A hydropower plant powerhouse dam crest equipment collaborative control system and control method

Abstract

The application relates to the field of hydropower station operation and maintenance, in particular to a hydropower station powerhouse dam top equipment cooperative control system and a control method; the system comprises a measurement signal system, an auxiliary monitoring system and a data processing control system; the system is applied to a hydropower station powerhouse dam top, the hydropower station powerhouse dam top is internally provided with a dam top door machine, a dam top trash cleaner and a hydraulic cover plate; the measurement signal system is used for detecting position information of the dam top door machine, the dam top trash cleaner and the hydraulic cover plate; the auxiliary monitoring system is used for collecting and monitoring the real-time conditions of the upstream dam top of the power station powerhouse; the data processing control system is used for controlling the linkage control logic of the hydropower station powerhouse dam top equipment cooperative control system; the measurement signal system and the auxiliary monitoring system are respectively connected with the data processing control system in control; the intelligent linkage control level between the heavy equipment of the hydropower station dam top is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of hydropower station operation and maintenance, specifically to a collaborative control system and control method for equipment on the dam crest of a hydropower station powerhouse. Background Technology

[0002] Hydropower station dams are generally equipped with dam top gantry cranes, which are used to open and close the working gates or maintenance gates upstream of the power station's turbine generator units. Some low-head axial-flow turbine units with a lot of upstream debris are equipped with rail-mounted trash racks. The trash rack openings are arranged in an open manner, and there is no linkage control between the gantry cranes and the trash racks.

[0003] In recent years, to meet safety requirements, some power plants have undergone safety upgrades by sealing the trash rack openings. However, this has also led to interference between equipment and created new safety hazards. For example, a dam crest originally housed a gantry crane with a trash rack cleaning machine track running between its tracks; the trash rack cleaning machine track spacing was 3500mm, while the gantry crane track spacing was 8300mm, and the trash rack openings were open. Later, hydraulic covers were installed to seal the openings. However, the high height of the trash rack cleaning machine affected the gantry crane's lifting operations, and the excessive angle of the covers hindered the gantry crane's passage. The arrangement of hydraulic covers, trash rack cleaning machines, and gantry cranes within the limited space of the dam crest, with their operations interconnected and interdependent, necessitates intelligent monitoring and control systems for coordinated upgrades.

[0004] Therefore, there is an urgent need for a collaborative control system and control method for equipment on the dam crest of a hydropower station. Summary of the Invention

[0005] This invention addresses the technical problems existing in the prior art and provides a collaborative control system and control method for equipment on the dam crest of a hydropower station.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A collaborative control system for equipment on the dam crest of a hydropower station powerhouse includes a measurement signal system, an auxiliary monitoring system, and a data processing control system. This system is applied to the dam crest of the powerhouse, which houses a dam crest gantry crane, a dam crest cleaning machine, and a hydraulic cover plate. The measurement signal system detects the position information of the dam crest gantry crane, the dam crest cleaning machine, and the hydraulic cover plate. The auxiliary monitoring system collects and monitors real-time video of the dam crest upstream of the powerhouse. The data processing control system controls the linkage control logic of the collaborative control system. The measurement signal system and the auxiliary monitoring system are respectively connected to the data processing control system.

[0007] Furthermore, the dam-top gantry crane is mounted on a gantry crane track, and the dam-top trash rack cleaner is mounted on a trash rack cleaner track. Both the gantry crane track and the trash rack cleaner track are located on the ground. The dam-top gantry crane moves along the gantry crane track, and the trash rack cleaner moves along the trash rack cleaner track. The hydraulic cover plate is installed at the trash rack opening of the hydropower station building. The hydraulic cover plate is rotatably connected to the upper end of the trash rack opening. The hydraulic cover plate is rotatably connected by a hydraulic cylinder. Both the hydraulic cover plate and the dam-top trash rack cleaner are located inside the dam-top gantry crane, and the hydraulic cover plate is located on one side of the dam-top trash rack cleaner.

