Water gate opening / closing system and method of hydraulic power plant based on unmanned steering water gate opening / closing machine

Abstract

To provide a water gate opening / closing system and method of a hydraulic power plant based on an unmanned steering water gate opening / closing machine which enables the water gate opening / closing machine to open / close a water gate and simultaneously and automatically update water gate database, on the basis of the system, and improves operation efficiency, safety and a maintenance management level of a hydraulic power plant.SOLUTION: The system includes a water gate opening / closing machine travel automatic positioning system, a water gate opening / closing machine automatic identification and collision prevention system, a water gate automatic locking system, a beam gripping and swinging prevention and automatic pin insertion system, an image identification system, a water gate position arrival integral determination system, a water gate on-line identification system, and a water gate opening / closing machine safety protection system.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to the technical field of gate opening and closing for hydroelectric power plants, and in particular to a system and method for opening and closing gates for hydroelectric power plants based on an unmanned gate opening and closing machine. [Background technology]

[0002] Currently, the opening and closing of gates at hydropower plants is mainly accomplished through manual operation (each shift requires at least four people: one gate operator, one elevator operator and two assistant / supervisory personnel), which leads to operational complexity and potential safety hazards.

[0003] The conventional water gate opening and closing machine has the following problems. Manual Operation: Traditional gate operators require manual operation to open and close the gates, leading to low efficiency and potential safety hazards. No remote monitoring: Conventional water gate operators cannot be monitored and controlled remotely, so O&M personnel must be on-site to perform monitoring and maintenance work. Lack of data analysis and optimization: Traditional floodgate operators cannot collect and analyze operation data, and cannot provide accurate operation plans. Difficulty in predicting failures: Conventional floodgate operators are unable to implement fault warnings, and failures always occur suddenly, resulting in long-term shutdowns and repairs. Summary of the Invention [Problem to be solved by the invention]

[0004] In view of the deficiencies in the current technology, the present invention proposes a system and method for opening and closing gates of a hydroelectric power plant based on an unmanned gate operator, which enables the gate database to be automatically updated at the same time as the gate operator opens and closes the gate, thereby improving the operating efficiency, safety and maintenance management level of the hydroelectric power plant. [Means for solving the problem]

[0005] In order to achieve the above objectives, the present invention adopts the following technical solutions:

[0006] A hydroelectric power plant gate opening and closing system based on an unmanned gate opening and closing machine, comprising: an automatic control system for realizing automatic control and operation of the water gate opening and closing machine through the automatic control system, the automatic control system having a controller, an actuator and a sensor, and performing opening and closing, speed adjustment and position control of the water gate opening and closing machine; A remote monitoring system that realizes remote monitoring and operation of a water gate opening / closing device via the Internet, has remote monitoring software and a network communication device, and allows an O&M staff member to monitor the operation status, parameters, and alarm information of the water gate opening / closing device anytime and anywhere using a mobile phone and a computer terminal device; A data collection and processing system that collects status information of the watergate operator, including the opening degree, water level, and flow rate data, in real time through sensors and monitoring devices, processes, stores, and analyzes the collected data, and provides real-time data and historical data analysis to O&M personnel; An early fault warning and maintenance system that uses sensors and data analysis technology to realize early fault warning and maintenance management, monitors the operation status of the floodgate operator in real time, and if an abnormality or fault is found, sends an alarm to the O&M personnel and provides appropriate maintenance instructions and fault diagnosis. A watergate database must be established to store and manage information related to the watergate operator, including the watergate operator's model number, parameters, and operation records. A database and management system is provided that plays the role of establishing, maintaining, and searching the watergate database, and is convenient for O&M personnel to manage and analyze data on the watergate operator.

[0007] The present invention further includes a water gate opening and closing machine traveling automatic positioning system, the water gate opening and closing machine traveling automatic positioning system being a flexible water gate opening and closing machine traveling automatic positioning system including a low-precision positioning system, a high-precision positioning system, a feedback positioning system and a redundant positioning system so as to be adapted to the on-site working environment and meet the requirements of positioning accuracy; The low-precision positioning system performs low-precision positioning using an encoder or an inertial navigation system including an accelerometer and an attitude control device, measures acceleration and angular velocity data of the watergate opening and closing machine, and estimates the position and attitude of the watergate opening and closing machine; The high-precision positioning system introduces a visual positioning system consisting of a camera or a laser range finder to sense and identify the surrounding environment of the water gate opening / closing device, thereby obtaining accurate position and attitude information of the water gate opening / closing device relative to a reference point; The feedback positioning system monitors and provides feedback on the travel distance, speed and direction of the gate operator in real time using an encoder or a sensor during the gate operator's travel, and corrects and adjusts the gate operator's position by comparing the actual travel data with the predicted travel data to improve the positioning accuracy. The redundant positioning system introduces and integrates various positioning technologies, such as satellite positioning, radio signal positioning, and ultrasonic positioning, to improve the reliability and accuracy of positioning, and integrates and optimizes various positioning data by using filtering algorithms and Kalman filtering methods to obtain more accurate position information of the floodgate opening and closing machine.

[0008] The automatic identification and collision prevention system for the water gate opening and closing machine is further provided, and the automatic identification and collision prevention system has an image identification system, a laser scanning system, and a radar system, and can independently observe and identify obstacles, vehicles, or personnel that may affect the normal operation of the water gate opening and closing machine, and in response to an emergency, takes operational means such as acoustic and optical warning, deceleration, and operation stop to ensure the safety of the water gate opening and closing machine and the surrounding environment; The image recognition system is provided with a visual sensor consisting of a camera or a laser scanner to monitor the environment around the water gate operator and perform image recognition in real time, and uses image processing and machine learning algorithms to identify and classify obstacles, vehicles, or personnel, and determine their distance and relative position to the water gate operator; The laser scanning system is configured to install a laser scanner to scan objects around the gate opening and closing machine, measure the distance, obtain distance and shape information of the object using laser ranging technology, and determine the distance and relative position between the object and the gate opening and closing machine. The radar system is equipped with a radar sensor that reflects and receives radar waves from objects around the floodgate operator, and using radar technology, can monitor the object's position, speed and direction in real time and determine the distance and relative position between the object and the floodgate operator.

[0009] The automatic gate locking system is a device that can automatically lock the gate, and is highly efficiently linked with the rising and falling motion of the gate, and completes the automatic control process through high-speed interface docking of the control equipment without the help of personnel; the automatic gate locking system also has a mechanical emergency response device, and manual operation is achieved when the interlocking system fails; The automatic locking system of the floodgate communicates with the control system of the floodgate through the control equipment to realize the automatic locking function. When the floodgate starts to move up and down, the control equipment receives the corresponding signal, and judges and controls according to the preset logic and parameters. Once it is determined that the floodgate needs to be locked, the control equipment communicates with the floodgate locking device through high-speed interface docking, triggers the operation of the floodgate locking device, and locks the floodgate in the designated position; The automatic gate locking system further includes a mechanical emergency response device to respond to a failure of the interlocking system, and in the event of a failure of the interlocking system, an operator manually activates the mechanical emergency response device to accomplish the locking operation of the gate, thereby ensuring the safety of the gate.

[0010] Further, the present invention provides a beam gripping anti-sway automatic pin threading system, the beam gripping anti-sway automatic pin threading system adopts an inverter control mode to achieve anti-sway control, and starts an anti-sway control program for the hoist in the inverter of the large self-propelled vehicle and the small self-propelled vehicle, and optimizes and sets up the parameters of the mathematical model on-site to reduce unnecessary vibration caused by the load; The beam gripping anti-sway automatic pin threading system uses a hoist control system that aims to reduce the swaying of the load when lifting and provide a safer operating environment by automatically threading the pins, adopts an inverter control mode, and achieves anti-sway control by adjusting the hoist's running speed and acceleration, The inverter in the beam gripping anti-sway automatic pin threading system is used to control the large self-propelled vehicle and the small self-propelled vehicle, respectively. When necessary, the anti-sway control program for the hoist is started to optimize and set up the parameters of the mathematical model on-site, and the operation parameters of the hoist are optimized to reduce unnecessary sway caused by the load and improve the stability and safety of the hoist. The beam gripping anti-sway automatic pin threading system further includes a device having a function of automatically inserting a pin into a hole in the beam when the hoist stops operating, fixing the position of the load, and automatically threading the pin to prevent the load from slipping or falling off when stopped.

[0011] The image recognition system can realize the function of early warning of crossing the line, and can manually or independently define a virtual safe driving area in combination with the current work, and automatically issue an alarm when personnel or vehicles mistakenly enter the work site.

[0012] The system further includes a gate positioning and integrated judgment system, which is used to judge the state of the gate, and integrates the three-dimensional coordinate position of the hanging hook and the real-time image of the gate and the gate tank to comprehensively judge whether the gate is open or closed, and stores the relevant images and parameters; The device further includes an online gate identification system, which adopts a mode combining an RFID sensor and image identification to display the distribution status of the gates in the gate tank in real time, and can add information such as the history and maintenance of the gates. Each time the operation of the gate opener is completed, the distribution status of the gates is automatically updated in real time to ensure that each part of the gate is accurate. For the gates in the gate tank, there are several parts of the gate, and it is necessary to display whether they are open or closed.

