the inlet water level rises excessively, the fishway inlet is easily submerged, the flow velocity decreases significantly, and fish have difficulty identifying the inlet location. Meanwhile, fixed fishway filling and drainage systems lack the ability to dynamically adapt to water level fluctuations, while multi-inlet schemes face problems such as high layout difficulty, high engineering costs, and insufficient flexibility in adapting to different water level fluctuations, making it difficult to continuously ensure stable fish passage under complex and variable hydrological conditions. Summary of the Invention

[0004] The problem this invention addresses is how to improve the efficiency of fish passages.

[0005] To address the aforementioned problems, this invention provides a method, apparatus, equipment, and medium for automatic filling and draining control of floating fishways.

[0006] In a first aspect, the present invention provides an automatic filling and draining control method for a floating fishway, applied to a floating fishway, the floating fishway comprising a fixed section located upstream of a target, a floating section located downstream of the target, and an adjustable water tank connected to the floating section; the fixed section is connected to the floating section, and when the adjustable water tank is filled or drained, the floating section swings vertically relative to the fixed section; including: Adjust the water volume in the adjustable water tank to initialize the inlet water depth in the floating section to be the same as the middle water depth in the floating section; When the inlet water depth and the middle water depth meet the preset start-up conditions, the adjustable water tank is controlled to fill and drain according to the real-time filling and draining volume. The real-time filling and discharging volume is calculated using a torque balance formula based on the inlet water depth, the middle water depth, the floating section size information, and the initial water volume in the adjustable water tank. The initial water volume is the remaining water volume in the adjustable water tank after each filling and discharging cycle.

[0007] Optionally, level gauges are provided at the middle and floating ends of the floating section, with two level gauges used to obtain the water level at the middle and the water level at the inlet, respectively; adjusting the water volume in the adjustable tank to initialize the inlet water depth in the floating section to be the same as the water depth at the middle of the floating section includes: The inlet water depth and the middle water depth are obtained based on the inlet water level and the middle water level. Based on the torque balance, the initial adjustment water volume is obtained according to the inlet water depth, the middle water depth, the floating section size information and the water tank storage volume, wherein the water tank storage volume is the water volume in the adjustable water tank before initialization; The water volume of the adjustable water tank is adjusted according to the initial adjustment water volume so that the inlet water depth is the same as the middle water depth.

[0008] Optionally, the number of adjustable water tanks is multiple, and the multiple adjustable water tanks are connected in series. The floating section includes a horizontal position section and a sloping position section. The horizontal position section is a straight section where the bottom surface of the floating section is parallel to the horizontal plane. The sloping position section is an inclined section of the floating section near the fixed section where the bottom surface is not parallel to the horizontal plane. The degree of inclination of the bottom surface of the sloping position section along the water flow direction is the bottom slope. The torque balance formula is expressed as: , Where f(n, V...) represents the torque balance formula, ρ represents the density of water, g represents the gravitational acceleration, n represents the number of fully filled adjustable water tanks, V1 represents the total volume of a single adjustable water tank, L represents the length of the floating section, L1 represents the length of the adjustable water tank, k1 represents the water volume calculation coefficient, which is the proportion of the water volume in the partially filled adjustable water tanks participating in the filling and draining adjustment to the total capacity of the adjustable water tanks, expressed as V0 / V1, where V0 represents the water volume in the partially filled adjustable water tanks, b represents the inner width of the floating section, and H... 2it H represents the water depth in the middle section. 1it G represents the inlet water depth, L0 represents the self-weight of the floating section, B represents the length of the horizontal section, i represents the outer width of the floating section, and L represents the bottom slope. g This represents the gravitational lever arm of the floating segment. This represents the torque generated by the n pre-filled adjustable water tanks. This refers to the torque generated by all the adjustable water tanks that are not full. This indicates the torque generated by buoyancy in the horizontal position segment. This indicates the torque generated by buoyancy at the aforementioned slope location segment. GL represents the torque generated by the weight of the water within the floating section. g This represents the torque generated by the self-weight of the floating section; When the torque balance equation is 0 and water filling is performed, the formula for calculating the initial adjustment water volume or the real-time filling and draining volume is expressed as follows: V2 = (k1 + k2)V1 - V0, When the torque balance equation is 0 and drainage is performed, the formula for calculating the initial adjustment water volume or the real-time filling and draining volume is expressed as follows: V2 = (k2 - k1)V1 + V0, Wherein, V2 represents the initial adjustment water volume or the real-time filling and draining volume, and k2 represents the number of adjustable water tanks to be adjusted that participate in filling and draining.

[0009] Optionally, the automatic filling and draining control method for the floating fishway further includes: When the inlet water depth is less than the middle water depth, the adjustable water tank that is not full is set as the adjustable water tank to be adjusted. The number of the adjustable water tanks that are full is used as the initial adjustment quantity. Based on the torque balance formula, the water volume calculation coefficient is corrected by recursive loop trial addition. When the water volume calculation coefficient is 1, the number of the adjustable water tanks to be adjusted is increased, and the water volume calculation coefficient is reset to 0. The number of adjustable water tanks participating in the adjustment and the water volume calculation coefficient corresponding to the torque balance formula being 0 are obtained. The initial adjustment water volume or the real-time filling and draining volume is obtained based on the number of adjustable water tanks involved in the adjustment when the torque balance formula is 0, the water volume calculation coefficient, and the water volume calculation formula when filling.

[0010] Optionally, the automatic filling and draining control method for the floating fishway further includes: When the inlet water depth is greater than the middle water depth, the full-water adjustable water tank is set as the adjustable water tank to be adjusted. The number of full-water adjustable water tanks is used as the initial adjustment quantity. Based on the torque balance formula, the water volume calculation coefficient is corrected by recursive loop trial calculation subtraction. When the water volume calculation coefficient is 0, the number of adjustable water tanks to be adjusted is reduced, and the water volume calculation coefficient is reset to 1. The number of adjustable water tanks participating in the adjustment and the water volume calculation coefficient corresponding to the torque balance formula being 0 are obtained. The initial adjustment water volume or the real-time filling and draining volume is obtained based on the number of adjustable water tanks involved in the adjustment when the torque balance formula is 0, the water volume calculation coefficient, and the water volume calculation formula when draining.