[0008] Furthermore, the measurement signal system includes an infrared optical measurement system, which is signal-connected to the data processing and control system. The infrared optical measurement system includes a high-position infrared optical transmitter, a low-position infrared optical transmitter, and an infrared optical receiver. The high-position infrared optical transmitter is installed on the upper part of the wall of the hydropower plant, and the low-position infrared optical transmitter is installed on the lower part of the wall of the hydropower plant.

[0009] Furthermore, the light beam of the high-position infrared optical transmitter is not blocked by the cleaning machine, but it will be blocked when the gantry crane on the dam top passes by; the low-position infrared optical transmitter is blocked by the cleaning machine control room and is affected by the intermittent movement of the gantry crane's outriggers on the dam top.

[0010] Furthermore, the measurement signal system also includes a pressure sensor system, which comprises several first pressure sensors and several second pressure sensors. The first pressure sensors are arranged along the length of the gantry crane track, with two first pressure sensors installed in each hole on the rail of the gantry crane track. The second pressure sensors are arranged along the length of the cleaning machine track, with two second pressure sensors installed in each hole on the rail of the cleaning machine track. All the first and second pressure sensors are connected to the data processing and control system. The data processing and control system determines the traveling direction and parking position of the gantry crane on the dam top according to the order in which the first pressure sensors are triggered, and determines the traveling direction and parking position of the gantry crane on the dam top according to the order in which the second pressure sensors are triggered.

[0011] Furthermore, the measurement signal system also includes a hydraulic cover opening and closing signal system, which includes a closing limit device, an opening limit device, and a line signal transmission device. When the hydraulic cover opens, the closing limit device loses its signal. When the hydraulic cover opens to the set opening degree, it contacts the opening limit device, at which point a stop signal is issued, stopping the pressure output of the hydraulic cylinder. At this time, the hydraulic cover stops opening and stops at the set opening degree position, while simultaneously sending an opening operation signal to the data processor in the central control room. After the hydraulic cover closes, it contacts the closing limit device, at which point a closing signal is sent to the data processor in the central control room.

[0012] Furthermore, the auxiliary monitoring system includes a spherical camera, which is installed below the platform of the gantry crane on the dam top to collect and monitor the real-time situation of the dam top upstream of the power plant. It is equipped with AI capture function to determine the working status of the equipment and issue early warning signals in a timely manner.

[0013] A method for coordinated control of equipment on the dam crest of a hydropower station powerhouse, using a coordinated control device for equipment on the dam crest of a hydropower station powerhouse, includes the following steps: S1. Perform step control when the hydraulic cover is in the open state; S2. Perform step control when the hydraulic cover plate is in the closed state; S3. When the monitoring and auxiliary system issues a warning signal and an alarm, stop the equipment operation and enter safe mode.

[0014] Furthermore, S1 specifically includes the following steps: S11. The opening signal of the hydraulic cover plate of the nth trash rack hole is transmitted to the data processor, and the position signal and the indication signal that the cleaning work can be carried out in this hole are sent to the processor of the dam top trash rack cleaning machine, and the dam top trash rack cleaning machine operates normally. S12. When the light beam of the low-position infrared optical transmitter of the nth trash rack hole is blocked by the dam top cleaning machine, a position signal is generated and transmitted to the data processor, which then sends the position signal to the controller of the dam top gantry crane and hydraulic cover plate, providing a prompt message. S13. When the first pressure sensor and the second pressure sensor of the nth trash rack hole transmit the position signals of the dam top gantry crane and the trash rack cleaner to the data processor, the actual position information of the dam top trash rack cleaner and the dam top gantry crane will be shared. S14. When the beam of the high-position infrared optical transmitter of the nth trash rack opening is blocked by the dam top gantry crane of the nth trash rack opening, a proximity signal is generated and transmitted to the data processor, which then sends the proximity signal to the controller of the dam top gantry crane to slow down the movement; or; when the beam of the high-position infrared optical transmitter is blocked by the dam top gantry crane of the nth trash rack opening, a proximity signal is generated and transmitted to the data processor, which then sends the proximity signal to the controller of the dam top gantry crane to lift the hoisting beam.