[0013] Further comprising a water gate opening and closing machine safety protection system, The water gate opening and closing machine safety protection system comprises: A lightning protection system that is placed on top of the equipment, has a dedicated lightning rod attached and a dedicated cable connected to the steel structure of the equipment, which is ultimately connected to the track of the side-walking vehicle, and achieves electrical grounding through track contact; According to the site environmental conditions and requirements of the equipment, a wind speed detector is installed on the top of the equipment, and the detected wind speed and wind direction signals are transmitted to the relevant display device in the electrical control room to provide real-time wind speed signals to the operators. When the wind speed is too high, the track clamping equipment will stop and enter the anchoring state. A protective cover in which a protective device is provided on a part whose operation may be hazardous to humans during normal operation or maintenance, and a cover is provided on an exposed, potentially harmful moving part in an automatic water gate opening and closing machine; Hoists operating outdoors, where electrical and rain-intolerant equipment must be rain-proofed or have rain covers; An acousto-optical warning system is arranged on the top of the equipment, i.e., outside the outline, and uses sound and a warning light flashing frequency to present the real-time status of the equipment to the operating personnel, thereby playing a role of warning; A video surveillance system in which all cameras are selected for outdoor applications with waterproof, anti-corrosion and other properties, and necessary cameras are fitted with rainproof covers; An electrical grounding system that is designed and executed in accordance with relevant electrical design standards and requirements; A facial recognition system that uses facial recognition to verify the authority of the operator and prevent unauthorized personnel from starting the equipment. To build a detection and evaluation system for key components of the transmission mechanism of a water gate opening and closing machine under unmanned operation conditions, it is necessary to set up sufficient monitoring points at key transmission parts based on modeling and analysis of the equipment structure, and monitor and analyze key points. At each stage, the health status of the monitored object can be quickly and in advance based on the statistical quantities of the vibration signals, realizing simple, quick and accurate diagnosis. When the equipment is in an abnormal state and the vibration amplitude and the probability of large values ​​increase, the system can immediately determine the fault type of the monitoring point through automatic analysis and issue a predictable maintenance warning. This system has a transmission motor and reducer vibration monitoring system.

[0014] Further equipped with a system control platform for the unmanned gate opening and closing machine, the system control platform has a remote intelligent control platform and a local intelligent control platform, both of which realize "one-key operation" and set an emergency stop button; when the gate is raised or lowered based on the "one-key operation" mode, it is necessary to realize the linked control of automatic locking and automatic anchoring; when the gate or the gripping beam is clogged during the raising or lowering of the gate, or when there are obstacles in the gate tank and on the tracks of the large and small self-propelled vehicles, it has a fault stop protection function; after the gate is opened or closed, the gate management platform independently updates the data information in real time; The system control platform simultaneously has the functions of data collection, simulation, statistical reporting, central control room video monitoring and remote control. The entire system needs to collect various sensor information such as equipment status, equipment operation log, alarm information and completion progress, and has the function of performing digital control and information storage and processing every time a gate is hoisted, simulating the on-site production situation in real time, and displaying the gate operator's position, control status, fault and alarm information in real time.

[0015] The method is carried out using a hydroelectric power plant water gate opening and closing system based on the unmanned water gate opening and closing machine, S1.1: Enter the login page and enter your username and password; S1.2: Sending a login request to the platform; S1.3: Determine the login result. If the login fails, present the reason for the failure and return to the login page of S1.1. If the login is successful, enter S1.4. S1.4: Enter the self-test page and S1.5: Determine the feedback of the self-test result, including returning to the self-test page if the self-test fails, and entering the home page if the login is successful; S1: System startup procedure; S2.1: Enter the work order management page to obtain operation parameters in real time; S2.2: Check whether a work order is being executed. If there is a work order in progress, the sluice gate up button will be grayed out, and the sluice gate up work order cannot be executed at this time. If there is no work order in progress, enter S2.3. S2.3: Determine whether there is a selectable gate tank. If there is not, the gate up button will be grayed out and the gate up work order cannot be executed at this point. If there is, enter S2.4. S2.4: List the gate tank numbers of the gates that can be raised, select the number of the gate that needs to be raised, and then click the Gate Raise button; S2.5: A confirmation box will pop up during the procedure to confirm the gate lift. If you select [Cancel], you will return to S2.4. If you select [Confirm], you will enter S2.6. S2.6: Calculating detailed parameter instructions for a step; S2.7: Automatic entry to home pages and S2.8: Begin executing the work instructions; S2: Pre-installation procedure for gate lift; Normally, the intelligent gate operator completes the operation of the gate according to the "one-key operation" mode, but does not change the working rhythm compared with the manual operation, and adjusts according to the actual situation during the actual operation process; In the procedure for automatically raising and lowering the floodgates, several stages of manual confirmation must be set up, and subsequent operations can only be carried out after manual confirmation. The procedure for automatically raising and lowering the gate is suitable for automatic and manual locking, The standard procedure is set in a number of automatic execution modules, and when performing a non-standard operation of dismantling a floodgate, the modules are used to perform a part of the operation and play the role of auxiliary operations; When performing standardized work procedures, the current execution status of the work procedures is displayed on the monitoring screen. S3: Automatic gate lowering procedure; S4.1: Positioning large autonomous vehicles; S4.2: Positioning a small autonomous vehicle; S4.3: Identify the hilum cisterns and S4.4: The grab beam is lowered to the gate position, S4.5: Automatic pin threading and S4.6: Injecting water into the pressure equalizing valve of the grab beam; S4.7: Monitoring pressure equalizing valves; S4.8: Raising the gate to the locked position; S4.9: Automatic locking beam rolling and S4.10: The gates are lowered into the locked position and S4.11: Automatic pin return and S4.12: The gripping beam is raised to a stop position, You can switch to manual intervention at any time. S4: Procedures for climbing up the floodgates and A method for operating a water gate opening and closing system of a hydroelectric power plant based on an unmanned water gate opening and closing machine comprising:

[0016] The procedure for determining the position of a large self-propelled vehicle in S4.1, S4.1.1: Capture motion data in real time; and S4.1.2: Determine the anchoring state, and if anchored, initiate an anchor release command and transmit it to the PLC controller, and if not, enter S4.1.3; S4.1.3: Determine whether to allow the positioning of the large self-propelled vehicle. If the positioning is not allowed, repeat the positioning judgment of the large self-propelled vehicle. If the positioning is allowed, enter S4.1.4. S4.1.4: Initiating positioning of large autonomous vehicles; S4.1.5: Determine whether the large self-propelled vehicle is at the planned position; if not, continue to execute the positioning command of the large self-propelled vehicle and transmit it to the PLC controller; then continue to determine whether the large self-propelled vehicle is at the planned position; if it is at the planned position, enter S4.1.6; S4.1.6: Determine if a manual intervention prompt box pops up; S4.1.7: Select whether to manually intervene. If yes, enter the manual intervention interface, execute the positioning command of the large self-driving vehicle and transmit it to the PLC controller. After manually checking the fine adjustment in the manual intervention interface, enter S4.1.8. If no intervention, enter S4.1.8 directly. S4.1.8: Determine whether to allow positioning of the small self-propelled vehicle, and if positioning is not allowed, repeat the positioning judgment of the small self-propelled vehicle, and if positioning is allowed, start positioning of the small self-propelled vehicle in S4.2.

[0017] The step of determining the position of a small self-propelled vehicle in S4.2, S4.2.1: Determine whether the small self-propelled vehicle is at the planned position; if not, continue to execute the positioning command of the small self-propelled vehicle and transmit it to the PLC controller; then continue to determine whether the small self-propelled vehicle is at the planned position; if it is at the planned position, enter S4.2.2; S4.2.2: Determine whether a manual intervention prompt box pops up; S4.2.3: Select whether to manually intervene. If yes, enter the manual intervention interface, execute the positioning command of the small self-driving vehicle and transmit it to the PLC controller. After manually checking the fine adjustment in the manual intervention interface, enter S4.2.4. If no, enter S4.2.4 directly. S4.2.4: Identify the portal tank and a confirmation prompt box will pop up. S4.2.5: Beginning to lower the grab beam to the gate position.

[0018] The operation procedure of the water gate positioning integrated judgment system is as follows: Acquiring the 3D coordinate position of the hanging hook: The integrated judgment system of the water gate positioning uses a corresponding sensor or measuring device to acquire the 3D coordinate position of the hanging hook in real time, and the coordinate information is used for subsequent judgment and analysis; Acquiring real-time images of the gate and the gate tank: The gate positioning integrated judgment system uses a corresponding camera or image acquisition equipment to acquire real-time images of the gate and the gate tank, and these images are used for subsequent analysis and comparison; Comprehensive judgment: the integrated judgment system of the water gate position performs comprehensive analysis on the 3D coordinate position of the hanging hook and the real-time images of the water gate and the gate tank, and judges whether the water gate is open or closed according to the preset judgment conditions and algorithms; Image and parameter storage: The integrated gate positioning determination system stores the start and end real-time contrast images and related parameters, records the time stamp and related parameters of the hanging hook position coordinates, and these data are used for subsequent analysis and recording.

[0019] The operation procedure of the water gate online identification system is as follows: Utilizing sensors: Installing RFID sensors at each part of the floodgate so that the floodgate online identification system can monitor the location and status of the floodgate in real time, and the sensors transmit the information of the floodgate to the system for processing; Application of image recognition technology: the floodgate online recognition system adopts image recognition technology, obtains images of the gate tank of the floodgate in real time through image collection equipment, and determines whether the floodgate is open or closed through image analysis and processing, and displays and records accordingly; Displaying the distribution status of the water gates: the water gate online identification system displays the distribution status of the water gates in the gate tank in real time based on the data of the sensor and image identification, and the user can check the location and status of the water gates through the interface of the system or other devices; Adding floodgate history and maintenance information: The floodgate online identification system can further provide the function of adding floodgate history and maintenance information, including allowing users to input related information such as floodgate maintenance time and maintenance personnel through the system for convenient subsequent search and analysis. Effect of the Invention

[0020] The present invention has the following beneficial effects: 1. The unmanned gate operator for hydroelectric power plants has the following features: Automatic control: The unmanned gate operator can realize automatic control, and automatically complete the gate opening and closing operation according to the set control strategy and parameters, so as to improve the operation efficiency and accuracy. Remote monitoring: The unmanned gate operator enables remote monitoring via the Internet, allowing O&M personnel to monitor the operation status, parameters, and alarm information of the gate operator anytime and anywhere using terminal devices such as mobile phones and computers. Data collection and processing: The autonomous gate operator collects real-time information on the gate operator's status through sensors and monitoring devices, including data on opening degree, water level, flow rate, etc. Data collection and processing processes, stores and analyzes the collected data, providing real-time and historical data analysis for O&M personnel. Early fault warning and maintenance work: The autonomous gate operator uses sensors and data analysis technology to realize early fault warning and maintenance management. The system can monitor the operation status of the gate operator in real time, and when an abnormality or fault is found, it will send an alarm to the O&M personnel and provide corresponding maintenance instructions and fault diagnosis. Database and management system: For an unmanned gate operator, a gate database needs to be established to store and manage the relevant information of the gate operator, including the gate operator's model number, parameters, operation records, etc. The database and management system plays the role of establishing, maintaining and searching the gate database, and is convenient for O&M personnel to manage and analyze data on the gate operator.

