CN115840415B - Intelligent supervision system for dislocation of herringbone gate - Google Patents
Intelligent supervision system for dislocation of herringbone gate Download PDFInfo
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Abstract
The invention discloses an intelligent supervision system for staggered double-headed gates, which is used for monitoring and managing the folding and centering conditions of double-headed gates of ship locks and comprises an identification camera (1), a scale (2), a video line (4) and a PLC control computer; the recognition camera (1) and the scaleplate (2) are respectively arranged at the top end parts of the joint columns of two door leaves of the herringbone gate, the recognition camera (1) shoots an image of the scaleplate (2) after the gate is closed, the image is transmitted to the PLC system through the video line (4), and then the intelligent image recognition algorithm is used for recognizing and analyzing the gate centering dislocation value; the dislocation value is in a safety range to indicate that the herringbone gate is safely closed; otherwise, the PLC system builds a finite element analysis model of the ship lock herringbone gate structure, analyzes whether the parts exceed the bearing range, and if so, the PLC controls the herringbone gate to be closed again; if not, the herringbone gate is safely closed, and compared with the existing manual adjustment technology, the invention has the advantages of poor safety and reliability, time and labor consumption, inconvenience in tracking adjustment and the like.
Description
Technical Field
The invention relates to the field of automatic operation control of ship lock equipment, in particular to an intelligent supervision system for staggered herringbone gates.
Background
The ship lock is a carriage-shaped navigation building which utilizes the water to be filled into the channel with gate control at two ends to lift the water level, so that the ship can overcome the concentrated water level drop on the channel, the herringbone gate is used as the most complex part of the ship lock, the nonreplaceable function is exerted in the ship lock, the herringbone gate consists of two gate leaves rotating around a vertical shaft, and when the ship lock is closed, the two gate leaves are mutually supported on the miter posts of each other to form a three-hinged arch so as to seal the channel orifice. The herringbone gate is a working gate which is opened and closed under the condition of still water and cannot bear the pressure of reverse water, in addition, the underwater supporting part of the gate is easy to damage and difficult to overhaul, so that a herringbone gate supervision device is needed to be arranged, the navigation capacity of the ship gate can be directly influenced by the safety and the high efficiency of the gate, and the economic applicability is also related to the construction cost of the ship gate, so that continuous research on the herringbone gate is increasingly important. The dislocation in the closed pair of the herringbone gate has larger influence on the safe operation of the ship lock, if the gate gap value after the herringbone gate is closed and the dislocation value between the two gates are larger, the folding effect of the herringbone gate is influenced, the ship lock linkage program is interrupted in the operation process, the problems of mechanical overload and the like are caused, the metal structure of the herringbone gate is permanently damaged when serious, and the navigation efficiency of the shipping industry is seriously influenced.
The space finite element method of the herringbone gate is to analyze and calculate a space structure system of the gate as a whole, and under the action of load, all the components coordinate and act together. Firstly, dividing a gate entity model into units, establishing a displacement balance equation at a unit node, and then integrating the balance equation into a balance equation set of the whole structure by utilizing a geometric equation of elastic mechanics, so that the unit stress and the displacement can be calculated. And finally, processing the unit data to deduce the displacement and stress values at the nodes on each unit in the structure, namely a space finite element method. By utilizing the method to analyze the stress characteristics and deformation characteristics of the herringbone gate, the internal force, stress and deformation of each component can be accurately calculated, the gate structure can be integrally optimized, the manufacturing cost can be reduced, the stress condition can be improved, and the structural safety and reliability of the gate can be improved.
At present, in the technical field of lambdoidal door dislocation detection, the analog closed-circuit television monitoring system and the wireless monitoring system which are generally applied have the problems of low network security, easiness in invasion, serious signal attenuation, poor safety and reliability and the like. In the technical field of adjustment, a widely applied manual adjustment method has larger requirements on technical experience of adjustment personnel, the adjustment effect is difficult to ensure, and the adjustment is time-consuming and labor-consuming and inconvenient to track; the switch adjusting method can also lead the closing end gate gap of the herringbone gate to generate larger change by slightly adjusting the sending time of the closing end signal, so that the closing end gate gap adjusting quantity of the herringbone gate is difficult to control.
Disclosure of Invention
The invention aims at: the invention provides a staggered intelligent supervision system for a herringbone gate, which is used for monitoring and managing the folding and centering conditions of the herringbone gate of a ship lock and realizing intelligent control and automatic calibration.