[0015] Furthermore, S2 specifically includes the following steps: S21. When the closing signal of the hydraulic cover plate of the nth trash rack opening is transmitted to the data processor, the position signal and the work indication signal that hoisting operation can be carried out in the trash rack opening are sent to the processor of the gantry crane on the top of the dam. S22. When the light beam of the low-position infrared optical transmitter of the nth trash rack hole is not blocked by the dam top trash rack cleaning machine, a position signal is generated and transmitted to the data processor, and the actual position signal of the dam top trash rack cleaning machine is sent to the dam top gantry crane. S23. When the first pressure sensor and the second pressure sensor of the nth trash rack hole transmit the position signals of the dam top gantry crane and the dam top trash cleaner to the data processor respectively, the actual position information of the dam top trash cleaner and the dam top gantry crane will be shared. S24. When the light beam of the high-position infrared optical transmitter of the nth trash rack hole is not blocked by the dam top gantry crane, the dam top gantry crane will work normally.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention provides intelligent linkage control for various equipment on the top of the trash rack dam in hydropower stations, effectively improving the level of intelligent linkage control among heavy equipment on the dam top, preventing operational interference and conflicts between various heavy equipment, improving the safety and reliability of the equipment operation on the dam top, realizing automated monitoring and control, and achieving linkage control between equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the system of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. Gantry crane on top of the dam; 2. Trash cannon on top of the dam; 3. Infrared optical receiver; 4. Dome camera; 5. High-position infrared optical transmitter; 6. Low-position infrared optical transmitter; 7. Central control room; 8. Data processor; 9. First pressure sensor; 10. Hydraulic cover plate; 11. Gantry crane track; 12. Trash cannon track; 13. Second pressure sensor. Detailed Implementation

[0019] The technical solution of the present invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention. It should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0020] like Figure 1As shown, this invention provides a collaborative control system for equipment on the dam crest of a hydropower station powerhouse, comprising a measurement signal system, an auxiliary monitoring system, and a data processing control system. The measurement signal system is used to detect the position information of each piece of equipment on the dam crest of the hydropower station powerhouse; the auxiliary monitoring system is used to perform video acquisition and monitoring of the real-time status of the dam crest upstream of the powerhouse; the data processing control system is used to control the linkage control logic of the collaborative control system for equipment on the dam crest of the hydropower station powerhouse; the measurement signal system and the auxiliary monitoring system are respectively connected to the data processing control system.

[0021] The collaborative control system for equipment on the top of the hydropower plant dam is applied to the top of the hydropower plant dam. The top of the dam is equipped with a dam top gantry crane 1, a gantry crane track 11, a dam top trash can 2, a trash can track 12, and a hydraulic cover plate 10. Both the gantry crane track 11 and the trash can track 12 are located on the ground. The dam top gantry crane 1 moves along the gantry crane track 11, and the trash can is located inside the dam top gantry crane 1 and moves along the trash can track 12. A hydraulic cover plate 10 is installed at the trash rack opening of the hydropower plant. The hydraulic cover plate 10 is rotatably connected to the upper end of the trash rack opening, and the rotatable connection is achieved through a hydraulic cylinder. The hydraulic cover plate 10 is also located inside the dam top gantry crane 1 and on one side of the dam top trash can 2.

[0022] The measurement signal system includes an infrared optical measurement system, which is connected to the data processing and control system. The infrared optical measurement system includes a high-position infrared optical transmitter 5, a low-position infrared optical transmitter 6, and an infrared optical receiver 3. The high-position infrared optical transmitter 5 is installed on the upper part of the wall of the hydropower plant. The light beam of the high-position infrared optical transmitter 5 is not blocked by the cleaning machine, but it will be blocked when the gantry crane 1 on the dam top moves through. The low-position infrared optical transmitter 6 is installed on the lower part of the wall of the hydropower plant. The low-position infrared optical transmitter 6 is mainly blocked by the cleaning machine control room and is affected by the intermittent movement of the outriggers of the gantry crane 1 on the dam top.