[0021] In short, the unmanned gate operator of a hydroelectric power station realizes intelligent control and management through multiple systems, including automatic control, remote monitoring, data collection and processing, early warning of faults, maintenance work, database and management system, etc. These functions improve the operation efficiency, safety and reliability of the gate operator of a hydroelectric power station, and reduce labor costs and operation and maintenance costs.

[0022] 2. The system plays an obvious role in updating the floodgate database while the unmanned gate operator opens and closes the floodgate, which leads to the following advantages: Real-time data update: The unmanned gate operator collects real-time information on the gate operator's status, including opening degree, water level, flow rate, etc., through sensors and monitoring devices. This data can be updated immediately to the gate database, ensuring the accuracy and real-timeness of the data in the database. Automatic operation: The unmanned gate operator achieves automatic opening and closing of the gate through the automatic control system. At the same time as updating the gate database, the gate open / close status information can be synchronously input to the gate database through the sensor and control system, which can avoid the troublesomeness and possible errors of manual operation. Data analysis and optimization: The real-time data in the floodgate database enables data analysis and optimization. By analyzing historical data and real-time data, O&M personnel can grasp the operation status of the floodgate, optimize the floodgate opening and closing strategies, and improve the operation efficiency and safety of the hydropower station. Early fault warning and maintenance work: The autonomous floodgate operator can realize early fault warning through sensors and data analysis technology. Once it detects a floodgate abnormality or fault, the autonomous floodgate operator can immediately update the status information in the floodgate database and alert O&M personnel to promptly carry out maintenance and repairs.

[0023] According to the summary, the unmanned gate operator opens and closes the gate and updates the gate database at the same time, improving the operational efficiency, safety and maintenance management level of hydroelectric power plants. [Brief description of the drawings]

[0024] We will now further explain in conjunction with the drawings and examples.

[0025] [Figure 1] FIG. 1 is a schematic diagram of a system of the present invention. [Diagram 2] 3 is a startup flowchart of the system of the present invention. [Diagram 3] 1 is a front-end flow chart of the gate rising of the present invention. [Figure 4] 1 is a flow chart illustrating raising a floodgate in accordance with the present invention. [Diagram 5] 4 is a flowchart for determining the position of a large self-propelled vehicle in the present invention. [Figure 6] 4 is a flowchart for determining the position of a small self-propelled vehicle in the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] We will now further explain in conjunction with the drawings and examples.

[0027] Example 1 1. Referring to FIG. 1, the unmanned gate opening and closing device of the present invention mainly includes the following basic subsystems:

[0028] Automatic control system: The unmanned gate operator realizes automatic control and operation of the gate operator through an automatic control system. The system includes components such as a controller, an actuator, and a sensor, and performs the functions of opening and closing, speed adjustment, position control, etc. of the gate operator.

[0029] Remote monitoring system: The unmanned gate operator can be remotely monitored and operated via the Internet. The system includes remote monitoring software, network communication devices, and other equipment, allowing O&M personnel to monitor the operation status, parameters, and alarm information of the gate operator anytime and anywhere using terminal devices such as mobile phones and computers.

[0030] Data collection and processing system: The autonomous gate operator collects real-time information on the gate operator's status, including opening degree, water level, flow rate, etc., through sensors and monitoring devices. The data collection and processing system processes, stores and analyzes the collected data, providing real-time and historical data analysis for O&M personnel.

[0031] Early fault warning and maintenance system: The autonomous gate operator relies on sensors and data analysis technology to realize early fault warning and maintenance management. The system can monitor the operation status of the gate operator in real time, and when any abnormality or fault is found, it will send an alarm to the O&M personnel and provide corresponding maintenance instructions and fault diagnosis.

[0032] Database and management system: For an unmanned gate operator, a gate database needs to be established to store and manage the relevant information of the gate operator, including the gate operator's model number, parameters, operation records, etc. The database and management system plays the role of establishing, maintaining and searching the gate database, and is convenient for O&M personnel to manage and analyze data on the gate operator.

[0033] According to the summary, the unmanned floodgate opening and closing machine mainly includes multiple subsystems such as automatic control, remote monitoring, data collection and processing, early warning of faults and maintenance work, and database and management system, which work together to realize intelligent control and management of the floodgate opening and closing machine.

[0034] Second, as shown in FIG. 1, the present invention provides a system and method for opening and closing a gate in a hydroelectric power station based on an unmanned gate operator.

[0035] 1. Water gate opening and closing machine driving automatic positioning system: A set of flexible water gate opening and closing machine driving automatic positioning system of "low-precision positioning + high-precision positioning + feedback positioning + redundant positioning" is set up. The flexible water gate opening and closing machine driving automatic positioning system consisting of low-precision positioning system, high-precision positioning system, feedback positioning system and redundant positioning system can be applied to the on-site working environment and can meet the positioning accuracy requirements.

[0036] Low-precision positioning system: Low-precision positioning is performed using an encoder or inertial navigation system (accelerometer, attitude control device, etc.), and the position and attitude of the watergate operator are estimated by measuring data such as the acceleration and angular velocity of the watergate operator. This method can accelerate positioning, but the accuracy is relatively low.

[0037] High-precision positioning system: A visual positioning system, such as a camera and a laser range finder, is introduced to sense and identify the surrounding environment of the gate operator to obtain the exact position and attitude information of the gate operator relative to the reference point. Accurate positioning can be achieved by using image processing algorithms, feature extraction and matching, etc.

[0038] Feedback positioning system: During the operation of the gate operator, encoders and sensors are used to monitor and provide feedback in real time on the distance traveled, speed, direction, etc. of the gate operator. By comparing the actual operation data with the predicted operation data, the position of the gate operator can be corrected and adjusted to improve positioning accuracy.

[0039] Redundant Positioning System: By introducing and integrating various positioning technologies such as satellite positioning, radio signal positioning, and ultrasonic positioning, the reliability and accuracy of positioning can be improved. By integrating and optimizing various positioning data using filtering algorithms, Kalman filtering, etc., more accurate position information of the floodgate operator can be obtained.

[0040] The flexible automatic positioning system for the water gate opening and closing machine designed in this way can select a suitable positioning mode according to actual requirements, and achieve accurate positioning of the water gate opening and closing machine by combining low-precision positioning, high-precision positioning, feedback positioning and redundant positioning. Moreover, the system has high flexibility and adaptability, and can be applied to various on-site working environments to meet the requirements of positioning accuracy.

[0041] 2. Automatic floodgate operator identification and collision prevention system: Equipped with an image identification system, a laser scanning system and a radar system, the system can independently observe and identify obstacles, vehicles or personnel that may affect the normal operation of the floodgate operator, and in response to an emergency, take operational measures such as acoustic-optical warning, slowing down and even stopping operation to ensure the safety of the floodgate operator and the surrounding environment.

[0042] Image Recognition System: Visual sensors such as cameras and laser scanners are installed to monitor the environment around the gate operator and perform image recognition in real time. Image processing and machine learning algorithms may be used to identify and classify obstacles, vehicles, personnel, etc., and determine their distance and relative position to the gate operator.

[0043] Laser scanning system: A laser scanner is installed to scan objects around the gate and measure the distance. Using laser ranging technology, the distance and shape information of the object can be obtained, and the distance and relative position between the object and the gate can be determined.

[0044] Radar system: By installing a radar sensor, radar waves are reflected and received from objects around the gate operator. Using radar technology, information such as the position, speed, and direction of objects can be monitored, and the distance and relative position between the object and the gate operator can be determined.

[0045] Algorithm processing: Processing and analyzing data obtained by sensors such as image recognition, laser scanning, and radar, and using the algorithm to determine whether there is a risk of collision. According to the judgment result, the system will take measures such as acoustic and optical warning, slowing down, or stopping the operation to prevent a collision accident.

[0046] The design and implementation of the automatic identification and collision prevention system for floodgate operators should select appropriate sensors and algorithms according to specific requirements, and use data processing and decision-making algorithms to realize the automatic identification and collision prevention control of the surrounding environment of the floodgate operators. This system can greatly improve the safety and work efficiency of the floodgate operators and reduce the occurrence of accidents.

[0047] 3. Automatic gate locking system: The automatic locking system must be efficiently linked with the gate gate operation, and the control equipment must complete the automatic control process through high-speed interface docking without the assistance of personnel. Mechanical emergency response devices may be used to manually complete the operation when the interlocking system fails.

[0048] The automatic locking system for floodgates is a device that can automatically lock floodgates, which is highly efficient in interlocking with the rising and falling motion of the floodgates, and the control equipment completes the automatic control process through high-speed interface docking without the help of personnel. The automatic locking system is equipped with a mechanical emergency response device, and manual operation can be achieved when the interlocking system fails.

[0049] The core of the floodgate automatic locking system is to communicate with the floodgate control system through the control equipment to realize the automatic locking function. When the floodgate starts to move up or down, the control equipment receives the corresponding signal, and judges and controls according to the preset logic and parameters. Once it is determined that the floodgate needs to be locked, the control equipment communicates with the floodgate locking device through high-speed interface docking, triggers the operation of the locking device, and locks the floodgate in the expected position.

[0050] The automatic locking system further includes a mechanical emergency response device to respond to a failure of the interlocking system, in which case the worker manually activates the mechanical emergency response device to complete the locking operation of the floodgate, thereby ensuring the safety of the floodgate.

[0051] In summary, the automatic floodgate locking system is a device that can automatically lock a floodgate, and by efficiently interlocking with the rising and falling motion of the floodgate, it realizes the automatic locking function of the floodgate, improving operation efficiency and safety. Moreover, the system further includes a mechanical emergency response device to respond to failure of the interlocking system.

[0052] 4. Beam gripping anti-sway automatic pin threading system: Anti-sway control is achieved by adopting inverter control mode, and the inverter of the large self-propelled vehicle and the small self-propelled vehicle starts the anti-sway control program of the hoist, and the parameters of the mathematical model are optimized and set up on site, thereby reducing unnecessary vibration caused by the load.