In order to achieve the above purpose, the present invention provides the following technical solutions: a staggered intelligent supervision system of a herringbone gate comprises an identification camera, a scale, a video line and a PLC control computer; the recognition camera is arranged at the top end part of a joint column of one door leaf of the herringbone gate and is connected with the PLC control computer through a video line; the scale is transversely arranged at the top end part of a joint column of the other door leaf of the herringbone gate, the shooting direction of the recognition camera (1) is opposite to the scale based on the optimal closing state of the two door leaves of the herringbone gate, and the shooting center point of the recognition camera is aligned to the center scale mark of the scale;
Based on a recognition camera, a scale, a video line and a PLC control computer, the intelligent supervision hardware system of the herringbone gate is combined with an intelligent image recognition algorithm and a ship lock herringbone gate structure finite element analysis model contained in the PLC control system, and the intelligent supervision on the folding and centering conditions of the herringbone gate is realized according to the following steps:
S1: based on the fact that two door leaves of the herringbone gate start to be closed, the recognition camera starts to capture pictures of a shooting scale, then preprocessing is carried out on the pictures, the pictures are transmitted to a PLC control computer through a video line, and then S2 is carried out;
s2: the PLC control system processes the image by using an intelligent image recognition algorithm, analyzes and outputs a gate centering dislocation value, and then enters S3;
S3: if the gate centering dislocation value is within a preset safety range, the inverted V-shaped gate is safely closed; if the gate centering dislocation value exceeds a preset safety range, entering S4;
S4: the PLC control system constructs a finite element analysis model of a ship lock lambdoidal gate structure according to the gate centering dislocation value exceeding the preset safety range and the real-time water level data, analyzes the stress conditions of the gate structure and equipment facility space, and then enters S5;
S5: the PLC control system judges whether the parts exceed the bearing range, if so, the S6 is entered; if no part exceeds the bearing range, the herringbone gate is closed safely;
s6: the PLC control system controls the gate to be closed again; and then proceeds to S1.
Further, the scale comprises at least 3 long scale lines, the number of the long scale lines is an odd number, every two long scale lines are 5cm away, a short scale line is arranged at the middle position between every two long scale lines, each long scale line represents a gate centering dislocation value, the most central long scale line is marked with 0, and the left side and the right side are marked with natural numbers which are increased by 1 in sequence; marking marks are arranged below scale marks in a preset safety dislocation range, and marks different from the safety dislocation range are arranged below scale marks in a dangerous dislocation range.
Further, a green color block mark is arranged below the scale mark in the preset safety dislocation range of the scale, and a red color block mark is arranged below the scale mark in the dangerous dislocation range.
Further, the intelligent image recognition algorithm is divided into a target detection technology and a character recognition technology, wherein the target detection technology adopts a YOLO v5 target detection algorithm, and the character recognition technology comprises a color region recognition technology and a scale number recognition technology.
Further, the character recognition technology comprises a color area recognition technology and a scale digital recognition technology, wherein the color area recognition technology is used for receiving a scale target area recognized by a target detection algorithm and recognizing a safe dislocation range and a dangerous dislocation range on a scale; the scale digital recognition technology is characterized in that a color photo is subjected to binarization processing through an image processing technology, connected domain screening is adopted, scale numbers of the region where a shooting center point is located are extracted, digital recognition is performed, the approximate range of the shooting center point is determined, and then the gate centering dislocation value is obtained by calculating the proportion of the distance from the shooting center point to the nearest scale mark to a scale.
Further, the intelligent supervision system for the dislocation of the herringbone gate further comprises a shot lamp, the irradiation area faces the scale, and the shot lamp is used for assisting in recognizing pictures of the scale shot by the camera.
Further, the identification camera is a high-definition camera with a rainproof function.
Compared with the prior art, the intelligent supervision system for the dislocation of the herringbone gate has the following technical effects:
1. the traditional video image detection technology is optimized, no human labor is relied on, an intelligent monitoring system for automatic identification is constructed by utilizing the identification camera and the scale, the labor cost is saved, and the detection efficiency is improved;
2. The target detection technology in the selected intelligent image recognition algorithm is selected from the YOLO v5 algorithm and is combined with the character recognition technology, so that the accuracy of dislocation value recognition is effectively improved;
3. The finite element analysis model of the ship gate herringbone gate structure is selected to carry out stress modeling on the herringbone gate, a fluid-solid coupling method is adopted to apply load, and water pressure analysis is more accurate compared with the traditional method, so that the design research time and the calculation cost are saved;
4. The whole system has scientific principle and simple structure, can be popularized and used in most of the herringbone gates in China, and has practical significance for guaranteeing the safe operation of the ship lock, improving the passing efficiency, improving the management efficiency and the like.