[0011] Optionally, before controlling the adjustable water tank to fill and drain according to the real-time filling and draining volume when the inlet water depth and the middle water depth meet the preset start-up conditions, the method further includes: Determine whether the absolute value of the difference between the inlet water depth and the middle water depth is less than a preset stable threshold. If so, then it is determined that the inlet water depth and the middle water depth do not meet the preset start-up conditions, and the current state is maintained; If not, then the inlet water depth and the middle water depth are determined to meet the preset start-up conditions, and the adjustable water tank is controlled to fill and drain according to the real-time filling and draining volume.

[0012] Optionally, controlling the inflation and deflation of the adjustable water tank based on the real-time inflation and deflation volume includes: When the inlet water depth is less than the middle water depth, the adjustable water tank is filled with water according to the real-time filling and discharging volume. When the inlet water depth is greater than the middle water depth, the adjustable water tank is drained according to the real-time filling and draining volume.

[0013] Secondly, the present invention provides an automatic filling and draining control device for a floating fishway, applied to a floating fishway, the floating fishway including a fixed section located upstream of the target, a floating section located downstream of the target, and an adjustable water tank connected to the floating section; the fixed section is connected to the floating section, and when the adjustable water tank is filled or drained, the floating section swings vertically relative to the fixed section; the automatic filling and draining control device for the floating fishway includes: An initialization module is used to adjust the water volume in the adjustable water tank to initialize the inlet water depth in the floating section to be the same as the middle water depth in the floating section. The adjustment module is used to control the adjustable water tank to fill and drain according to the real-time filling and draining volume when the inlet water depth and the middle water depth meet the preset start-up conditions; wherein, the real-time filling and draining volume is calculated using a torque balance formula based on the inlet water depth, the middle water depth, the floating section size information, and the initial water volume in the adjustable water tank, and the initial water volume is the remaining water volume in the adjustable water tank after each filling and draining.

[0014] Thirdly, the present invention provides an electronic device, including a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the automatic filling and draining control method for the floating fishway as described in the first aspect when executing the computer program.

[0015] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the automatic filling and draining control method for a floating fishway as described in the first aspect.

[0016] The beneficial effects of the floating fishway automatic filling and draining control method of the present invention are as follows: The floating fishway can flexibly swing vertically with changes in river water level, overcoming the limitations of fixed fishway structures that are rigid and unable to adapt to water level fluctuations. Through structural linkage, it ensures the fishway always remains close to the water surface, providing a structural foundation for maintaining stable hydraulic conditions, resulting in superior adaptability and practicality. By initializing the inlet and middle water depths of the floating section to the same state through an adjustable water tank, a stable benchmark condition is established for subsequent filling and draining control, avoiding the problem of initial hydraulic parameter imbalance in traditional fishways. This ensures the fishway has a suitable hydraulic environment for fish passage from the start-up stage, providing stable migration start conditions for fish and reducing difficulties in fish entry caused by initial water level differences. Based on the inlet and middle water depths, for example, by setting preset start conditions according to the difference between the two, precise triggering of filling and draining operations is achieved. The control system activates only when preset start-up conditions are met, avoiding ineffective operations caused by minor water level fluctuations, reducing equipment energy consumption and wear, and responding promptly to significant water level changes. It quickly balances the hydraulic conditions inside and outside the fishway, effectively solving problems such as excessively high inlet flow velocity, cascading or submerged inlet, and excessively low flow velocity caused by water level fluctuations in traditional fixed fishways. This ensures that fish can always identify and smoothly enter the fishway. The real-time filling and discharging volume calculation comprehensively considers inlet water depth, mid-section water depth, floating section dimensions, and the initial water volume of the adjustable tank, ensuring a precise match between the filling and discharging volume and actual hydraulic requirements. The filling and discharging operation of the adjustable tank is more targeted, dynamically adapting to large fluctuations in river water level by driving the floating section to swing vertically through tank filling and discharging, while avoiding hydraulic disturbances caused by excessive or insufficient filling and discharging.

[0017] This invention, through the coordinated operation of each step and relying on the linked design of the floating section and adjustable water tank, breaks through the structural limitations of traditional fixed fishways and possesses a strong adaptability to large fluctuations in river water levels. Through a closed-loop process of water depth monitoring within the floating section, real-time calculation of filling and drainage volume, and automatic control of filling and drainage, the hydraulic conditions of the fishway are adjusted in real time, maintaining a suitable water depth and flow velocity for fish migration. This significantly improves the fish passage efficiency and stability, and the entire process can be managed without human intervention, reducing operation and maintenance costs. Simultaneously, it avoids the layout difficulties and high costs of traditional solutions, providing a superior solution for fishway construction in low-to-medium head hydropower projects and effectively safeguarding the integrity of the watershed's aquatic ecosystem. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating the automatic filling and draining control method for a floating fishway according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of a floating fishway according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the floating fishway automatic filling and draining control device according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0019] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0020] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0021] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0022] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0023] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0024] like Figure 1 As shown in the figure, the floating fishway automatic filling and draining control method provided by the embodiment of the present invention is applied to, for example, Figure 2 The floating fishway shown includes a fixed section upstream of the target, a floating section downstream of the target, and an adjustable water tank connected to the floating section. The fixed section is connected to the floating section, and when the adjustable water tank is filled or drained, the floating section swings vertically relative to the fixed section.