[0053] The Beam Grab Anti-Sway Automatic Pin Passing System is a hoist control system that aims to reduce the sway of loads during lifting and provide a safer operating environment by automatically passing the pins. This system adopts an inverter control mode and achieves anti-sway control by adjusting the hoist's running speed and acceleration.

[0054] The inverters in the system are used to control the large and small self-propelled vehicles respectively, and may launch the anti-sway control program for the hoist as required to optimize and set up the parameters of the mathematical model on-site. The system optimizes the operating parameters of the hoist, reducing unnecessary sway caused by the load and improving the stability and safety of the hoist.

[0055] In addition, the system has an automatic pin threading function. The automatic pin threading device can automatically insert the pin into the beam hole when the hoist stops working, fix the load position, and prevent the load from slipping or falling off when stopped, thus providing a safer operating environment and preventing accidents.

[0056] The beam gripping anti-sway automatic pin passing system achieves anti-sway control of the hoist through inverter control mode, reduces load fluctuations and improves the stability of the crane. Moreover, the system has the function of automatically passing the pin, providing a safer operating environment.

[0057] 5. The image recognition system can realize the function of early warning of crossing the line. In combination with the current work, it can manually or independently define a virtual safe driving area, and automatically issue an alarm when personnel or vehicles mistakenly enter the work site.

[0058] An image recognition system that can realize the function of early warning for crossing the line is combined with the current task to manually or independently define a virtual safe driving zone, and the system will automatically issue an alarm when personnel or vehicles mistakenly enter the work site.

[0059] The steps to realize the line crossing early warning function are as follows:

[0060] Defining virtual safe driving zone: According to the current operation and site conditions, the virtual safe driving zone can be manually or independently defined by means of the software interface of the image recognition system, etc. The zone can be set to one or more, and can be adjusted according to actual requirements.

[0061] Installation of surveillance cameras: To ensure that the virtual safe driving zone can be completely monitored, surveillance cameras will be installed at key locations in the work site.

[0062] Application of image recognition algorithm: Image recognition system can perform real-time analysis and processing on images taken by surveillance cameras. By means of image recognition algorithm, the system can detect whether people, vehicles or other objects in the images are entering the virtual safe driving area.

[0063] Triggering early warning of crossing the line: When the image recognition system detects that people, vehicles or other objects have entered the virtual safe driving area, the system will automatically trigger an early warning of crossing the line. The early warning can be set up according to the actual situation, using methods such as sound warning, text warning, and mobile phone SMS notification.

[0064] The image recognition system's early warning function for crossing the line can detect and prevent personnel and vehicles from entering the work site in real time, which can improve the safety and efficiency of the work site. Moreover, this function can reduce the workload of manual patrols and improve management efficiency.

[0065] 6. Integrated gate position judgment system: After each time the gate is raised or lowered, the system will integrate the 3D coordinate position of the hanging hook (grabbing beam) and the real-time images of the gate and gate tank to comprehensively judge whether the gate was open or closed, and save the real-time contrast images of the start and end and related parameters.

[0066] The integrated gate positioning judgment system is a system used to judge the status of a gate. By integrating the 3D coordinate position of the hanging hook (grabbing beam) and real-time images of the gate and gate tank, it makes a comprehensive judgment as to whether the gate was "open" or "closed" and saves related images and parameters.

[0067] The system operates as follows.

[0068] Acquiring the 3D coordinate position of the hanging hook (grabbing beam): The system uses a corresponding sensor or measuring device to acquire the 3D coordinate position of the hanging hook (grabbing beam) in real time. These coordinate information can be used for subsequent judgment and analysis.

[0069] Acquiring real-time images of the gates and tanks: The system will acquire real-time images of the gates and tanks using suitable cameras or image acquisition equipment. These images may be used for subsequent analysis and comparison.

[0070] Comprehensive Judgment: The system performs comprehensive analysis on the 3D coordinate position of the hanging hook and the real-time images of the floodgate and the gate tank. The system judges whether the floodgate is open or closed according to the preset judgment conditions and algorithms.

[0071] Image and parameter storage: The system can store the start and end real-time contrast images and related parameters, and record related parameters such as time stamps and the position coordinates of the hanging hook. These data may be used for subsequent analysis and recording.

[0072] The integrated gate positioning and judgment system achieves real-time monitoring and judgment of the gate status, which improves work efficiency and reduces misjudgment and errors in manual operation. Moreover, the saved images and parameters serve as future reference and records, which are convenient for post-mortem analysis and review.

[0073] 7. Water gate online identification system: adopts a mode combining sensor (RFID) and image identification, can display the distribution status of water gates in the gate tank in real time, can add information such as water gate history and maintenance, and automatically update the distribution status of water gates in real time every time the water gate opener is operated to ensure that each part of the water gate is accurate. For water gates in the gate tank, there are several parts of the water gate, and it is necessary to display whether they are open or closed.

[0074] The system operates as follows.

[0075] Use of sensors (RFID): The system installs RFID sensors at each part of the gate to monitor the gate's location and status in real time. The sensors transmit the gate's information to the system for processing.

[0076] Application of image recognition technology: The system adopts image recognition technology to capture images of the gate tank of the sluice gate in real time through image collection equipment such as cameras. Through image analysis and processing, the system can determine whether the sluice gate is open or closed, and display and record accordingly.

[0077] Display of water gate distribution status: Based on the data of sensors and image recognition, the system can display the distribution status of water gates in the gate tank in real time. Users can check the location and status of the water gates through the system interface or other devices.

[0078] Adding floodgate history and maintenance information: The system can further provide the function of adding floodgate history and maintenance information. Users may input related information such as floodgate maintenance time and maintenance personnel through the system for convenient subsequent search and analysis.

[0079] The floodgate online identification system achieves real-time monitoring and management of the floodgate, which improves work efficiency and reduces misjudgments and errors in manual operation. Moreover, the stored floodgate history and maintenance information serves as a reference and record for later analysis and review.

[0080] 8. Gate operator safety protection system: Lightning protection system: A dedicated lightning rod is installed on the top of the equipment, and a dedicated cable is connected to the steel structure of the equipment, and finally to the track of the traverse vehicle, achieving electrical grounding through track contact.

[0081] Wind speed and direction detection system: According to the site environmental conditions and requirements of the equipment, a wind speed detector is installed on the top of the equipment, and the detected wind speed and wind direction signals are transmitted to the relevant display device in the electrical control room, and the wind speed signal is presented to the operating personnel in real time. When the wind speed is too high, the system will stop and the track clamp working equipment will enter the anchoring state.

[0082] Protective covers: When performing normal work or maintenance, protective devices are placed on parts whose operation may pose a danger to humans, and protective covers are placed on exposed, potentially harmful moving parts in automatic gate opening and closing machines.

[0083] Hoists working outdoors: their electrical and weatherproof equipment must be weatherproof or have weather covers.

[0084] Acousto-optical alarm system: an acousto-optical alarm presentation system is installed on the top of the equipment, i.e., outside the outline, which uses sound and alarm light flashing frequency to present the real-time status of the equipment to the operating personnel and plays a warning role.

[0085] Video Surveillance System: All cameras will be selected for outdoor applications with waterproof, corrosion-resistant and other properties, and rainproof covers will be installed on necessary cameras.

[0086] Electrical Earthing Systems: Design and implement in accordance with relevant electrical design codes and requirements.

[0087] Face recognition system: Face recognition is used to verify the authority of the operating personnel, and unauthorized personnel cannot start the equipment.

[0088] Vibration monitoring system for transmission motor and reducer: The construction of a detection and evaluation system for key components of the transmission mechanism of a water gate opening and closing machine under unmanned operation conditions requires sufficient placement of monitoring points at key transmission parts based on the modeling and analysis of the equipment structure, monitoring and analysis of key points, and the health status of the monitored object can be quickly and in advance based on the statistical quantity of vibration signals at each stage, realizing simple, fast and accurate diagnosis. When the equipment is in an abnormal state and the vibration amplitude and the probability of large values ​​increase, the system can immediately determine the failure type of the monitoring point through automatic analysis and issue a predictable maintenance warning.

[0089] 9. System control platform for autonomous gate opening and closing: It is necessary to include a remote intelligent control platform and a local intelligent control platform, both of which can realize "one-key operation" and may set an emergency stop button. When the gate is raised or lowered based on the "one-key operation" mode, it is necessary to realize the linked control of automatic locking and automatic anchoring. When the gate or the gripping beam is clogged during the raising or lowering of the gate, or there is an obstacle in the gate tank or on the track of the large and small self-propelled vehicles, it is necessary to provide a fault stop protection function. After the gate is opened or closed, the gate management platform will independently update the data information in real time.

[0090] The intelligent control system not only realizes all the above functions, but also has functions such as data collection, simulation, statistical reporting, video monitoring in the central control room, and remote control. The entire system needs to collect various sensor information such as the equipment (watergate) status, equipment (watergate) operation log, alarm information, and completion progress, and has the function of executing digital control and information storage and processing every time the watergate is hoisted, simulating the on-site production situation in real time, and displaying information such as the watergate operator's position, control status, failures, and alarms in real time.

[0091] Example 2 As shown in FIG. 2, the hydroelectric power station ... S1.1: Enter the login page and enter your username and password; S1.2: Sending a login request to the platform; S1.3: Determine the login result. If the login fails, present the reason for the failure and return to the login page of S1.1. If the login is successful, enter S1.4. S1.4: Enter the self-test page and S1.5: Determine the feedback of the self-test result, including returning to the self-test page if the self-test fails, and entering the home page if the login is successful; S1: Includes the system startup procedure; The steps are performed by a computer.

[0092] Example 3 As shown in Figure 3, S2.1: Enter the work order management page to obtain operation parameters in real time; S2.2: Check whether a work order is being executed. If there is a work order in progress, the sluice gate up button will be grayed out, and the sluice gate up work order cannot be executed at this time. If there is no work order in progress, enter S2.3. S2.3: Determine whether there is a selectable gate tank. If there is not, the gate up button will be grayed out and the gate up work order cannot be executed at this point. If there is, enter S2.4. S2.4: List the gate tank numbers of the gates that can be raised, select the number of the gate that needs to be raised, and then click the Gate Raise button; S2.5: A confirmation box will pop up during the procedure to confirm the gate lift. If you select [Cancel], you will return to S2.4. If you select [Confirm], you will enter S2.6. S2.6: Calculating detailed parameter instructions for a step; S2.7: Automatic entry to home pages and S2.8: Begin executing the work instructions; S2: The pre-installation procedure for the gate rise is as follows: Processed by computer.