Drawings
FIG. 1 is an overall flow chart of the intelligent supervision of the present invention;
FIG. 2 is a schematic diagram of the intelligent supervisory equipment installation location of the present invention;
FIG. 3 is a front view of the intelligent supervision device of the present invention; 1 is an identification camera; 2 is a staff gauge; 3 is a spotlight; 4 is a video line;
fig. 4 is a schematic view of the scale 2 in the present invention.
Detailed Description
For a better understanding of the technical content of the present invention, specific examples are set forth below, along with the accompanying drawings.
Aspects of the invention are described herein with reference to the drawings, in which there are shown many illustrative embodiments. The embodiments of the present invention are not limited to the embodiments described in the drawings. It is to be understood that this invention is capable of being carried out by any of the various concepts and embodiments described above and as such described in detail below, since the disclosed concepts and embodiments are not limited to any implementation. Additionally, some aspects of the disclosure may be used alone or in any suitable combination with other aspects of the disclosure.
The invention provides an intelligent supervision system for staggered herringbone gate, which is used for monitoring and managing the folding and centering conditions of a herringbone gate of a ship lock, and as shown in fig. 3, the intelligent supervision system comprises a high-definition identification camera 1 with a rainproof function, a scale 2, a spotlight 3, a video line 4 and a PLC control computer; the high-definition identification camera 1 is arranged at the top end part of a joint column of one door leaf of the herringbone gate, and the identification camera 1 is connected with the PLC control computer through a video line 4; the scale 2 is transversely arranged at the top end part of a joint column of the other door leaf of the herringbone gate, the shooting direction of the high-definition identification camera 1 is opposite to the scale 2 based on the optimal closing state of the two door leaves of the herringbone gate, and the shooting center point of the high-definition identification camera 1 is aligned to the center scale line of the scale 2; the irradiation area of the spotlight 3 faces the scale 2, and is used for assisting the recognition camera 1 in shooting the picture of the scale 2.
As shown in fig. 2, in the present embodiment, the scale 2, the high definition camera 1, and the spot lamp 3 are all installed above the gate, and at a position below the sidewalk. In the installation process, a scale 2, a high-definition identification camera 1 and a spotlight 3 are fixed in a welding mode, the high-definition identification camera 1 and the spotlight 3 are installed above one door leaf of the herringbone gate, the scale 2 is installed above the other door leaf of the herringbone gate, the distance between the scale 2 and the high-definition identification camera 1 is set to BE 1.5m, the irradiation area of the spotlight 3 is just opposite to the scale 2, and the sea-health camera Ids-TCV900-BE is selected as the camera 1.
As shown in fig. 4, in this embodiment, the scale 2 is a steel plate with a length of 70cm and a width of 50cm, on which 21 scales from 10 to 0 and from 0 to 10 are drawn, and a total of 21 long scale lines and 20 short scale lines are formed, and each long line is spaced 5cm from the short line. The scale is drawn with red-green-red color blocks for assistance, and the green color blocks are expressed in a reasonable dislocation distance, and the absolute value of the scale is less than or equal to 3; the red color block indicates that the absolute value of the scale is more than or equal to 3 and less than or equal to 10 in the dangerous dislocation distance.
As shown in fig. 1, in this embodiment, the folding and centering of the herringbone gate of the ship lock is first identified and monitored in real time by using the high-definition identification camera 1, based on that the two gate leaves of the herringbone gate start to close, the high-definition identification camera starts to capture the picture of the shooting scale 2, then the image is preprocessed, scaled and filled to the size of [ 640,640 ] in equal proportion, then the video image is transmitted to the PLC control computer through the video line 4, and the PLC control system performs identification analysis by using the image identification technology. If the two lambdoidal doors are centered and folded without dislocation after being closed, the shooting center point of the recognition camera 1 is aligned with the middle scale of the scale 2, and if the dislocation exists, the dislocation degree can be judged according to the shooting center point of the recognition camera 1 and the readings on the scale 2. Through artificial intelligence image recognition technology, with the middle scale of scale 2 as the datum point, discern the scale after the gate is closed at every turn, the difference of scale numerical value and the middle scale of scale is the gate centering dislocation value.