[0025] Specifically, such as Figure 2 As shown, the fixed segment and the floating segment are connected by a trunnion (such as...). Figure 2 7) Connection: In the diagram, the right side of the trunnion is the fixed section, and the left side is the floating section. The fixed section is located upstream of the target river channel, providing stable inlet support for the fishway. It serves as a transitional structure connecting the river channel and the floating section, with its bottom fixed to the river channel foundation or pre-set supports to ensure the overall structural stability. The downstream end of the fixed section is hinged to the upstream end of the floating section (i.e., the fixed end). This connection allows the floating section to swing flexibly vertically around the connection point, ensuring water connectivity between the fixed and floating sections and providing a structural basis for the floating section to adapt to water level changes. The fixed section, as the fixed support carrier of the fishway, ensures the stability of the inlet position. Simultaneously, the hinged structure transmits water flow and adapts to the swinging motion of the floating section, preventing water flow interruption or leakage due to floating section displacement, thus ensuring the continuity of the fish passage. The floating section is located downstream of the target river channel, with an overall elongated channel shape, possessing buoyancy characteristics that allow it to float on the water surface, and forming an internal channel space for fish migration. The floating end of the floating section is the end furthest from the fixed section. The fixed end of the floating section is connected to the fixed section via trunnions, and the fixed end oscillates relative to the fixed section. The bottom or side of the floating section is fixedly connected to the adjustable water tank. As the core channel for fish migration, the floating section's buoyancy and oscillation function allow it to dynamically adjust its height according to changes in river water level, always maintaining its inlet level with the river surface. The adjustable water tank adopts a multi-tank parallel design, such as... Figure 2 As shown, Figure 2 15 is the first adjustable water tank near the inlet of the floating section, and 15n is the nth adjustable water tank arranged sequentially along the length of the floating section. Each adjustable water tank is an independent, sealed compartment with a single compartment length of L1, and is rigidly connected to the floating section as a whole, forming an integrated floating unit of floating section and water tanks. The adjustable water tanks are connected by water distribution valves (such as...). Figure 2 3) In series, the water distribution valves are arranged sequentially from the floating end to the fixed end and connected to the controller to realize the sequential on / off control of the adjustable water tank; the entire adjustable water tank is connected to the filling and draining main pipe (such as...). Figure 2 (5) The main filling and draining pipes connect to the filling system and the draining system respectively: The filling system includes a filling pump and a filling control valve (such as...). Figure 214) Inspection valve (such as Figure 2 10) Check valve (such as Figure 2 (11) is connected to an external waterway via a pipeline for filling the adjustable water tank with water; the drainage system includes a drainage pump and drainage control valves (such as...). Figure 2 12) Inspection valve (such as Figure 2 13) Check valve, connected to the external river channel via pipeline, is used to discharge water from the adjustable water tank; the adjustable water tank is also equipped with a discharge valve (such as...). Figure 2 (4) is used to drain water from the adjustable water tank. The data transmission and control unit includes data transmission lines (such as...). Figure 2 (6) Using twisted-pair shielded signal cables, it can connect water depth acquisition devices such as level gauges, PLC processors, and memory via communication protocols to achieve stable data transmission. PLC processors (such as...) Figure 2 8) and memory (such as Figure 2 9) It is fixedly installed on the preset bracket of the fixed section and electrically connected to the pump and valve of the filling and draining system through the signal line. It is used to receive liquid level data, calculate filling and draining volume and output control commands.

[0026] The automatic filling and draining control method for floating fishways according to embodiments of the present invention includes: Step S1: Adjust the water volume in the adjustable water tank to initialize the inlet water depth in the floating section to be the same as the middle water depth in the floating section.

[0027] Specifically, the inlet water depth refers to the water depth within the fishway at the port (inlet end) of the floating section furthest from the fixed section. It is the vertical distance from the real-time elevation of the bottom plate at the inlet end of the floating section to the free water surface of the inlet channel, using the unified engineering elevation datum as a reference. This can be expressed as: Inlet water depth = Inlet channel water level - Real-time elevation of the bottom plate at the inlet end (relative to the fixed datum). The middle water depth refers to the water depth in the middle section of the floating section's internal passage. It is the vertical distance from the real-time elevation of the bottom plate at the middle inner side of the fishway to the free water surface within the fishway, using the unified engineering elevation datum as a reference. This can be expressed as: Middle water depth = Normal water level within the fishway - Real-time elevation of the bottom plate at the middle (relative to the fixed datum). When the floating fishway is activated, a difference between the inlet water depth and the middle water depth will directly lead to uneven flow velocity distribution within the floating section, creating localized turbulent or sluggish areas, affecting the initial migration path judgment of fish. Meanwhile, initial water depth imbalance leads to a lack of unified benchmark for subsequent filling and draining control, reducing regulation accuracy. Therefore, it is necessary to establish a stable hydraulic benchmark state through initialization. The filling and draining system of the adjustable water tank is activated. Pre-set control commands from the PLC processor open or close the filling control valve, drain control valve, and water distribution valve to fill or drain excess water into the floating section. Simultaneously, level acquisition devices such as water level gauges installed at the inlet end and inner side of the floating section collect in-situ water depth and mid-section water depth data in real time, compare them, and continue until the two values ​​match, completing the initialization operation.

[0028] Step S2: When the inlet water depth and the middle water depth meet the preset start-up conditions, the adjustable water tank is controlled to fill and drain according to the real-time filling and draining volume. The real-time filling and discharging volume is calculated using a torque balance formula based on the inlet water depth, the middle water depth, the floating section size information, and the initial water volume in the adjustable water tank. The initial water volume is the remaining water volume in the adjustable water tank after each filling and discharging cycle.

[0029] Specifically, during the operation of the fishway, the river water level will change due to seasonal variations, runoff fluctuations, and other factors, resulting in a difference between the inlet and middle water depths of the floating section. If the difference is too large, it will cause abnormal flow velocity (too fast or too slow) within the floating section, affecting fish migration. Frequent responses to small differences will increase equipment energy consumption and wear. Therefore, it is necessary to set start-up conditions to achieve on-demand control, and at the same time, to ensure that the control effect matches the actual needs through precise calculation of real-time filling and discharging volumes. A torque balance formula is pre-set based on the floating fishway conditions; this formula represents the condition for the floating fishway to remain stationary or rotate at a uniform speed when rotating around a trunnion. When the torque balance formula is 0, it indicates that the floating section of the floating fishway is in a balanced state. The system continuously collects data on the inlet water depth and the mid-water depth, and calculates the difference. The calculated difference is compared with preset start-up conditions to determine if a filling / draining operation is triggered. If the start-up conditions are met, the system retrieves the floating section size parameters and the initial water volume data of the adjustable water tank. The system is then in a balanced state via torque balancing. Even when the torque balancing is zero, the system calculates the real-time filling / draining volume based on the inlet water depth, mid-water depth, floating section size information, and the initial water volume in the adjustable water tank. Based on the calculation results, the system controls the valve group corresponding to the adjustable water tank—namely, the filling control valve, the drain control valve, the water distribution valve, and the pump operation—to fill or drain the adjustable water tank until the inlet water depth and the mid-water depth are rebalanced.