[0093] Example 4 Normally, the intelligent gate operator completes the operation of the gate according to the "one-key operation" mode, but does not change the working rhythm compared with the manual operation, and adjusts according to the actual situation during the actual operation process; In the procedure for automatically raising and lowering the floodgates, several stages of manual confirmation must be set up, and subsequent operations can only be carried out after manual confirmation. The procedure for automatically raising and lowering the gate is suitable for automatic and manual locking, The standard procedure is set in a number of automatic execution modules, and when performing a non-standard operation of dismantling a floodgate, the modules are used to perform a part of the operation and play the role of auxiliary operations; When performing standardized work procedures, the current execution status of the work procedures is displayed on the monitoring screen. S3: The automatic gate lowering procedure is handled by a computer.

[0094] Example 5 As shown in Figure 4, S4.1: Positioning large autonomous vehicles; S4.2: Positioning a small autonomous vehicle; S4.3: Identify the hilum cisterns and S4.4: The grab beam is lowered to the gate position, S4.5: Automatic pin threading and S4.6: Injecting water into the pressure equalizing valve of the grab beam; S4.7: Monitoring pressure equalizing valves; S4.8: Raising the gate to the locked position; S4.9: Automatic locking beam rolling and S4.10: The gates are lowered into the locked position and S4.11: Automatic pin return and S4.12: The gripping beam is raised to a stop position, You can switch to manual intervention at any time. S4: Provide a gate-raising procedure.

[0095] Example 6 As shown in Figure 5, The procedure for determining the position of a large self-propelled vehicle in S4.1, S4.1.1: Capture motion data in real time; and S4.1.2: Determine the anchoring state, and if anchored, initiate an anchor release command and transmit it to the PLC controller, and if not, enter S4.1.3; S4.1.3: Determine whether to allow the positioning of the large self-propelled vehicle. If the positioning is not allowed, repeat the positioning judgment of the large self-propelled vehicle. If the positioning is allowed, enter S4.1.4. S4.1.4: Initiating positioning of large autonomous vehicles; S4.1.5: Determine whether the large self-propelled vehicle is at the planned position; if not, continue to execute the positioning command of the large self-propelled vehicle and transmit it to the PLC controller; then continue to determine whether the large self-propelled vehicle is at the planned position; if it is at the planned position, enter S4.1.6; S4.1.6: Determine if a manual intervention prompt box pops up; S4.1.7: Select whether to manually intervene. If yes, enter the manual intervention interface, execute the positioning command of the large self-driving vehicle and transmit it to the PLC controller. After manually checking the fine adjustment in the manual intervention interface, enter S4.1.8. If no intervention, enter S4.1.8 directly. S4.1.8: Determine whether to allow positioning of the small self-propelled vehicle, and if positioning is not allowed, repeat the positioning judgment of the small self-propelled vehicle, and if positioning is allowed, start positioning of the small self-propelled vehicle in S4.2. The steps are performed by a computer.

[0096] Example 6 As shown in Figure 6, The step of determining the position of a small self-propelled vehicle in S4.2, S4.2.1: Determine whether the small self-propelled vehicle is at the planned position; if not, continue to execute the positioning command of the small self-propelled vehicle and transmit it to the PLC controller; then continue to determine whether the small self-propelled vehicle is at the planned position; if it is at the planned position, enter S4.2.2; S4.2.2: Determine whether a manual intervention prompt box pops up; S4.2.3: Select whether to manually intervene. If yes, enter the manual intervention interface, execute the positioning command of the small self-driving vehicle and transmit it to the PLC controller. After manually checking the fine adjustment in the manual intervention interface, enter S4.2.4. If no, enter S4.2.4 directly. S4.2.4: Identify the portal tank and a confirmation prompt box will pop up. S4.2.5: Beginning to lower the grab beam to the gate position. The steps are performed by a computer.

[0097] (Additional Note) (Appendix 1) an automatic control system for realizing automatic control and operation of the water gate opening and closing machine through the automatic control system, the automatic control system having a controller, an actuator and a sensor, and performing opening and closing, speed adjustment and position control of the water gate opening and closing machine; A remote monitoring system that realizes remote monitoring and operation of a water gate opening / closing device via the Internet, has remote monitoring software and a network communication device, and allows an O&M staff member to monitor the operation status, parameters, and alarm information of the water gate opening / closing device anytime and anywhere using a mobile phone and a computer terminal device; A data collection and processing system that collects status information of the watergate operator, including the opening degree, water level, and flow rate data, in real time through sensors and monitoring devices, processes, stores, and analyzes the collected data, and provides real-time data and historical data analysis to O&M personnel; An early fault warning and maintenance system that uses sensors and data analysis technology to realize early fault warning and maintenance management, monitors the operation status of the floodgate operator in real time, and if an abnormality or fault is found, sends an alarm to the O&M personnel and provides appropriate maintenance instructions and fault diagnosis. A watergate database must be established to store and manage information related to the watergate operator, including the watergate operator's model number, parameters, and operation records. A database and management system is provided that plays the role of establishing, maintaining, and searching the watergate database, and is convenient for O&M personnel to manage and analyze data on the watergate operator. A water gate opening and closing system for a hydroelectric power plant based on an unmanned water gate opening and closing machine,

[0098] (Appendix 2) The present invention further includes a water gate opening and closing machine traveling automatic positioning system, the water gate opening and closing machine traveling automatic positioning system being a flexible water gate opening and closing machine traveling automatic positioning system including a low-precision positioning system, a high-precision positioning system, a feedback positioning system and a redundant positioning system so as to be adapted to the on-site working environment and meet the requirements of positioning accuracy; The low-precision positioning system performs low-precision positioning using an encoder or an inertial navigation system including an accelerometer and an attitude control device, measures acceleration and angular velocity data of the watergate opening and closing machine, and estimates the position and attitude of the watergate opening and closing machine; The high-precision positioning system introduces a visual positioning system consisting of a camera or a laser range finder to sense and identify the surrounding environment of the water gate opening / closing device, thereby obtaining accurate position and attitude information of the water gate opening / closing device relative to a reference point; The feedback positioning system monitors and provides feedback on the travel distance, speed, and direction of the gate operator in real time using an encoder or a sensor during the gate operator's travel, and corrects and adjusts the gate operator's position by comparing the actual travel data with the predicted travel data, thereby improving the positioning accuracy; The redundant positioning system introduces and integrates various positioning technologies such as satellite positioning, radio signal positioning, and ultrasonic positioning to improve the reliability and accuracy of positioning, and integrates and optimizes various positioning data using filtering algorithms and Kalman filtering to obtain more accurate position information of the water gate opening and closing machine. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine described in appendix 1.

[0099] (Appendix 3) The automatic identification and collision prevention system for the water gate opening and closing machine is further provided, and the automatic identification and collision prevention system has an image identification system, a laser scanning system, and a radar system, and can independently observe and identify obstacles, vehicles, or personnel that may affect the normal operation of the water gate opening and closing machine, and in response to an emergency, takes operational means such as acoustic and optical warning, deceleration, and operation stop to ensure the safety of the water gate opening and closing machine and the surrounding environment; The image recognition system is provided with a visual sensor consisting of a camera or a laser scanner to monitor the environment around the water gate operator and perform image recognition in real time, and uses image processing and machine learning algorithms to identify and classify obstacles, vehicles, or personnel, and determine their distance and relative position to the water gate operator; The laser scanning system is configured to install a laser scanner to scan objects around the gate opening and closing machine, measure the distance, obtain distance and shape information of the object using laser ranging technology, and determine the distance and relative position between the object and the gate opening and closing machine. The radar system is equipped with a radar sensor that reflects and receives radar waves from objects around the gate operator, and uses radar technology to monitor the object's position, speed and direction in real time, and determines the distance and relative position between the object and the gate operator. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine described in appendix 1.

[0100] (Appendix 4) The automatic gate locking system is a device that can automatically lock the gate, and is highly efficiently linked with the rising and falling motion of the gate, and completes the automatic control process through high-speed interface docking of the control equipment without the help of personnel; the automatic gate locking system also has a mechanical emergency response device, and manual operation is achieved when the interlocking system fails; The automatic locking system of the floodgate communicates with the control system of the floodgate through the control equipment to realize the automatic locking function. When the floodgate starts to move up and down, the control equipment receives the corresponding signal, and judges and controls according to the preset logic and parameters. Once it is determined that the floodgate needs to be locked, the control equipment communicates with the floodgate locking device through high-speed interface docking, triggers the operation of the floodgate locking device, and locks the floodgate in the designated position; The automatic water gate locking system further includes a mechanical emergency response device to respond to a failure of the interlocking system, and in the event of a failure of the interlocking system, an operator manually activates the mechanical emergency response device to complete the locking operation of the water gate, thereby ensuring the safety of the water gate. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine described in appendix 1.

[0101] (Appendix 5) Further, the present invention provides a beam gripping anti-sway automatic pin threading system, the beam gripping anti-sway automatic pin threading system adopts an inverter control mode to achieve anti-sway control, and starts an anti-sway control program for the hoist in the inverter of the large self-propelled vehicle and the small self-propelled vehicle, and optimizes and sets up the parameters of the mathematical model on-site to reduce unnecessary vibration caused by the load; The beam gripping anti-sway automatic pin threading system uses a hoist control system that aims to reduce the swaying of the load when lifting and provide a safer operating environment by automatically threading the pins, adopts an inverter control mode, and achieves anti-sway control by adjusting the hoist's running speed and acceleration, The inverter in the beam gripping anti-sway automatic pin threading system is used to control the large self-propelled vehicle and the small self-propelled vehicle, respectively. When necessary, the anti-sway control program for the hoist is started to optimize and set up the parameters of the mathematical model on-site, and the operation parameters of the hoist are optimized to reduce unnecessary sway caused by the load and improve the stability and safety of the hoist. The beam gripping anti-sway automatic pin threading system further includes a device having a function of automatically inserting a pin into a hole in the beam when the hoist stops moving, fixing the position of the load, and automatically threading the pin to prevent the load from slipping or falling off when the hoist stops moving. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine described in appendix 1.