[0023] The measurement signal system also includes a pressure sensor system, which comprises several first pressure sensors 9 and several second pressure sensors 13. The first pressure sensors 9 are arranged along the length of the gantry crane track 11, with two first pressure sensors 9 installed in each hole on the rail of the gantry crane track 11. The second pressure sensors 13 are arranged along the length of the cleaning machine track 12, with two second pressure sensors 13 installed in each hole on the rail of the cleaning machine track 12. All the first pressure sensors 9 and second pressure sensors 13 are connected to the data processing control system. The data processing control system determines the traveling direction and parking position of the gantry crane 1 and the cleaning machine 2 on the dam top according to the order in which the first pressure sensors 9 and second pressure sensors 13 are triggered. Specifically, the traveling direction and parking position of the gantry crane 1 on the dam top are determined according to the order in which the first pressure sensors 9 are triggered, and the traveling direction and parking position of the gantry crane 1 on the dam top are determined according to the order in which the second pressure sensors 13 are triggered.

[0024] The measurement signal system also includes a hydraulic cover plate 10 opening and closing signal system, including a closing limit device, an opening limit device, and a line signal transmission device. When the hydraulic cover plate 10 opens, the closing limit device loses its signal. When the hydraulic cover plate 10 opens to the set opening degree, the hydraulic cover plate 10 contacts the opening limit device, at which point a stop signal is issued, stopping the pressure output of the hydraulic cylinder. At this time, the hydraulic cover plate 10 no longer continues to open and stops at the set opening degree position. At the same time, an opening operation signal is sent to the data processor 8 in the central control room 7. After the hydraulic cover plate 10 closes, it contacts the closing limit device, at which point a closing signal is sent to the data processor 8 in the central control room 7.

[0025] The auxiliary monitoring system includes a spherical camera 4, which is installed below the platform of the gantry crane 1 on the dam top. It collects and monitors the real-time situation of the dam top upstream of the power plant, and is equipped with AI capture function to determine the working status of the equipment and issue early warning signals in a timely manner.

[0026] The infrared optical receiver 3, the high-position infrared optical transmitter 5, the low-position infrared optical transmitter 6, the first pressure sensor 9, the second pressure sensor 13, the spherical camera 4, the closing limit device, the opening limit device, and the hydraulic cylinder are all electrically connected to the data processor 8.

[0027] The present invention also provides a method for coordinated control of equipment on the dam crest of a hydropower station, comprising the following steps: S1. When the hydraulic cover plate 10 is in the open state, the following steps are controlled: S11. The opening signal of the hydraulic cover plate 10 of the nth trash rack hole is transmitted to the data processor 8, which sends the position signal and the indication signal that the cleaning work can be carried out in the hole to the processor of the dam top cleaning machine 2, and the dam top cleaning machine 2 operates normally.

[0028] S12. When the light beam of the low-position infrared optical transmitter 6 of the nth trash rack hole is blocked by the dam top cleaning machine 2, a position signal is generated and transmitted to the data processor 8, which then sends the position signal to the controllers of the dam top gantry crane 1 and the hydraulic cover plate 10, providing a prompt message.

[0029] S13. When the first pressure sensor 9 and the second pressure sensor 13 of the nth trash rack hole transmit the position signals of the dam top gantry crane 1 and the trash cleaner to the data processor 8, the actual position information of the dam top trash cleaner 2 and the dam top gantry crane 1 will be shared.

[0030] S14. When the beam of light from the high-position infrared optical transmitter 5 of the nth trash rack opening is blocked by the dam top gantry crane 1 of the nth trash rack opening, a proximity signal is generated and transmitted to the data processor 8, which then sends the proximity signal to the controller of the dam top gantry crane 1 to slow down the movement; or; when the beam of light from the high-position infrared optical transmitter 5 is blocked by the dam top gantry crane 1 of the nth trash rack opening, a proximity signal is generated and transmitted to the data processor 8, which then sends the proximity signal to the controller of the dam top gantry crane 1 to lift the hoisting beam.

[0031] S2. When the hydraulic cover plate 10 is in the closed state, the following steps are controlled: S21. When the closing signal of the hydraulic cover plate 10 of the nth trash rack opening is transmitted to the data processor 8, the position signal and the work indication signal that the hoisting operation can be carried out in the trash rack opening are sent to the processor of the gantry crane 1 on the dam top.

[0032] S22. When the light beam of the low-position infrared optical transmitter 6 of the nth trash rack hole is not blocked by the dam top cleaning machine 2, a position signal is generated and transmitted to the data processor 8, which then sends the actual position signal of the dam top cleaning machine 2 to the dam top gantry crane 1.