[0030] It should be noted that after the initial filling and draining is performed once, when the floating fishway is reinstalled next time, the fishway is cyclically filled and drained in step S2. When calculating the real-time filling and draining volume for the first filling and draining after initialization, the initial water volume used is the water volume stored in the adjustable water tank after initialization. When calculating the real-time filling and draining volume for the second filling and draining, the initial water volume used is the water volume stored in the adjustable water tank after the first filling and draining.

[0031] This invention employs a floating fishway, which can flexibly sway vertically in response to changes in river water level. This overcomes the limitations of fixed fishway structures, which are rigid and unable to adapt to varying water levels. Through structural linkage, the fishway ensures it remains flush with the water surface, providing a structural foundation for maintaining stable hydraulic conditions. This design offers superior adaptability and practicality. An adjustable water tank initializes the inlet and mid-section water depths of the floating section to the same state, establishing stable benchmark conditions for subsequent filling and draining control. This avoids the initial hydraulic parameter imbalance problem of traditional fishways, ensuring a suitable hydraulic environment for fish passage from the start-up stage. This provides stable starting conditions for fish migration and reduces difficulties in fish entry caused by initial water level differences. Based on the inlet and mid-section water depths, for example, by setting preset start-up conditions according to the difference between the two, precise triggering of filling and draining operations is achieved. The control system activates only when preset start-up conditions are met, avoiding ineffective operations caused by minor water level fluctuations, reducing equipment energy consumption and wear, and responding promptly to significant water level changes. It quickly balances the hydraulic conditions inside and outside the fishway, effectively solving problems such as excessively high inlet flow velocity, cascading or submerged inlet, and excessively low flow velocity caused by water level fluctuations in traditional fixed fishways. This ensures that fish can always identify and smoothly enter the fishway. The real-time filling and discharging volume calculation comprehensively considers inlet water depth, mid-section water depth, floating section dimensions, and the initial water volume of the adjustable tank, ensuring a precise match between the filling and discharging volume and actual hydraulic requirements. The filling and discharging operation of the adjustable tank is more targeted, dynamically adapting to large fluctuations in river water level by driving the floating section to swing vertically through tank filling and discharging, while avoiding hydraulic disturbances caused by excessive or insufficient filling and discharging.

[0032] This invention, through the coordinated operation of each step and relying on the linked design of the floating section and adjustable water tank, overcomes the structural limitations of traditional fixed fishways and possesses a strong adaptability to large fluctuations in river water levels. Through a closed-loop process of water depth monitoring within the floating section, real-time calculation of filling and drainage volume, and automatic control of filling and drainage, real-time regulation of the fishway's hydraulic conditions is achieved, consistently maintaining suitable water depth and flow velocity for fish migration. This significantly improves fish passage efficiency and stability, and the entire process can be managed without human intervention, reducing operation and maintenance costs. Simultaneously, it avoids the layout difficulties and high costs of traditional solutions, providing a superior solution for fishway construction in low-to-medium head hydropower projects and effectively safeguarding the integrity of the watershed's aquatic ecosystem.

[0033] Optionally, level gauges are respectively installed at the middle and floating ends of the floating section, and the two level gauges are used to obtain the water level at the middle and the water level at the inlet, respectively; adjusting the water volume in the adjustable water tank to initialize the inlet water depth in the floating section to be the same as the water depth at the middle of the floating section includes: The inlet water depth and the middle water depth are obtained based on the inlet water level and the middle water level.

[0034] Specifically, the level gauge includes an inlet level gauge (such as one installed at the floating end of the floating section) Figure 2 1) and the central level gauge located in the middle of the floating section (such as...) Figure 2 (2) However, the level gauge directly collects water level information, while the core influencing factor for the fish passage effect is water depth, i.e., the actual depth of the water body. Water level alone cannot directly determine whether the hydraulic conditions within the floating section are balanced; it needs to be converted into water depth to accurately reflect the actual water distribution state, providing an intuitive and effective basis for subsequent water volume adjustment. The reference height parameters of the bottom of the floating section are pre-stored in the PLC processor. The inlet level gauge and the middle level gauge transmit the collected inlet water level (▽1) and middle water level (▽2) to the PLC processor via data transmission lines, respectively. The processor calls the preset reference height parameters and calculates the difference between the inlet water level and the reference height, and the difference between the middle water level and the reference height, respectively, to obtain the corresponding inlet water depth and middle water depth.

[0035] Based on the torque balance, the initial adjustment water volume is obtained according to the inlet water depth, the middle water depth, the floating section size information, and the water tank storage volume, wherein the water tank storage volume is the water volume in the adjustable water tank before initialization.

[0036] Specifically, the difference between the inlet water depth and the middle water depth stems from the uneven distribution of internal water caused by the floating section's movement due to changes in river water level. Water volume adjustment requires consideration of the floating section's volumetric characteristics to accurately calculate the required adjustment volume. Simultaneously, the adjustable water tank's water level directly affects its usable adjustment volume. Ignoring this parameter may lead to calculation errors in the adjustment volume, failing to achieve the water depth balance target. Therefore, calculations must consider all these parameters. The PLC processor retrieves the stored floating section size information and water tank volume data, combining them with the inlet and middle water depths obtained in step S1 to calculate the depth difference. Based on the depth difference and floating section size information, and using a pre-set torque balance formula, the volume of water to be replenished or discharged is determined. Simultaneously, considering the adjustable water tank's water level to calibrate adjustment feasibility, the initial adjustment volume is finally determined. If the inlet water depth is less than the middle water depth, the initial adjustment volume is the volume to be replenished; if the inlet water depth is greater than the middle water depth, the initial adjustment volume is the volume to be discharged.

[0037] The water volume of the adjustable water tank is adjusted according to the initial adjustment water volume so that the inlet water depth is the same as the middle water depth.