[0102] (Appendix 6) The image recognition system can realize the function of early warning for crossing the line, and can manually or independently define a virtual safe driving area in conjunction with the current work, and automatically issue an alarm when personnel or vehicles mistakenly enter the work site; A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine described in appendix 3.

[0103] (Appendix 7) The system further includes a gate positioning and integrated judgment system, which is used to judge the state of the gate, and integrates the three-dimensional coordinate position of the hanging hook and the real-time image of the gate and the gate tank to comprehensively judge whether the gate is open or closed, and stores the relevant images and parameters; Further, the system includes a floodgate online identification system, which adopts a mode combining RFID sensor and image identification to display the distribution status of the floodgates in the gate tank in real time, and can add information such as the history and maintenance of the floodgates. Each time the operation of the floodgate opening and closing machine is completed, the distribution status of the floodgates is automatically updated in real time to ensure that each part of the floodgate is accurate. For the floodgates in the gate tank, there are several parts of the floodgate, and it is necessary to display whether they are open or closed. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine described in appendix 1.

[0104] (Appendix 8) Further comprising a water gate opening and closing machine safety protection system, The water gate opening and closing machine safety protection system comprises: A lightning protection system that is placed on top of the equipment, has a dedicated lightning rod attached and a dedicated cable connected to the steel structure of the equipment, which is ultimately connected to the track of the side-walking vehicle, and achieves electrical grounding through track contact; According to the site environmental conditions and requirements of the equipment, a wind speed detector is installed on the top of the equipment, and the detected wind speed and wind direction signals are transmitted to the relevant display device in the electrical control room to provide real-time wind speed signals to the operators. When the wind speed is too high, the track clamping equipment will stop and enter the anchoring state. A protective cover in which a protective device is provided on a part whose operation may be hazardous to humans during normal operation or maintenance, and a cover is provided on an exposed, potentially harmful moving part in an automatic water gate opening and closing machine; Hoists operating outdoors, where electrical and rain-intolerant equipment must be rain-proofed or have rain covers; An acousto-optical warning system is arranged on the top of the equipment, i.e., outside the outline, and uses sound and a warning light flashing frequency to present the real-time status of the equipment to the operating personnel, thereby playing a role of warning; A video surveillance system in which all cameras are selected for outdoor applications with waterproof, anti-corrosion and other properties, and necessary cameras are fitted with rainproof covers; An electrical grounding system that is designed and executed in accordance with relevant electrical design standards and requirements; A facial recognition system that uses facial recognition to verify the authority of the operator and prevent unauthorized personnel from starting the equipment. The present invention provides a system for detecting and evaluating the key components of the transmission mechanism of a water gate opening and closing machine under unmanned operation conditions, which is based on the modeling and analysis of the equipment structure, and requires that monitoring points are sufficiently arranged at key transmission parts, and that the health status of the monitored object is quickly and in advance based on the statistical quantities of the vibration signals at each stage, realizing simple, quick and accurate diagnosis. When the equipment is in an abnormal state, the vibration amplitude and the probability of large values ​​increase, and the system automatically analyzes the system to immediately determine the fault type of the monitoring point and issue a predictable maintenance warning. The present invention also provides a system for monitoring the vibration of the transmission motor and reducer, which is based on the modeling and analysis of the equipment structure, and requires that monitoring points are sufficiently arranged at key transmission parts, and that the health status of the monitored object is quickly and in advance based on the statistical quantities of the vibration signals at each stage, realizing simple, quick and accurate diagnosis. When the equipment is in an abnormal state, the vibration amplitude and the probability of large values ​​increase, and the system immediately determines the fault type of the monitoring point through automatic analysis, and issues a predictable maintenance warning. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine described in appendix 1.

[0105] (Appendix 9) Further equipped with a system control platform for the unmanned gate opening and closing machine, the system control platform has a remote intelligent control platform and a local intelligent control platform, both of which realize "one-key operation" and set an emergency stop button; when the gate is raised or lowered based on the "one-key operation" mode, it is necessary to realize the linked control of automatic locking and automatic anchoring; when the gate or the gripping beam is clogged during the raising or lowering of the gate, or when there are obstacles in the gate tank and on the tracks of the large and small self-propelled vehicles, it has a fault stop protection function; after the gate is opened or closed, the gate management platform independently updates the data information in real time; The system control platform simultaneously has the functions of data collection, simulation, statistical reporting, central control room video monitoring and remote control. The entire system needs to collect various sensor information such as equipment status, equipment operation log, alarm information and completion progress. It has the function of performing digital control and information storage and processing every time the gate is lifted, simulating the on-site production situation in real time, and displaying the gate operator's position, control status, fault and alarm information in real time. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine described in appendix 1.

[0106] (Appendix 10) The method is carried out using a hydroelectric power plant water gate opening and closing system based on the unmanned water gate opening and closing machine according to any one of appendices 1-9, S1.1: Enter the login page and enter your username and password; S1.2: Sending a login request to the platform; S1.3: Determine the login result. If the login fails, present the reason for the failure and return to the login page of S1.1. If the login is successful, enter S1.4. S1.4: Enter the self-test page and S1.5: Determine the feedback of the self-test result, including returning to the self-test page if the self-test fails, and entering the home page if the login is successful; S1: System startup procedure; S2.1: Enter the work order management page to obtain operation parameters in real time; S2.2: Check whether a work order is being executed. If there is a work order in progress, the sluice gate up button will be grayed out, and the sluice gate up work order cannot be executed at this time. If there is no work order in progress, enter S2.3. S2.3: Determine whether there is a selectable gate tank. If there is not, the gate up button will be grayed out and the gate up work order cannot be executed at this point. If there is, enter S2.4. S2.4: List the gate tank numbers of the gates that can be raised, select the number of the gate that needs to be raised, and then click the Gate Raise button; S2.5: A confirmation box will pop up during the procedure to confirm the gate lift. If you select [Cancel], you will return to S2.4. If you select [Confirm], you will enter S2.6. S2.6: Calculating detailed parameter instructions for a step; S2.7: Automatic entry to home pages and S2.8: Begin executing the work instructions; S2: Pre-installation procedure for gate lift; Normally, the intelligent gate operator completes the operation of the gate according to the "one-key operation" mode, but does not change the working rhythm compared with the manual operation, and adjusts according to the actual situation during the actual operation process; In the procedure for automatically raising and lowering the floodgates, several stages of manual confirmation must be set up, and subsequent operations can only be carried out after manual confirmation. The procedure for automatically raising and lowering the gate is suitable for automatic and manual locking, The standard procedure is set in a number of automatic execution modules, and when performing a non-standard operation of dismantling a floodgate, the modules are used to perform a part of the operation and play the role of auxiliary operations; When performing standardized work procedures, the current execution status of the work procedures is displayed on the monitoring screen. S3: Automatic gate lowering procedure; S4.1: Positioning large autonomous vehicles; S4.2: Positioning a small autonomous vehicle; S4.3: Identify the hilum cisterns and S4.4: The grab beam is lowered to the gate position, S4.5: Automatic pin threading and S4.6: Injecting water into the pressure equalizing valve of the grab beam; S4.7: Monitoring pressure equalizing valves; S4.8: Raising the gate to the locked position; S4.9: Automatic locking beam rolling and S4.10: The gates are lowered into the locked position and S4.11: Automatic pin return and S4.12: The gripping beam is raised to a stop position, You can switch to manual intervention at any time. S4: Procedures for climbing up the floodgates and Equipped with A method for operating a water gate opening and closing system for a hydroelectric power plant based on an unmanned water gate opening and closing machine, comprising:

[0107] (Appendix 11) The procedure for determining the position of a large self-propelled vehicle in S4.1, S4.1.1: Capture motion data in real time; and S4.1.2: Determine the anchoring state, and if anchored, initiate an anchor release command and transmit it to the PLC controller, and if not, enter S4.1.3; S4.1.3: Determine whether to allow the positioning of the large self-propelled vehicle. If the positioning is not allowed, repeat the positioning judgment of the large self-propelled vehicle. If the positioning is allowed, enter S4.1.4. S4.1.4: Initiating positioning of large autonomous vehicles; S4.1.5: Determine whether the large self-propelled vehicle is at the planned position; if not, continue to execute the positioning command of the large self-propelled vehicle and transmit it to the PLC controller; then continue to determine whether the large self-propelled vehicle is at the planned position; if it is at the planned position, enter S4.1.6; S4.1.6: Determine if a manual intervention prompt box pops up; S4.1.7: Select whether to manually intervene. If yes, enter the manual intervention interface, execute the positioning command of the large self-driving vehicle and transmit it to the PLC controller. After manually checking the fine adjustment in the manual intervention interface, enter S4.1.8. If no intervention, enter S4.1.8 directly. S4.1.8: Determine whether to allow the positioning of the small self-propelled vehicle, and if the positioning is not allowed, repeat the positioning judgment of the small self-propelled vehicle, and if the positioning is allowed, start the positioning of the small self-propelled vehicle in S4.2; A method for operating a water gate opening and closing system of a hydroelectric power plant based on the unmanned water gate opening and closing machine described in appendix 10.

[0108] (Appendix 12) The step of determining the position of a small self-propelled vehicle in S4.2, S4.2.1: Determine whether the small self-propelled vehicle is at the planned position; if not, continue to execute the positioning command of the small self-propelled vehicle and transmit it to the PLC controller; then continue to determine whether the small self-propelled vehicle is at the planned position; if it is at the planned position, enter S4.2.2; S4.2.2: Determine whether a manual intervention prompt box pops up; S4.2.3: Select whether to manually intervene. If yes, enter the manual intervention interface, execute the positioning command of the small self-driving vehicle and transmit it to the PLC controller. After manually checking the fine adjustment in the manual intervention interface, enter S4.2.4. If no, enter S4.2.4 directly. S4.2.4: Identify the portal tank and a confirmation prompt box will pop up. S4.2.5: Beginning to lower the grab beam to the gate position; A method for operating a water gate opening and closing system of a hydroelectric power plant based on the unmanned water gate opening and closing machine described in appendix 11.