In this embodiment, the image recognition algorithm is divided into two parts, namely, a target detection technology and a character recognition technology, and the character recognition technology is divided into a color region recognition technology and a scale number recognition technology. The target detection technology adopts a YOLO v5 target detection algorithm, the position of a scale 2 to be identified can be quickly locked to obtain scale 2 coordinate information, the color region identification technology uses the scale 2 coordinate information to select red and green region coordinates, then the scale identification technology carries out binarization processing on the obtained color photo, adopts connected domain screening, extracts scale numbers corresponding to the shooting center point of the identification camera 1, carries out digital identification, determines the approximate range of the shooting center point, and then calculates the proportion of the distance from the shooting center point to the adjacent scale to one scale to obtain a gate centering dislocation value.
In this embodiment, when the color block of the identification color is green and the absolute value of the scale number is less than or equal to 3, it may be determined that the gate centering dislocation value is within a preset safety range, which indicates that the chevron gate is safely closed; otherwise, the gate centering dislocation values are regarded as exceeding the preset safety range, the data of the scale numbers are output and displayed, and according to the gate centering dislocation values exceeding the preset safety range, the gate centering dislocation values are combined with the real-time water level data, a ship lock lambdoidal door structure finite element analysis model is constructed in the following manner, and the stress conditions of a gate structure body and equipment facility space are analyzed:
t1: and (5) preliminary stress analysis. The chevron gate is subjected to large loads and complex external effects during operation. The external functions mainly comprise water pressure, wind pressure, maximum active pushing (pulling) force of an opening and closing rod, constraint counter force of top and bottom pivots, gate dead weight (including bridge deck groups and permanent equipment) and the like. When the stress analysis is carried out, the main loads are required to be combined. When the gate is started, the end parts of the mitered posts of the two gates move in opposite directions, the arch effect of the triangular steel frame completely disappears, and at the moment, the gate is required to discharge an upstream water body, and meanwhile, the additional water pressure generated by the hydrostatic pressure and the counter thrust of the stress system and the concentrated pulling force at the upper top jointly act on the gate body, so that the gate body is mainly in a complicated space torsion state;
t2: and discretizing the structure. Selecting a shell unit as a unit type, dividing stressed members such as a gate back inclined rod and the like into a plurality of limited simple small unit bodies, wherein the unit bodies are connected only by nodes;
T3: and (5) unit analysis. And forming a unit stiffness matrix of each unit, and establishing a balance equation of each unit. The method is characterized in that a fluid-solid coupling method is selected to apply load, a displacement method is adopted to discretize a continuum according to experience, and then unknown quantities (displacement, stress and strain) in the unit are represented by node displacement. The displacement distribution in a cell can be described by an approximation function;
t3: and (5) overall analysis. All the discrete units are connected into an original structure through nodes for analysis, wherein in the analysis process, all the unit balance equation sets are integrated into an integral balance equation, and after introducing boundary conditions, the integral node displacement vector is solved;
T4: and solving the displacement of the position node. And selecting a reasonable calculation method according to the mathematical characteristics of the integral finite element equation so as to calculate the node displacement. And then according to the actual situation, the strain and the stress are selectively calculated by utilizing the geometric equation and the elastic equation of elastic mechanics. And finally, arranging and outputting unit strain and stress, and processing results to obtain a final analysis result of the problem.
The finite element analysis model of the ship lock lambdoidal gate structure is used for analyzing the water pressure change rule acted on the gate under the conditions of different water head differences and gate dislocation degrees, discussing the stress conditions of gate mechanical structures, structures such as a hoist and equipment and facility spaces caused by water pressure conduction change, judging whether dislocation calibration is needed according to whether components reach the bearing limit, and accordingly outputting the switching value of 1/0,1 to indicate that the components exceed the bearing range, the lambdoidal gate needs to be closed again, and 0 to indicate that no components exceed the bearing range, and the lambdoidal gate is normally closed.
While the invention has been described in terms of preferred embodiments, it is not intended to be limiting. Those skilled in the art will appreciate that various modifications and adaptations can be made without departing from the spirit and scope of the present invention. Accordingly, the scope of the invention is defined by the appended claims.