[0038] Specifically, if there is a difference between the inlet water depth and the middle water depth during the initialization phase, it will lead to uneven distribution of water flow velocity within the floating section, forming localized turbulent or sluggish areas. This will affect the initial migration judgment of fish and disrupt the baseline conditions for subsequent filling and draining control, reducing the overall control accuracy. Therefore, targeted water volume adjustment is needed to achieve water depth balance. If the initial adjustment water volume is the filling volume, the PLC processor outputs control commands to close the drainage control valve, maintenance valve, and check valve of the drainage system, open the water distribution valve of the adjustable water tank from left to right, open the water filling control valve, maintenance valve, and check valve of the filling system, and start the water filling pump to fill the adjustable water tank. If the initial adjustment water volume is the draining volume, the water filling control valve, maintenance valve, and check valve of the filling system are closed, the water distribution valve of the adjustable water tank is opened from left to right, the drainage control valve, maintenance valve, and check valve of the drainage system are opened, and the draining pump is started to drain the water in the adjustable water tank. During the adjustment process, the level gauge continuously collects water depth data and feeds it back to the processor until the inlet water depth and the middle water depth are consistent, at which point the pump valve is closed to complete the adjustment.

[0039] Optionally, such as Figure 2 As shown, there are multiple adjustable water tanks, which are connected in series. The floating section includes a horizontal position section and a sloping position section. The horizontal position section is a straight section where the bottom surface of the floating section is parallel to the horizontal plane. The sloping position section is an inclined section on the side of the floating section near the fixed section where the bottom surface is not parallel to the horizontal plane. The degree of inclination of the bottom surface of the sloping position section along the direction of water flow is the bottom slope.

[0040] The torque balance equation is expressed as follows: , Where f(n, V...) represents the torque balance formula, ρ represents the density of water, g represents the gravitational acceleration, n represents the number of fully filled adjustable water tanks, V1 represents the total volume of a single adjustable water tank, L represents the length of the floating section, L1 represents the length of the adjustable water tank, k1 represents the water volume calculation coefficient, which is the proportion of the water volume in the partially filled adjustable water tanks participating in the filling and draining adjustment to the total capacity of the adjustable water tanks, expressed as V0 / V1, where V0 represents the water volume in the partially filled adjustable water tanks, b represents the inner width of the floating section, and H... 2it H represents the water depth in the middle section. 1it G represents the inlet water depth, L0 represents the self-weight of the floating section, B represents the length of the horizontal section, i represents the outer width of the floating section, and L represents the bottom slope. g This represents the gravitational lever arm of the floating segment. This represents the torque generated by the n pre-filled adjustable water tanks. The torque generated by all the adjustable water tanks that are not full can be represented by n. 未 express, This indicates the torque generated by buoyancy in the horizontal position segment. This indicates the torque generated by buoyancy at the aforementioned slope location segment. GL represents the torque generated by the weight of the water within the floating section. g This represents the torque generated by the self-weight of the floating section; Before calculating the initial adjustment water volume or the real-time filling and draining volume, the torque balance of the floating end should be ensured to be stable, i.e., 0. Then, the water volume should be calculated according to the water volume calculation formula.

[0041] When the torque balance equation is 0 and water filling is performed, the formula for calculating the initial adjustment water volume or the real-time filling and draining volume is expressed as follows: V2 = (k1 + k2)V1 - V0, When the torque balance equation is 0 and drainage is performed, the formula for calculating the initial adjustment water volume or the real-time filling and draining volume is expressed as follows: V2 = (k2 - k1)V1 + V0, Wherein, V2 represents the initial adjustment water volume or the real-time filling and draining volume, and k2 represents the number of adjustable water tanks to be adjusted that participate in filling and draining.

[0042] Optionally, the automatic filling and draining control method for the floating fishway further includes: When the inlet water depth is less than the middle water depth, the adjustable water tank that is not full is set as the adjustable water tank to be adjusted. The number of the adjustable water tanks that are full is used as the initial adjustment quantity. Based on the torque balance formula, the water volume calculation coefficient is corrected by recursive loop trial addition. When the water volume calculation coefficient is 1, the number of the adjustable water tanks to be adjusted is increased, and the water volume calculation coefficient is reset to 0. The number of adjustable water tanks participating in the adjustment and the water volume calculation coefficient corresponding to the torque balance formula being 0 are obtained. The initial adjustment water volume or the real-time filling and draining volume is obtained based on the number of adjustable water tanks involved in the adjustment when the torque balance formula is 0, the water volume calculation coefficient, and the water volume calculation formula when filling.