[0033] S23. When the first pressure sensor 9 and the second pressure sensor 13 of the nth trash rack hole transmit the position signals of the dam top gantry crane 1 and the dam top trash cleaner 2 to the data processor 8 respectively, the actual position information of the dam top trash cleaner 2 and the dam top gantry crane 1 will be shared.

[0034] S24. When the light beam of the high-position infrared optical transmitter 5 of the nth debris barrier hole is not blocked by the dam top gantry crane 1, the dam top gantry crane 1 works normally.

[0035] S3. When the monitoring and auxiliary system issues a warning signal and an alarm, stop the equipment operation and enter safe mode.

[0036] This invention provides intelligent linkage control for various equipment on the top of the trash rack dam in hydropower stations, effectively improving the level of intelligent linkage control among heavy equipment on the dam top, preventing operational interference and conflicts between various heavy equipment, improving the safety and reliability of the equipment operation on the dam top, realizing automated monitoring and control, and achieving linkage control between equipment.

[0037] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

Claims

1. A collaborative control system for equipment on the dam crest of a hydropower station, characterized in that, The system includes a measurement signal system, an auxiliary monitoring system, and a data processing and control system. The hydropower station powerhouse dam crest equipment collaborative control system is applied to the dam crest of the hydropower station powerhouse, where a dam crest gantry crane, a dam crest cleaning machine, and a hydraulic cover plate are installed. The measurement signal system is used to detect the position information of the dam crest gantry crane, the dam crest cleaning machine, and the hydraulic cover plate. The auxiliary monitoring system is used to collect and monitor the real-time conditions of the dam crest upstream of the powerhouse via video. The data processing and control system is used to control the linkage control logic of the hydropower station powerhouse dam crest equipment collaborative control system. The measurement signal system and the auxiliary monitoring system are respectively connected to the data processing and control system.

2. The collaborative control system for equipment on the dam crest of a hydropower station as described in claim 1, characterized in that, The gantry crane on the dam top is mounted on a gantry crane track, and the dam top trash can is mounted on a trash can track. Both the gantry crane track and the trash can track are located on the ground. The gantry crane moves along the gantry crane track, and the trash can moves along the trash can track. The hydraulic cover plate is installed at the trash rack opening of the hydropower plant. The hydraulic cover plate is rotatably connected to the upper end of the trash rack opening. The hydraulic cover plate is rotatably connected by a hydraulic cylinder. Both the hydraulic cover plate and the dam top trash can are located inside the gantry crane on the dam top, and the hydraulic cover plate is located on one side of the dam top trash can.

3. The collaborative control system for equipment on the dam crest of a hydropower station as described in claim 2, characterized in that, The measurement signal system includes an infrared optical measurement system, which is signal-connected to the data processing and control system. The infrared optical measurement system includes a high-position infrared optical transmitter, a low-position infrared optical transmitter, and an infrared optical receiver. The high-position infrared optical transmitter is installed on the upper part of the wall of the hydropower station powerhouse, and the low-position infrared optical transmitter is installed on the lower part of the wall of the hydropower station powerhouse.

4. The collaborative control system for equipment on the dam crest of a hydropower station as described in claim 3, characterized in that, The light beam of the high-position infrared optical transmitter is not blocked by the cleaning machine, but it will be blocked when the gantry crane on the dam top passes by; the low-position infrared optical transmitter is blocked by the cleaning machine control room and is affected by the intermittent movement of the gantry crane's outriggers on the dam top.

5. The collaborative control system for equipment on the dam crest of a hydropower station as described in claim 3, characterized in that, The measurement signal system also includes a pressure sensor system, which comprises several first pressure sensors and several second pressure sensors. The first pressure sensors are arranged along the length of the gantry crane track, with two first pressure sensors installed in each hole on the rail of the gantry crane track. The second pressure sensors are arranged along the length of the cleaning machine track, with two second pressure sensors installed in each hole on the rail of the cleaning machine track. All the first and second pressure sensors are connected to the data processing and control system. The data processing and control system determines the traveling direction and parking position of the gantry crane on the dam top according to the order in which the first pressure sensors are triggered, and determines the traveling direction and parking position of the gantry crane on the dam top according to the order in which the second pressure sensors are triggered.