[0109] (Appendix 13) The operation procedure of the water gate positioning integrated judgment system is as follows: Acquiring the 3D coordinate position of the hanging hook: The integrated judgment system of the water gate positioning uses a corresponding sensor or measuring device to acquire the 3D coordinate position of the hanging hook in real time, and the coordinate information is used for subsequent judgment and analysis; Acquiring real-time images of the gate and the gate tank: The gate positioning integrated judgment system uses a corresponding camera or image acquisition equipment to acquire real-time images of the gate and the gate tank, and these images are used for subsequent analysis and comparison; Comprehensive judgment: the integrated judgment system of the water gate position performs comprehensive analysis on the 3D coordinate position of the hanging hook and the real-time images of the water gate and the gate tank, and judges whether the water gate is open or closed according to the preset judgment conditions and algorithms; Image and parameter storage: The gate positioning integrated judgment system stores the start and end real-time contrast images and related parameters, records the time stamp and related parameters of the position coordinates of the hanging hook, and these data are used for subsequent analysis and recording; A method for operating a water gate opening and closing system of a hydroelectric power plant based on the unmanned water gate opening and closing machine described in appendix 10.

[0110] (Appendix 14) The operation procedure of the water gate online identification system is as follows: Utilizing sensors: Installing RFID sensors at each part of the floodgate so that the floodgate online identification system can monitor the location and status of the floodgate in real time, and the sensors transmit the information of the floodgate to the system for processing; Application of image recognition technology: the floodgate online recognition system adopts image recognition technology, obtains images of the gate tank of the floodgate in real time through image collection equipment, and determines whether the floodgate is open or closed through image analysis and processing, and displays and records accordingly; Displaying the distribution status of the water gates: the water gate online identification system displays the distribution status of the water gates in the gate tank in real time based on the data of the sensor and image identification, and the user can check the location and status of the water gates through the interface of the system or other devices; Adding history and maintenance information of the floodgate: The floodgate online identification system can further provide the function of adding history and maintenance information of the floodgate, including allowing users to input related information such as the maintenance time and maintenance personnel of the floodgate through the system for convenient subsequent search and analysis; A method for operating a water gate opening and closing system of a hydroelectric power plant based on the unmanned water gate opening and closing machine described in appendix 10.

Claims

1. an automatic control system for automatically controlling and operating the water gate opening and closing machine through the automatic control system, the automatic control system having a controller, an actuator and a sensor, and performing opening and closing, speed adjustment and position control of the water gate opening and closing machine; A remote monitoring system that realizes remote monitoring and operation of a water gate opening / closing device via the Internet, has remote monitoring software and a network communication device, and allows an O&M staff member to monitor the operation status, parameters, and alarm information of the water gate opening / closing device anytime and anywhere using a mobile phone and a computer terminal device; a data collection and processing system that collects status information of the watergate opening and closing machine, including opening degree, water level, and flow rate data, in real time through sensors and a monitoring device, processes, stores, and analyzes the collected data, and provides real-time data and historical data analysis to an O&M person; An early fault warning and maintenance system that uses sensors and data analysis technology to realize early fault warning and maintenance management, monitors the operation status of the floodgate operator in real time, and if an abnormality or fault is found, sends an alarm to the O&M personnel and provides appropriate maintenance instructions and fault diagnosis. A watergate database needs to be established to store and manage information related to the watergate operator, including the model number, parameters, and operation records of the watergate operator. A database and management system is provided that serves to establish, maintain, and search the watergate database, and is convenient for O&M personnel to manage and analyze data on the watergate operator. A water gate opening and closing system for a hydroelectric power plant based on an unmanned water gate opening and closing machine,

2. The present invention further includes a water gate opening and closing machine traveling automatic positioning system, the water gate opening and closing machine traveling automatic positioning system being a flexible water gate opening and closing machine traveling automatic positioning system including a low-precision positioning system, a high-precision positioning system, a feedback positioning system and a redundant positioning system so as to be adapted to the on-site working environment and meet the requirements of positioning accuracy; The low-precision positioning system performs low-precision positioning using an encoder or an inertial navigation system including an accelerometer and an attitude control device, measures acceleration and angular velocity data of the watergate opening and closing machine, and estimates the position and attitude of the watergate opening and closing machine; The high-precision positioning system introduces a visual positioning system consisting of a camera or a laser range finder to sense and identify the surrounding environment of the water gate opening and closing machine, thereby obtaining accurate position and attitude information of the water gate opening and closing machine relative to a reference point; The feedback positioning system monitors and provides feedback on the travel distance, speed, and direction of the watergate opening and closing machine in real time using an encoder or a sensor during the travel of the watergate opening and closing machine, and corrects and adjusts the position of the watergate opening and closing machine by comparing the actual travel data with the predicted travel data, thereby improving the positioning accuracy; The redundant positioning system introduces and integrates various positioning technologies such as satellite positioning, radio signal positioning or ultrasonic positioning to improve the reliability and accuracy of positioning, and integrates and optimizes various positioning data by using filtering algorithm and Kalman filtering method to obtain more accurate position information of the water gate opening and closing machine. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine according to claim 1.

3. The automatic identification and collision prevention system for the water gate opening and closing machine is further provided, and the automatic identification and collision prevention system has an image identification system, a laser scanning system and a radar system, and can independently observe and identify obstacles, vehicles or personnel that may affect the normal operation of the water gate opening and closing machine, and in response to an emergency, can take operational means such as acoustic and optical warning, slowing down and stopping operation to ensure the safety of the water gate opening and closing machine and the surrounding environment; The image recognition system is provided with a visual sensor consisting of a camera or a laser scanner, and monitors the environment around the water gate opening and closing machine and performs image recognition in real time, and uses image processing and machine learning algorithms to identify and classify obstacles, vehicles, or personnel, and determine the distance and relative position to the water gate opening and closing machine; The laser scanning system is configured to install a laser scanner to scan objects around the gate opening and closing machine, measure the distance, obtain distance and shape information of the object using laser ranging technology, and determine the distance and relative position between the object and the gate opening and closing machine. The radar system is equipped with a radar sensor that reflects and receives radar waves from objects around the floodgate operator, and uses radar technology to monitor the position, speed and direction of the objects in real time, and determines the distance and relative position between the object and the floodgate operator. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine according to claim 1.

4. The automatic gate locking system is a device that can automatically lock the gate, and is highly efficiently linked with the rising and falling motion of the gate, and completes the automatic control process through high-speed interface docking of the control equipment without the help of personnel; the automatic gate locking system also has a mechanical emergency response device, and manual operation is achieved when the interlocking system fails; The automatic locking system of the floodgate communicates with the control system of the floodgate through the control equipment to realize the automatic locking function. When the floodgate starts to move up and down, the control equipment receives the corresponding signal, and judges and controls according to the preset logic and parameters. Once it is determined that the floodgate needs to be locked, the control equipment communicates with the floodgate locking device through high-speed interface docking, triggers the operation of the floodgate locking device, and locks the floodgate in the designated position; The automatic water gate locking system further includes a mechanical emergency response device to respond to a failure of the interlocking system, and when the interlocking system fails, an operator manually activates the mechanical emergency response device to complete the water gate locking operation, thereby ensuring the safety of the water gate. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine according to claim 1.

5. Further, the present invention provides a beam gripping anti-sway automatic pin threading system, the beam gripping anti-sway automatic pin threading system adopts an inverter control mode to achieve anti-sway control, and starts an anti-sway control program for the hoist in the inverter of the large self-propelled vehicle and the small self-propelled vehicle, and optimizes and sets up the parameters of the mathematical model on-site to reduce unnecessary vibration caused by the load; The beam gripping anti-sway automatic pin threading system uses a hoist control system that aims to reduce the swaying of the load when lifting and provide a safer operating environment by automatically threading the pins, adopts an inverter control mode, and achieves anti-sway control by adjusting the hoist's running speed and acceleration, The inverter in the beam gripping anti-sway automatic pin threading system is used to control the large self-propelled vehicle and the small self-propelled vehicle, respectively. When necessary, the anti-sway control program for the hoist is started to optimize and set up the parameters of the mathematical model on-site, and the operation parameters of the hoist are optimized to reduce unnecessary sway caused by the load and improve the stability and safety of the hoist. The beam gripping anti-sway automatic pin threading system further includes a device having a function of automatically inserting a pin into a hole in the beam when the hoist stops moving, fixing the position of the load, and automatically threading the pin to prevent the load from slipping or falling off when the hoist stops moving. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine according to claim 1.

6. The image recognition system can realize the function of early warning for crossing the line, and can manually or independently define a virtual safe driving area in conjunction with the current work, and automatically issue an alarm when personnel or vehicles mistakenly enter the work site; A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine according to claim 3.

7. The system further includes a gate positioning and integrated judgment system, which is used to judge the state of the gate, and integrates the three-dimensional coordinate position of the hanging hook and the real-time image of the gate and the gate tank to comprehensively judge whether the gate is open or closed, and stores the relevant images and parameters; Further, the system includes a floodgate online identification system, which adopts a mode combining RFID sensor and image identification to display the distribution status of the floodgates in the gate tank in real time, and can add information such as the history and maintenance of the floodgates. Each time the operation of the floodgate opening and closing machine is completed, the distribution status of the floodgates is automatically updated in real time to ensure that each part of the floodgate is accurate. For the floodgates in the gate tank, there are several parts of the floodgate, and it is necessary to display whether they are open or closed. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine according to claim 1.