[0043] Specifically, when the inlet water depth is less than the middle water depth, the fishway experiences a unidirectional flow from the middle to the inlet due to the depth difference. The low flow velocity can easily cause the inlet to be submerged, making it difficult for fish to identify the migratory entrance. Water needs to be added to the adjustable tanks through a filling operation to balance the water depth between the inlet and the middle. This also causes the integrated structure of the floating section and the adjustable tanks to swing around the trunnion to adapt to the river level. However, the filling operation changes the water volume in the adjustable tanks, thereby altering the structure's gravity distribution and torque balance. Simply calculating the filling volume and adding tanks based on hydraulic requirements can easily lead to structural torque imbalance, causing excessive oscillation of the floating section, resulting in vertical displacement of the inlet and secondary hydraulic disturbances. Furthermore, the filling ratio of the partially filled tanks needs to be precisely controlled under different degrees of hydraulic imbalance; a fixed filling ratio can easily lead to overfilling or underfilling. When the PLC processor determines, based on the level gauge data, that the inlet water depth is less than the middle water depth, it indicates that a water filling operation is required. At this point, the fully filled adjustable water tanks have no remaining water capacity and are only used as a baseline for structural torque balance; they do not participate in the current water filling volume adjustment. Therefore, the partially filled adjustable water tanks are designated as the adjustable water tanks to be adjusted. In subsequent calculations, the partially filled adjustable water tank immediately adjacent to the fully filled one is selected as the first adjustable water tank to be adjusted. The number of currently fully filled adjustable water tanks is used as the initial adjustment quantity n. 初 This parameter serves as the benchmark for increasing the number of adjustable water tanks to be adjusted subsequently. The initial water volume calculation coefficient for the partially filled adjustable water tanks is obtained, for example, by using a level gauge to measure the water level in the adjustable water tank and calculating the water volume, then comparing it to the total capacity of the adjustable water tanks. The pre-stored torque balance formula and all core calculation parameters are retrieved from the memory and uniformly substituted into the torque balance formula. A recursive loop trial calculation method is used to gradually adjust the water volume calculation coefficient k1 using additive correction, achieving a precise match between the coefficient and the structural torque balance. The specific trial calculation logic includes: a preset additive correction step size for the water volume calculation coefficient (the step size can be set according to the control precision, such as 0.01 or 0.05; the smaller the step size, the higher the control precision). Starting from the k1 of the first adjustable water tank to be adjusted, k1 is gradually increased according to the preset step size, i.e., k1 = k1 + 0.01 (step size). After each correction of k1, the current k1 and the initial adjustment quantity n are... 初Substituting all core parameters into the torque balance equation, if the torque balance equation is not 0, it indicates that the structural stability state has not been reached. Continue to correct k1 by adding steps and repeat the torque difference calculation. If the torque balance equation approaches 0, it indicates that the structural stability judgment standard has been met. Record the current k1 to complete the single coefficient correction. During the recursive cyclic trial calculation and addition correction process, if the water volume calculation coefficient k1 accumulates to 1, it means that the current single adjustable water tank to be adjusted is completely full. If the torque difference calculated by substituting into the torque balance equation is still not 0, it indicates that a single full water tank cannot meet the structural torque balance requirements. Then, according to the preset order from the inlet end to the fixed end, add one from the remaining partially full adjustable water tanks to the range of adjustable water tanks to be adjusted (here, the partially full adjustable water tank is adjacent to the first adjustable water tank to be adjusted). The total number of adjustable water tanks to be adjusted increases by 1 accordingly, corresponding to n. 初 +1, where k2 represents the number of adjustable water tanks participating in the filling and draining process; reset the water volume calculation coefficient k1 to 0, and return to the recursive loop calculation step of adding correction k1. Based on the newly added number of adjustable water tanks, continue the recursive loop calculation of k1 using the addition correction method until the torque difference approaches 0. At this point, the structure reaches a stable torque balance state, and the relevant parameters are immediately recorded as the key basis for subsequent water filling calculations, i.e., the total number of adjustable water tanks participating in this water filling adjustment, denoted as the initial adjustment quantity n. 初 The number of newly added adjustable water tanks involved in the adjustment, along with the water volume calculation coefficient k1 corresponding to the adjustable water tank at this time, characterizes the actual water filling ratio of a single adjustable water tank to be adjusted, and is used to calculate the initial adjustment water volume or real-time filling and drainage volume for the next adjustment. The PLC processor substitutes the relevant parameters obtained above into the corresponding water volume calculation formula for the water filling condition, and after adaptive parameter correction of the formula, accurately calculates the initial adjustment water volume or real-time filling and drainage volume under this water filling condition. That is, the number of adjustable water tanks to be adjusted involved in the water filling and drainage calculated this time, k2, and the water volume V0 in a single adjustable water tank to be adjusted are corrected and substituted into the water volume calculation formula for the water filling condition. The absolute value of the calculation result is the initial adjustment water volume or real-time filling and drainage volume that restores the balance between the inlet water depth and the middle water depth and keeps the structural torque stable under this water filling condition. The PLC processor outputs precise control commands to the water filling system based on this result to execute the water filling operation.

[0044] Optionally, the automatic filling and draining control method for the floating fishway further includes: When the inlet water depth is greater than the middle water depth, the full-water adjustable water tank is set as the adjustable water tank to be adjusted. The number of full-water adjustable water tanks is used as the initial adjustment quantity. Based on the torque balance formula, the water volume calculation coefficient is corrected by recursive loop trial calculation subtraction. When the water volume calculation coefficient is 0, the number of adjustable water tanks to be adjusted is reduced, and the water volume calculation coefficient is reset to 1. The number of adjustable water tanks participating in the adjustment and the water volume calculation coefficient corresponding to the torque balance formula being 0 are obtained. The initial adjustment water volume or the real-time filling and draining volume is obtained based on the number of adjustable water tanks involved in the adjustment when the torque balance formula is 0, the water volume calculation coefficient, and the water volume calculation formula when draining.

[0045] Specifically, the drainage operation in this embodiment is based on the same principle as the water filling operation described above, and will not be repeated here.

[0046] Optionally, before controlling the adjustable water tank to fill and drain according to the real-time filling and draining volume when the inlet water depth and the middle water depth meet the preset start-up conditions, the following steps are included: Determine whether the absolute value of the difference between the inlet water depth and the middle water depth is less than a preset stable threshold.

[0047] If so, then it is determined that the inlet water depth and the middle water depth do not meet the preset start-up conditions, and the current state is maintained; If not, then the inlet water depth and the middle water depth are determined to meet the preset start-up conditions, and the adjustable water tank is controlled to fill and drain according to the real-time filling and draining volume.

[0048] Specifically, river levels naturally fluctuate slightly, causing a small difference between the inlet and mid-section depths. However, this slight difference does not affect the hydraulic conditions required for fish migration. Initiating filling and draining operations for all these differences would result in frequent equipment start-ups and shutdowns, increasing energy consumption and mechanical wear, and reducing system lifespan. Furthermore, defining a clear stability threshold precisely defines the boundary between areas requiring and not requiring control, ensuring that filling and draining operations are only initiated when hydraulic conditions are unbalanced, thus improving the rationality of the control logic. The PLC processor receives real-time water level data from the level gauges at the inlet end and the inner side of the middle section of the floating section, and calculates the inlet depth H based on the floating section's shape parameters. 1it With the central water depth H 2it It automatically calculates the absolute difference between the two, |H 1it H 2it |; Compare this difference with a preset stability threshold ε, such as 0.1m. If |H 1it H 2itIf | < ε, the processor does not output control commands, maintaining the current pump valve closed and the water tank state unchanged; if | H 1it H 2it If |≥ε, the processor determines that the startup condition is met and triggers the subsequent real-time filling and draining volume calculation and filling and draining control process.