6. The collaborative control system for equipment on the dam crest of a hydropower station as described in claim 3, characterized in that, The measurement signal system also includes a hydraulic cover opening and closing signal system, which includes a closing limit device, an opening limit device, and a line signal transmission device. When the hydraulic cover opens, the closing limit device loses its signal. When the hydraulic cover opens to the set opening degree, it contacts the opening limit device, at which point a stop signal is issued, stopping the pressure output of the hydraulic cylinder. The hydraulic cover then stops opening at the set opening degree position and simultaneously sends an opening signal to the data processor in the central control room. After the hydraulic cover closes, it contacts the closing limit device, at which point a closing signal is sent to the data processor in the central control room.

7. A collaborative control system for equipment on the dam crest of a hydropower station as described in claim 2, characterized in that, The auxiliary monitoring system includes a spherical camera, which is installed below the platform of the gantry crane on the dam top. It collects and monitors the real-time situation of the dam top upstream of the power plant, and is equipped with AI capture function to determine the working status of the equipment and issue early warning signals in a timely manner.

8. A method for coordinated control of equipment on the dam crest of a hydropower station, characterized in that, The method of using the collaborative control device for equipment on the dam crest of a hydropower station powerhouse according to any one of claims 1-7 includes the following steps: S1. Perform step control when the hydraulic cover is in the open state; S2. Perform step control when the hydraulic cover plate is in the closed state; S3. When the monitoring and auxiliary system issues a warning signal and an alarm, stop the equipment operation and enter safe mode.

9. A method for coordinated control of equipment on the dam crest of a hydropower station as described in claim 8, characterized in that, S1 specifically includes the following steps: S11. The opening signal of the hydraulic cover plate of the nth trash rack hole is transmitted to the data processor, and the position signal and the indication signal that the cleaning work can be carried out in this hole are sent to the processor of the dam top trash rack cleaning machine, and the dam top trash rack cleaning machine operates normally. S12. When the light beam of the low-position infrared optical transmitter of the nth trash rack hole is blocked by the dam top cleaning machine, a position signal is generated and transmitted to the data processor, which then sends the position signal to the controller of the dam top gantry crane and hydraulic cover plate, providing a prompt message. S13. When the first pressure sensor and the second pressure sensor of the nth trash rack hole transmit the position signals of the dam top gantry crane and the trash rack cleaner to the data processor, the actual position information of the dam top trash rack cleaner and the dam top gantry crane will be shared. S14. When the beam of the high-position infrared optical transmitter of the nth trash rack opening is blocked by the dam top gantry crane of the nth trash rack opening, a proximity signal is generated and transmitted to the data processor, which then sends the proximity signal to the controller of the dam top gantry crane to slow down the movement; or; when the beam of the high-position infrared optical transmitter is blocked by the dam top gantry crane of the nth trash rack opening, a proximity signal is generated and transmitted to the data processor, which then sends the proximity signal to the controller of the dam top gantry crane to lift the hoisting beam.

10. A method for coordinated control of equipment on the dam crest of a hydropower station as described in claim 8, characterized in that, S2 specifically includes the following steps: S21. When the closing signal of the hydraulic cover plate of the nth trash rack opening is transmitted to the data processor, the position signal and the work indication signal that hoisting operation can be carried out in the trash rack opening are sent to the processor of the gantry crane on the top of the dam. S22. When the light beam of the low-position infrared optical transmitter of the nth trash rack hole is not blocked by the dam top trash rack cleaning machine, a position signal is generated and transmitted to the data processor, and the actual position signal of the dam top trash rack cleaning machine is sent to the dam top gantry crane. S23. When the first pressure sensor and the second pressure sensor of the nth trash rack hole transmit the position signals of the dam top gantry crane and the dam top trash cleaner to the data processor respectively, the actual position information of the dam top trash cleaner and the dam top gantry crane will be shared. S24. When the light beam of the high-position infrared optical transmitter of the nth trash rack hole is not blocked by the dam top gantry crane, the dam top gantry crane will work normally.

Images