8. Further comprising a water gate opening and closing machine safety protection system, The water gate opening and closing machine safety protection system comprises: A lightning protection system that is placed on top of the equipment, has a dedicated lightning rod attached and a dedicated cable connected to the steel structure of the equipment, which is ultimately connected to the track of the side-walking vehicle, and achieves electrical grounding through track contact; According to the site environmental conditions and requirements of the equipment, a wind speed detector is installed on the top of the equipment, and the detected wind speed and wind direction signals are transmitted to the relevant display device in the electrical control room, so that the wind speed signal can be presented to the operating personnel in real time. When the wind speed is too high, the track clamping device will stop and enter the anchoring state. A protective cover in which a protective device is provided on a part whose operation may be hazardous to the human body during normal operation or maintenance, and a cover is provided on an exposed potentially harmful moving part in an automatic water gate opening and closing machine; Hoists operating outdoors, where electrical and rain-intolerant equipment must be rain-proofed or have rain covers; An acousto-optical warning system is arranged on the top of the equipment, i.e., outside the outline, and uses sound and a warning light flashing frequency to present the real-time status of the equipment to the operating personnel, thereby playing a role of warning; A video surveillance system in which all cameras are selected for outdoor applications with waterproof, anti-corrosion and other properties, and necessary cameras are fitted with rainproof covers; An electrical grounding system that is designed and executed in accordance with relevant electrical design standards and requirements; A facial recognition system that uses facial recognition to verify the authority of the operator and prevent unauthorized personnel from starting the equipment. A detection and evaluation system for key components of the transmission mechanism of a water gate opening and closing machine under unmanned operation conditions is constructed based on modeling and analysis of the equipment structure, and monitoring points are sufficiently arranged at key transmission parts to monitor and analyze key points. The health status of the monitored object is quickly and in advance determined based on the statistical quantities of vibration signals at each stage, and simple, quick and accurate diagnosis is realized. When the equipment is in an abnormal state, the vibration amplitude and the probability of large values ​​increase, and the system immediately determines the fault type of the monitoring point through automatic analysis and issues a predictable maintenance warning. This system monitors the vibration of the transmission motor and reducer. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine according to claim 1.

9. Further equipped with a system control platform for the unmanned gate opening and closing machine, the system control platform has a remote intelligent control platform and a local intelligent control platform, both of which realize "one-key operation" and set an emergency stop button; when the gate is raised or lowered based on the "one-key operation" mode, it is necessary to realize the linked control of automatic locking and automatic anchoring; when the gate or the gripping beam is clogged during the raising or lowering of the gate, or when there are obstacles in the gate tank and on the tracks of the large and small self-propelled vehicles, it has a fault stop protection function; after the gate is opened or closed, the gate management platform independently updates the data information in real time; The system control platform simultaneously has the functions of data collection, simulation, statistical reporting, central control room video monitoring and remote control. The entire system needs to collect various sensor information such as equipment status, equipment operation log, alarm information and completion progress, and has the function of performing digital control and information accumulation and processing every time the water gate is lifted, simulating the on-site production situation in real time, and displaying the water gate operator's position, control status, fault and alarm information in real time. A water gate opening and closing system for a hydroelectric power plant based on the unmanned water gate opening and closing machine according to claim 1.

10. The method is carried out by using a hydroelectric power plant gate opening and closing system based on the unmanned gate opening and closing device according to any one of claims 1 to 9, S1.1: Enter the login page and enter your username and password; S1.2: Sending a login request to the platform; S1.3: Determine the login result. If the login fails, present the reason for the failure and return to the login page of S1.

1. If the login is successful, enter S1.

4. S1.4: Entering the self-test page; S1.5: Determine the feedback of the self-test result, including returning to the self-test page if the self-test fails, and entering the home page if the login is successful; S1: System startup procedure; S2.1: Enter the work order management page and obtain operation parameters in real time; S2.2: Check whether the work order is being executed. If there is a work order in progress, the sluice gate up button will be grayed out, and the sluice gate up work order cannot be executed at this time. If there is no work order in progress, enter S2.

3. S2.3: Determine whether there is a selectable gate tank. If there is not, the gate up button will be grayed out and the gate up work instruction cannot be executed at this time. If there is, enter S2.

4. S2.4: List the gate tank numbers of the gates that can be raised, select the number of the gate that needs to be raised, and then click the Gate Raise button; S2.5: A confirmation box pops up during the procedure to confirm the gate lift. If you select [Cancel], you will return to S2.

4. If you select [Confirm], you will enter S2.

6. S2.6: Calculate detailed parameter instructions for the step; S2.7: Automatic entry to the home page; S2.8: Starting to execute the work order; S2: Pre-installation procedure for gate lift, Normally, the intelligent gate operator completes the operation of the gate according to the "one-key operation" mode, but does not change the working rhythm compared with the manual operation, and adjusts according to the actual situation during the actual operation process; In the procedure for automatically raising and lowering the floodgates, several stages of manual confirmation must be set up, and subsequent operations can only be carried out after manual confirmation. The procedure for automatically raising and lowering the gate is suitable for automatic and manual locking, The standard procedure is set in a number of automatic execution modules, and when performing a non-standard operation of dismantling a floodgate, the modules are used to perform a part of the operation and play the role of auxiliary operations; When performing standardized work procedures, the current execution status of the work procedures is displayed on the monitoring screen. S3: Automatic gate lowering procedure; S4.1: Positioning a large self-driving vehicle; S4.2: Positioning a small self-driving vehicle; S4.3: Identifying the hilum cistern; S4.4: The grab beam is lowered to the gate position, S4.5: Automatically threading the pin; S4.6: Injecting water into the pressure equalizing valve of the gripping beam; S4.7: Monitoring the pressure equalizing valve; S4.8: Raising the gate to the locked position; S4.9: The automatic locking beam rolls, S4.10: The gates are lowered into the locked position; S4.11: Automatically returning the pin; S4.12: The gripping beam is raised to a stop position; You can switch to manual intervention at any time. S4: Procedure for raising the gate, Equipped with A method for operating a water gate opening and closing system for a hydroelectric power plant based on an unmanned water gate opening and closing machine, comprising:

11. The step of determining the position of a large self-driving vehicle in S4.1, S4.1.1: Acquiring motion data in real time; S4.1.2: Determine the anchoring state, and if there is anchoring, initiate an anchoring release command and transmit it to the PLC controller, and if there is no anchoring, enter S4.1.3; S4.1.3: Determine whether to allow the positioning of the large self-propelled vehicle. If the positioning is not allowed, repeat the positioning judgment of the large self-propelled vehicle. If the positioning is allowed, enter S4.1.

4. S4.1.4: Initiating positioning of the large self-propelled vehicle; S4.1.5: Determine whether the large self-propelled vehicle is at the scheduled position. If it is not at the scheduled position, continue to execute the positioning command of the large self-propelled vehicle and transmit it to the PLC controller, then continue to determine whether the large self-propelled vehicle is at the scheduled position. If it is at the scheduled position, enter S4.1.

6. S4.1.6: Determining whether a manual intervention prompt box pops up; S4.1.7: Select whether to manually intervene. If yes, enter the manual intervention interface, execute the positioning command of the large self-driving vehicle and transmit it to the PLC controller. After manually checking the fine adjustment in the manual intervention interface, enter S4.1.

8. If no, enter S4.1.8 directly. S4.1.8: Determine whether to allow the positioning of the small self-propelled vehicle, and if the positioning is not allowed, repeat the positioning judgment of the small self-propelled vehicle, and if the positioning is allowed, start the positioning of the small self-propelled vehicle in S4.

2. The method for operating a hydroelectric power station gate opening and closing system based on the unmanned gate opening and closing machine according to claim 10.

12. The step of determining the position of the small self-propelled vehicle in S4.2, S4.2.1: Determine whether the small self-propelled vehicle is at the scheduled position. If it is not at the scheduled position, continue to execute the positioning command of the small self-propelled vehicle and transmit it to the PLC controller, then continue to determine whether the small self-propelled vehicle is at the scheduled position. If it is at the scheduled position, enter S4.2.

2. S4.2.2: Determining whether a manual intervention prompt box pops up; S4.2.3: Select whether to manually intervene. If yes, enter the manual intervention interface, execute the positioning command of the small self-driving vehicle and transmit it to the PLC controller. After manually checking the fine adjustment in the manual intervention interface, enter S4.2.

4. If no, enter S4.2.4 directly. S4.2.4: Identifying the portal and popping up a confirmation prompt box; S4.2.5: Starting to lower the grabber beam to the gate position; The method for operating a hydroelectric power station gate opening and closing system based on the unmanned gate opening and closing machine according to claim 11.

13. The operation procedure of the water gate positioning integrated judgment system is as follows: Acquiring the three-dimensional coordinate position of the hanging hook: the integrated judgment system of the water gate positioning uses a corresponding sensor or measuring device to acquire the three-dimensional coordinate position of the hanging hook in real time, and the coordinate information is used for subsequent judgment and analysis; Acquiring real-time images of the gate and the gate tank: the gate positioning integrated judgment system uses a corresponding camera or image acquisition equipment to acquire real-time images of the gate and the gate tank, and these images are used for subsequent analysis and comparison; Comprehensive judgment: the integrated judgment system of the water gate position performs comprehensive analysis on the 3D coordinate position of the hanging hook and the real-time images of the water gate and the gate tank, and judges whether the water gate is open or closed according to the preset judgment conditions and algorithms; Image and parameter storage: the gate positioning integrated judgment system stores the start and end real-time contrast images and related parameters, records the time stamp and related parameters of the position coordinates of the hanging hook, and these data are used for subsequent analysis and recording; The method for operating a hydroelectric power station gate opening and closing system based on the unmanned gate opening and closing machine according to claim 10.

14. The operation procedure of the water gate online identification system is as follows: Using sensors: Installing RFID sensors at each part of the floodgate so that the floodgate online identification system can monitor the location and status of the floodgate in real time, and the sensors transmit the information of the floodgate to the system for processing; Application of image recognition technology: the floodgate online recognition system adopts image recognition technology, obtains images of the gate tank of the floodgate in real time through image collection equipment, and determines whether the floodgate is open or closed through image analysis and processing, and displays and records accordingly; Displaying the distribution status of the floodgates: the floodgate online identification system displays the distribution status of the floodgates in the gate tank in real time based on the data of the sensor and image identification, and the user can check the location and status of the floodgates through the interface of the system or other devices; Adding floodgate history and maintenance information: the floodgate online identification system can further provide the function of adding floodgate history and maintenance information, including allowing users to input related information such as floodgate maintenance time and maintenance personnel through the system for convenient subsequent search and analysis; The method for operating a hydroelectric power station gate opening and closing system based on the unmanned gate opening and closing machine according to claim 10.

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