[0049] Optionally, controlling the inflation and deflation of the adjustable water tank based on the real-time inflation and deflation volume includes: When the inlet water depth is less than the middle water depth, the adjustable water tank is filled with water according to the real-time filling and discharging volume. When the inlet water depth is greater than the middle water depth, the adjustable water tank is drained according to the real-time filling and draining volume.

[0050] Specifically, the direction of the difference between the inlet water depth and the mid-section water depth directly determines the type of hydraulic imbalance. A smaller inlet water depth indicates insufficient water in the mid-section of the floating section, requiring water replenishment to reduce the difference; a larger inlet water depth indicates excess water in the mid-section of the floating section, requiring the discharge of excess water. Failure to adjust the water flow according to the direction of the difference will exacerbate the hydraulic imbalance, making it impossible to achieve the water depth balance target. Therefore, the direction of water filling or drainage must be determined based on the magnitude of the difference.

[0051] Water filling operation: at |H 1it H 2it Based on |≥ε, the PLC processor determines H 1it <H 2it Output water filling control command, close the drainage control valve, maintenance valve and check valve of the drainage system, open the water distribution valve of the adjustable water tank in the order from left to right, open the water filling control valve, maintenance valve and check valve of the water filling system, start the water filling pump; inject water into the adjustable water tank according to the real-time water filling and drainage calculation results, and close the pump valve to complete the water filling.

[0052] Drainage operation: at |H 1it H 2it Based on |≥ε, the PLC processor determines H 1it >H 2it Output drainage control command, close the water filling control valve, maintenance valve and check valve of the water filling system, open the water distribution valve of the adjustable water tank in the order from left to right, open the drainage control valve, maintenance valve and check valve of the drainage system, start the drainage pump; according to the real-time filling and drainage volume calculation results, drain the water in the adjustable water tank, close the pump valve to complete the drainage.

[0053] like Figure 3As shown in the figure, an automatic filling and draining control device 300 for a floating fishway provided by an embodiment of the present invention is applied to a floating fishway. The floating fishway includes a fixed section located upstream of the target, a floating section located downstream of the target, and an adjustable water tank connected to the floating section. The fixed section is connected to the floating section. When the adjustable water tank is filled or drained, the floating section swings vertically relative to the fixed section. The automatic filling and draining control device for the floating fishway includes: Initialization module 310 is used to adjust the water volume in the adjustable water tank to initialize the inlet water depth in the floating section to be the same as the middle water depth in the floating section. The adjustment module 320 is used to control the adjustable water tank to fill and drain according to the real-time filling and draining volume when the inlet water depth and the middle water depth meet the preset start-up conditions; wherein, the real-time filling and draining volume is calculated using a torque balance formula based on the inlet water depth, the middle water depth, the floating section size information and the initial water volume in the adjustable water tank, and the initial water volume is the remaining water volume in the adjustable water tank after each filling and draining.

[0054] like Figure 4 As shown, an electronic device 400 provided in this embodiment of the invention includes a memory 410 and a processor 420; the memory 410 is used to store a computer program; the processor 420 is used to implement the floating fishway automatic filling and draining control method as described above when the computer program is executed.

[0055] Alternatively, an electronic device 400 includes a memory 410 and a processor 420 coupled to the memory 410; the memory 410 is configured to store a computer program; and the processor 420 is configured to perform the following operations when the computer program is executed: Adjust the water volume in the adjustable water tank to initialize the inlet water depth in the floating section to be the same as the middle water depth in the floating section; When the inlet water depth and the middle water depth meet the preset start-up conditions, the adjustable water tank is controlled to fill and drain according to the real-time filling and draining volume. The real-time filling and discharging volume is calculated using a torque balance formula based on the inlet water depth, the middle water depth, the floating section size information, and the initial water volume in the adjustable water tank. The initial water volume is the remaining water volume in the adjustable water tank after each filling and discharging cycle.

[0056] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the above-described automatic filling and draining control method for a floating fishway.

[0057] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: Adjust the water volume in the adjustable water tank to initialize the inlet water depth in the floating section to be the same as the middle water depth in the floating section; When the inlet water depth and the middle water depth meet the preset start-up conditions, the adjustable water tank is controlled to fill and drain according to the real-time filling and draining volume. The real-time filling and discharging volume is calculated using a torque balance formula based on the inlet water depth, the middle water depth, the floating section size information, and the initial water volume in the adjustable water tank. The initial water volume is the remaining water volume in the adjustable water tank after each filling and discharging cycle.

[0058] The present invention will now be described an electronic device 400 that can serve as a server or client of the present invention, which is an example of a hardware device that can be applied to various aspects of the present invention. Electronic device 400 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 400 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0059] Electronic device 400 includes a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM may also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0060] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0061] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A method for automatic filling and draining control of a floating fishway, characterized in that, This invention relates to a floating fishway system, comprising a fixed section upstream of the target, a floating section downstream of the target, and an adjustable water tank connected to the floating section. The fixed section is connected to the floating section, and when the adjustable water tank is filled or defilled, the floating section swings vertically relative to the fixed section. Adjust the water volume in the adjustable water tank to initialize the inlet water depth in the floating section to be the same as the middle water depth in the floating section; When the inlet water depth and the middle water depth meet the preset start-up conditions, the adjustable water tank is controlled to fill and drain according to the real-time filling and draining volume. The real-time filling and discharging volume is calculated using a torque balance formula based on the inlet water depth, the middle water depth, the floating section size information, and the initial water volume in the adjustable water tank. The initial water volume is the remaining water volume in the adjustable water tank after each filling and discharging cycle.

2. The automatic filling and draining control method for floating fishways according to claim 1, characterized in that, Level gauges are installed at the middle and floating ends of the floating section, with two level gauges used to obtain the water level at the middle and the water level at the inlet, respectively; adjusting the water volume in the adjustable tank to initialize the inlet water depth in the floating section to be the same as the water depth at the middle of the floating section includes: The inlet water depth and the middle water depth are obtained based on the inlet water level and the middle water level. Based on the torque balance, the initial adjustment water volume is obtained according to the inlet water depth, the middle water depth, the floating section size information and the water tank storage volume, wherein the water tank storage volume is the water volume in the adjustable water tank before initialization; The water volume of the adjustable water tank is adjusted according to the initial adjustment water volume so that the inlet water depth is the same as the middle water depth.

