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An automatic traction method and system for a submersible entering and exiting a tunnel

A technology for submersibles and tunnels, applied in control/regulation systems, instruments, non-electric variable control, etc., can solve problems such as poor positioning effect, difficult control, and difficulty in accessing specific narrow spaces to maintain ports, tunnels, and canals, etc. Achieve the effect of reducing labor costs, simplifying automatic calibration, improving positioning accuracy and traction efficiency

Active Publication Date: 2022-07-29
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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  • An automatic traction method and system for a submersible entering and exiting a tunnel
  • An automatic traction method and system for a submersible entering and exiting a tunnel
  • An automatic traction method and system for a submersible entering and exiting a tunnel

Examples

Experimental program
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Effect test

Embodiment 1

[0046] like figure 1 As shown, this embodiment provides an automatic towing method for a submersible entering and exiting a tunnel, including:

[0047]S10: Detect whether the object to be inspected on the submersible reaches 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 reaches the preset position of the tunnel entrance, obtain the distance of the object to be inspected through the distance sensor The distance on both sides of the tunnel.

[0048] The objects to be inspected on the submersible include the head and tail of the submersible. When the submersible drives into the tunnel, the object to be inspected is the head of the submersible; when the submersible leaves 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 and the two sides of the tunnel is greater ...

Embodiment 2

[0079] like Figure 5 As shown, this embodiment provides an automated towing system for submersibles entering and exiting tunnels that corresponds to the automated 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 Obtain the distance of the object to be inspected from both sides of the tunnel through the distance sensor.

[0081] The submersible traveling direction deviation determination module 20 is used for when the distance difference between the object to be inspected and the two sides of the tunnel is greater than the preset range, it means that the traveli...

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Abstract

The invention discloses an automatic traction method and system for entering and exiting a tunnel of a submersible. The method detects whether an object to be inspected on the submersible reaches a preset position of the tunnel entrance through distance sensors arranged on both sides of the tunnel. When the object reaches the preset position of the tunnel entrance, the distance between the object to be inspected and the two sides of the tunnel is obtained through the distance sensor. When the distance difference between the object to be inspected and the two sides of the tunnel is greater than the preset range, it means that the traveling direction of the submersible deviates and needs to be adjusted. ; Determine the towing parameters of the towing equipment based on the distance difference between the object to be inspected and the two sides of the tunnel, and safely tow the object to be inspected into the tunnel; when the object to be inspected enters the tunnel safely, the real-time running direction of the submersible is corrected according to the towing parameters. Until the submersible safely reaches the working position in the tunnel, the system can be automatically calibrated quickly and concisely, reducing labor costs and improving positioning accuracy and traction efficiency.

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 entering and exiting tunnels of submersibles. Background technique [0002] Due to the complex structure and large size of submersibles, it is difficult to access specific narrow spaces such as maintenance ports, tunnels, and canals. Due to the small space margin around the environment, the distance between the two sides of the hull from 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 short-distance movement and positioning, which is not only time-consuming and labor-intensive, but also ineffective. For larger submersibles, it takes as many as 200-300 people to pass through narrow spaces. Maintenance The process also involves the movement of the submersi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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