Automatic traction method and system for submersible to go in and out of tunnel
A technology for submersibles and tunnels, applied in control/adjustment systems, instruments, non-electric variable control, etc., can solve problems such as difficult control, poor positioning effect, and difficulty in accessing specific narrow spaces to maintain ports, tunnels, and canals, etc. Achieve the effect of streamlining automatic calibration, reducing labor costs, improving positioning accuracy and traction efficiency
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[0045] Example 1
[0046] like figure 1 As shown, the present embodiment provides an automated traction method of a submersible access tunnel, including:
[0047]S10: By setting the distance sensor detecting the tunnel to the tunnel inlet preset position on both sides of the tunnel, when detecting the object to reach the tunnel entry preset position, the distance to be inspected by the distance Distance on both sides of the tunnel.
[0048] Among them, the object to be inspected on the submersible includes the head and tail of the submersible. When the submeater is driver into the tunnel, the object to be inspected is the head of the submersible; when the submersible is separated from the tunnel, the object to be inspected is the tail of the submersible.
[0049] S20: When the distance difference between the two sides of the tunnel is greater than the preset range, it is necessary to adjust the direction of travel of the submersible.
[0050] Specifically, the direction of operati...
Example Embodiment
[0078] Example 2
[0079] like Figure 5 As shown, the present embodiment provides an automated traction system of one-oriented submersible traction method in accordance with an automated traction method of the submersible tunnel in Example 1, including:
[0080] The object parameter acquisition module 10 is used to detect whether the object to reach the tunnel inlet preset by the distance sensor detects the diving in the tunnel. The distance from the tunnel is obtained from the distance of the tunnel through the distance sensor.
[0081] The submersible travel direction deviates from the determination module 20, and the distance difference between the two sides of the tunnel to be inspected is larger than the preset range, and the direction of travel in the direction of travel of the submersible needs to be adjusted.
[0082] Safety drag module 30 for determining the tow parameters of the drag device based on distance difference on both sides of the tunnel to be inspected, and con...
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