3. The automatic filling and draining control method for floating fishways according to claim 2, characterized in that, The adjustable water tanks are multiple and interconnected. The floating section includes a horizontal section and a sloping section. The horizontal section is a straight section where the bottom surface of the floating section is parallel to the horizontal plane. The sloping section is an inclined section of the floating section near the fixed section where the bottom surface is not parallel to the horizontal plane. The degree of inclination of the bottom surface of the sloping section along the water flow direction is the bottom slope. The torque balance formula is expressed as follows: ， Where f(n, V...) represents the torque balance formula, ρ represents the density of water, g represents the gravitational acceleration, n represents the number of fully filled adjustable water tanks, V1 represents the total volume of a single adjustable water tank, L represents the length of the floating section, L1 represents the length of the adjustable water tank, k1 represents the water volume calculation coefficient, which is the proportion of the water volume in the partially filled adjustable water tanks participating in the filling and draining adjustment to the total capacity of the adjustable water tanks, expressed as V0 / V1, where V0 represents the water volume in the partially filled adjustable water tanks, b represents the inner width of the floating section, and H... 2it H represents the water depth in the middle section. 1it G represents the inlet water depth, L0 represents the self-weight of the floating section, B represents the length of the horizontal section, i represents the outer width of the floating section, and L represents the bottom slope. g This represents the gravitational lever arm of the floating segment. This represents the torque generated by the n pre-filled adjustable water tanks. This refers to the torque generated by all the adjustable water tanks that are not full. This indicates the torque generated by buoyancy in the horizontal position segment. This indicates the torque generated by buoyancy at the aforementioned slope location segment. GL represents the torque generated by the weight of the water within the floating section. g This represents the torque generated by the self-weight of the floating section; When the torque balance equation is 0 and water filling is performed, the formula for calculating the initial adjustment water volume or the real-time filling and draining volume is expressed as follows: V2 = (k1 + k2)V1 - V0, When the torque balance equation is 0 and drainage is performed, the formula for calculating the initial adjustment water volume or the real-time filling and draining volume is expressed as follows: V2 = (k2 - k1)V1 + V0, Wherein, V2 represents the initial adjustment water volume or the real-time filling and draining volume, and k2 represents the number of adjustable water tanks to be adjusted that participate in filling and draining.

4. The automatic filling and draining control method for floating fishways according to claim 3, characterized in that, Also includes: When the inlet water depth is less than the middle water depth, the adjustable water tank that is not full is set as the adjustable water tank to be adjusted. The number of the adjustable water tanks that are full is used as the initial adjustment quantity. Based on the torque balance formula, the water volume calculation coefficient is corrected by recursive loop trial addition. When the water volume calculation coefficient is 1, the number of the adjustable water tanks to be adjusted is increased, and the water volume calculation coefficient is reset to 0. The number of adjustable water tanks participating in the adjustment and the water volume calculation coefficient corresponding to the torque balance formula being 0 are obtained. The initial adjustment water volume or the real-time filling and draining volume is obtained based on the number of adjustable water tanks involved in the adjustment when the torque balance formula is 0, the water volume calculation coefficient, and the water volume calculation formula when filling.

5. The automatic filling and draining control method for floating fishways according to claim 3, characterized in that, Also includes: When the inlet water depth is greater than the middle water depth, the full-water adjustable water tank is set as the adjustable water tank to be adjusted. The number of full-water adjustable water tanks is used as the initial adjustment quantity. Based on the torque balance formula, the water volume calculation coefficient is corrected by recursive loop trial calculation subtraction. When the water volume calculation coefficient is 0, the number of adjustable water tanks to be adjusted is reduced, and the water volume calculation coefficient is reset to 1. The number of adjustable water tanks participating in the adjustment and the water volume calculation coefficient corresponding to the torque balance formula being 0 are obtained. The initial adjustment water volume or the real-time filling and draining volume is obtained based on the number of adjustable water tanks involved in the adjustment when the torque balance formula is 0, the water volume calculation coefficient, and the water volume calculation formula when draining.

6. The automatic filling and draining control method for floating fishways according to claim 1, characterized in that, Before controlling the adjustable water tank to fill and drain according to the real-time filling and draining volume when the inlet water depth and the middle water depth meet the preset start-up conditions, the method further includes: Determine whether the absolute value of the difference between the inlet water depth and the middle water depth is less than a preset stable threshold. If so, then it is determined that the inlet water depth and the middle water depth do not meet the preset start-up conditions, and the current state is maintained; If not, then the inlet water depth and the middle water depth are determined to meet the preset start-up conditions, and the adjustable water tank is controlled to fill and drain according to the real-time filling and draining volume.

7. The automatic filling and draining control method for floating fishways according to claim 6, characterized in that, The step of controlling the inflation and deflation of the adjustable water tank based on the real-time inflation and deflation volume includes: When the inlet water depth is less than the middle water depth, the adjustable water tank is filled with water according to the real-time filling and discharging volume. When the inlet water depth is greater than the middle water depth, the adjustable water tank is drained according to the real-time filling and draining volume.

8. A floating fishway automatic filling and draining control device, characterized in that, An application to a floating fishway, the floating fishway comprising a fixed section upstream of the target, a floating section downstream of the target, and an adjustable water tank connected to the floating section; the fixed section is connected to the floating section, and when the adjustable water tank is filled or drained, the floating section swings vertically relative to the fixed section; the automatic filling and draining control device for the floating fishway includes: An initialization module is used to adjust the water volume in the adjustable water tank to initialize the inlet water depth in the floating section to be the same as the middle water depth in the floating section. The adjustment module is used to control the adjustable water tank to fill and drain according to the real-time filling and draining volume when the inlet water depth and the middle water depth meet the preset start-up conditions; wherein, the real-time filling and draining volume is calculated using a torque balance formula based on the inlet water depth, the middle water depth, the floating section size information, and the initial water volume in the adjustable water tank, and the initial water volume is the remaining water volume in the adjustable water tank after each filling and draining.

9. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the automatic filling and draining control method for a floating fishway as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the automatic filling and draining control method for the floating fishway as described in any one of claims 1 to 7.

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