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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

Active Publication Date: 2021-10-22
NUCLEAR POWER INSTITUTE OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Due to the complex structure and large size of the submersible, it is difficult to enter and exit specific narrow spaces such as maintenance ports, tunnels, canals, etc.
Due to the small space margin around the environment, the distance between the two sides of the hull and the shore wall is usually less than 2 meters, which is not easy to control, and it is easy to cause friction and collision
At present, the movement of submersibles in narrow spaces mainly relies on manual movement and positioning for short distances. The process also involves the movement of the submersible, and the positioning effect of human traction is poor and the efficiency is low

Method used

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  • Automatic traction method and system for submersible to go in and out of tunnel
  • Automatic traction method and system for submersible to go in and out of tunnel
  • Automatic traction method and system for submersible to go in and out of tunnel

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Embodiment 1

[0046] Such as figure 1 As shown, the present embodiment provides an automatic traction method for submersibles entering and exiting tunnels, including:

[0047]S10: Detect whether the object to be inspected on the submersible has reached the preset position of the tunnel entrance through the distance sensors arranged on both sides of the tunnel, and when it is detected that the object to be inspected has reached the preset position at the tunnel entrance, the distance of the object to be inspected is obtained through the distance sensor The distance between the sides of the tunnel.

[0048] Wherein, the object to be checked on the submersible includes the head and tail of the submersible. When the submersible is driving into the tunnel, the object to be inspected is the head of the submersible; when the submersible is leaving the tunnel, the object to be inspected is the tail of the submersible.

[0049] S20: When the distance difference between the object to be inspected a...

Embodiment 2

[0079] Such as Figure 5 As shown, this embodiment provides an automatic traction system for submersibles entering and exiting tunnels corresponding to the automatic traction method for submersibles entering and exiting tunnels in Embodiment 1, including:

[0080] The parameter acquisition module 10 of the object to be inspected is used to detect whether the object to be inspected on the submersible has reached the preset position of the tunnel entrance through the distance sensors arranged on both sides of the tunnel. When it is detected that the object to be inspected has reached the preset position of the tunnel entrance, then The distance between the object to be inspected and the two sides of the tunnel is obtained by the distance sensor.

[0081] The submersible's traveling direction deviation determination module 20 is configured to indicate that the submersible's traveling direction deviates and needs to be adjusted when the distance difference between the object to be...

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Abstract

The invention discloses an automatic traction method and system for a submersible to go in and out of a tunnel. The method comprises the steps of detecting whether a to-be-detected object on the submersible reaches a preset position of a tunnel entrance through distance sensors disposed at two sides in the tunnel, and when detecting that the to-be-detected object reaches the preset position of the tunnel entrance, acquiring the distance between the to-be-detected object and the two sides of the tunnel through the distance sensors, and if the distance difference between the to-be-detected object and the two sides of the tunnel is larger than a preset range, indicating that the advancing direction of the submersible deviates and needs to be adjusted, determining dragging parameters of dragging equipment based on the distance difference between the to-be-detected object and the two sides of the tunnel, and safely dragging the to-be-detected object into the tunnel, and after the to-be-detected object safely enters the tunnel, correcting the real-time running direction of the submersible according to the dragging parameters until the submersible safely reaches the working position in the tunnel. Rapid and simple automatic calibration of the system is achieved, the labor cost is reduced, and the positioning accuracy and the traction efficiency are improved.

Description

technical field [0001] The invention relates to the technical field of automatic traction of submersibles, in particular to an automatic traction method and system for submersibles entering and exiting tunnels. Background technique [0002] Due to the complex structure and large size of the submersible, it is difficult to enter and exit specific narrow spaces such as maintenance ports, tunnels, canals, etc. Due to the small space margin around the environment, the distance between the two sides of the hull and the shore wall is usually less than 2 meters, which is not easy to control, and it is more likely to cause collisions. At present, the movement of submersibles in narrow spaces mainly relies on manual movement and positioning for short distances. The process also involves the movement of the submersible, and the positioning effect by human traction is poor and the efficiency is low. Contents of the invention [0003] The technical problem to be solved by the presen...

Claims

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Application Information

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IPC IPC(8): B63B21/66G05D1/02
CPCB63B21/66G05D1/0206
Inventor 蒋兆翔王璨辉魏东刘才学代航阳阳林锋李翔崔璨
Owner NUCLEAR POWER INSTITUTE OF CHINA
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