Claims (7)
1. The intelligent supervision system for the dislocation of the herringbone gate is used for monitoring and managing the folding and centering conditions of the herringbone gate of the ship gate and is characterized by comprising an identification camera (1), a scale (2), a video line (4) and a PLC control computer; the recognition camera (1) is arranged at the top end part of a joint column of one door leaf of the herringbone gate, and the recognition camera (1) is connected with the PLC control computer through a video line (4); the scale (2) is transversely arranged at the top end part of a joint column of the other door leaf of the herringbone gate, the shooting direction of the camera (1) is identified to be opposite to the scale (2) based on the optimal closing state of the two door leaves of the herringbone gate, and the shooting center point of the camera (1) is identified to be aligned to the center scale mark of the scale (2);
based on a herringbone gate intelligent supervision hardware system formed by an identification camera (1), a scale (2), a video line (4) and a PLC control computer, an intelligent image identification algorithm and a ship lock herringbone gate structure finite element analysis model contained in the PLC control system are combined, and intelligent supervision on the herringbone gate folding and centering conditions is realized according to the following steps:
S1: based on the closing of the two door leaves of the herringbone gate, the recognition camera (1) starts to capture the image of the shooting scale (2), then the image is preprocessed, and the preprocessed image is transmitted to the PLC control computer through the video line (4), and then S2 is entered;
S2: the PLC control system processes the image by using an intelligent image recognition algorithm, analyzes and outputs a gate centering dislocation value according to the position of a shooting center point of the recognition camera (1) on the scale (2), and then enters S3;
S3: if the gate centering dislocation value is within a preset safety range, the inverted V-shaped gate is safely closed; if the gate centering dislocation value exceeds a preset safety range, entering S4;
S4: the PLC control system constructs a finite element analysis model of a ship lock lambdoidal gate structure according to the gate centering dislocation value exceeding the preset safety range and the real-time water level data, analyzes the stress conditions of the gate structure and equipment facility space, and then enters S5;
S5: the PLC control system judges whether the parts exceed the bearing range, if so, the S6 is entered; if no part exceeds the bearing range, the herringbone gate is closed safely;
s6: the PLC control system controls the gate to be closed again; and then proceeds to S1.
2. The intelligent supervision system for the dislocation of the herringbone gate according to claim 1, wherein the scale (2) comprises at least 3 long graduation lines, the number of the long graduation lines is an odd number, every two long graduation lines are 5cm away, a short graduation line is arranged at the middle position between every two long graduation lines, each long graduation line represents a gate centering dislocation value, the most central long graduation line is marked with 0, and the left side and the right side are marked with natural numbers which are increased by 1 in sequence; marking marks are arranged below scale marks in a preset safety dislocation range, and marks different from the safety dislocation range are arranged below scale marks in a dangerous dislocation range.
3. The intelligent supervision system for the dislocation of the miter gate according to claim 2, wherein green color block marks are arranged below scale marks in a preset safety dislocation range of the scale (2), and red color block marks are arranged below scale marks in a dangerous dislocation range.
4. The intelligent supervision system for the dislocation of the herringbone gate according to claim 1, wherein the intelligent image recognition algorithm is divided into a target detection technology and a character recognition technology, the target detection technology adopts a YOLO v5 target detection algorithm, and the character recognition technology comprises a color region recognition technology and a scale number recognition technology.
5. The intelligent supervision system for the dislocation of the miter gate according to claim 4, wherein the character recognition technology comprises a color region recognition technology and a scale digital recognition technology, and the color region recognition technology recognizes the target region of the scale (2) by receiving the target detection algorithm and recognizes the safe dislocation range and the dangerous dislocation range on the scale (2); the scale digital recognition technology is characterized in that a color photo is subjected to binarization processing through an image processing technology, connected domain screening is adopted, scale numbers of the region where a shooting center point is located are extracted, digital recognition is performed, the approximate range of the shooting center point is determined, and then the gate centering dislocation value is obtained by calculating the proportion of the distance from the shooting center point to the nearest scale mark to a scale.
6. The intelligent supervision system for the dislocation of the miter gate according to claim 1, further comprising a spotlight, wherein an irradiation area faces the scale (2), and the intelligent supervision system is used for assisting the recognition camera (1) in shooting images of the scale (2).
7. The intelligent supervision system for the dislocation of the herringbone gate according to claim 1, wherein the identification camera (1) is a high-definition camera with a rainproof function.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104594322A (en) * | 2014-12-31 | 2015-05-06 | 河海大学 | Ship lock safety rope system and control method |
| CN112580432A (en) * | 2020-11-23 | 2021-03-30 | 江苏省新通智能交通科技发展有限公司 | Gate dislocation detection method and detection system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4185618B2 (en) * | 1999-03-11 | 2008-11-26 | 住友重機械工業株式会社 | Load deviation detection device |
| CN107450462B (en) * | 2017-09-04 | 2023-08-08 | 长江三峡通航管理局 | Closing final alignment control method for herringbone gate |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104594322A (en) * | 2014-12-31 | 2015-05-06 | 河海大学 | Ship lock safety rope system and control method |
| CN112580432A (en) * | 2020-11-23 | 2021-03-30 | 江苏省新通智能交通科技发展有限公司 | Gate dislocation detection method and detection system |
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