Self-adaptive water level amplitude variation navigation tunnel platform and navigation method thereof

Abstract

The navigation tunnel platform comprises a tunnel, a ship body located in the tunnel and return guide parts connected to the two sides of the tunnel, traction guide parts are arranged between the inlet ends and the outlet ends of the two return guide parts, each traction guide part is provided with a tractor, and the traction guide parts are connected with the ship body. The traction vehicle is connected with a traction rope which is connected with the ship body; the device further comprises a plurality of lifting parts, each lifting part comprises a lifting floating box connected to the lower end of the traction guide part, and a buoyancy adjusting part is connected to each lifting floating box. The height identification piece is used for identifying the height of the lifting piece and the ship body from the water surface. The device has the beneficial effects that the height of a tractor on the traction guide piece is adjusted by adjusting the lifting buoyancy tank, it is guaranteed that a traction rope is located at the optimal position, and then the ship body is stably dragged; through the arrangement of the height identification piece, the optimal navigable water level is obtained, so that reasonable adjustment of the height of the tractor on the traction guide piece is ensured.

Description

Technical Field

[0001] This invention belongs to the field of ship navigation technology, specifically relating to an adaptive water level variation navigation tunnel platform and its navigation method. Background Technology

[0002] Large-scale water conservancy projects are mostly built in high mountain valleys. By damming rivers, the complex shallows in these valleys can be transformed into deep-water channels with good navigation conditions. Through the construction of navigation structures, ships can overcome the head difference between the upstream and downstream of the dam, fully utilizing the benefits of deep-water channels and promoting the rapid development of shipping. Navigation tunnels are a common form of water conveyance in high mountain valleys, avoiding large-scale mountain excavation and suitable for areas with large terrain undulations and complex river conditions. Ships navigate through tunnels in two ways: self-propelled, where the ship relies on its own power to pass through the tunnel, and assisted navigation, where the ship is towed through the tunnel. Due to limitations in safety, tunnel size, ventilation, and lighting, assisted navigation offers greater maneuverability and reliability, and is more economical and safer than self-propelled navigation. However, ships venting through tunnels emit large amounts of smoke, and the relatively narrow tunnel dimensions severely impact the navigation experience. Traditional navigation tunnel assisted navigation often involves towing by a tractor. The tractor's direction of movement is controlled by a guide rail, and a tow rope is connected to the bow of the vessel to smoothly pull it in and out of the tunnel. However, in actual operation of navigation tunnels, the angle between the tow rope and the vessel often changes due to differences in vessel tonnage and draft. When the tow rope angle deviates from the optimal angle, it weakens the tractor's control over the vessel's navigation, increasing the risk of accidents. Furthermore, it increases the tension on the tow rope and the load on the traction motor, affecting the safety of the towing system. Summary of the Invention

[0003] This invention provides an adaptive water level variable navigation tunnel platform and its navigation method, aiming to solve the problem that existing navigation tunnels often rely on towing by tractors. Due to differences in the tonnage and draft of ships, the angle between the towing rope and the ship often changes, which can easily lead to accidents and affect the safety of the towing system.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An adaptive water level fluctuation navigation tunnel platform is provided, comprising a tunnel, a hull located within the tunnel, and return guide members connected to both sides of the tunnel. A traction guide member is provided between the inlet and outlet ends of each of the two return guide members. Each traction guide member is equipped with a tractor, and a traction rope is connected to the tractor and the traction rope is connected to the hull. The platform also includes several lifting components, each of which includes a lifting buoy connected to the lower end of the traction guide member. A buoyancy adjustment component is connected to the lifting buoy. Furthermore, a height identification component is provided to identify the height of the lifting components and the hull above the water surface.

[0005] Preferably, by setting a height recognition component, the height of the lifting component and the hull above the water surface can be identified. In conjunction with the lifting pontoon and buoyancy adjuster, the height of the lifting component can be automatically adjusted according to water level fluctuations, thereby adjusting the height of the tractor and enabling the tractor to tow the hull at the appropriate position. This ensures smooth passage of the vessel within the tunnel and reduces the need for manual adjustments and additional adjustment equipment due to water level changes.

[0006] Furthermore, each of the lifting components includes at least three lifting platform columns arranged in a vertical direction and lifting guide rails connected to the lifting platform columns, and the lifting float is slidably connected to the lifting guide rails.

[0007] Preferably, multiple vertically arranged lifting platform columns cooperate with each other to form a stable frame structure, which enhances the structural rigidity of the entire lifting component, ensuring that the lifting float can always run on the correct track and guaranteeing the reliability and durability of the adaptive water level regulation function.

[0008] Furthermore, a lifting rack is connected to the lifting guide rail, a float box fine-tuning motor is connected to the lifting float box, and a fine-tuning gear is connected to the drive end of the float box fine-tuning motor, the fine-tuning gear meshing with the lifting rack.

[0009] Preferably, a lifting rack is connected to the lifting guide rail, and the lifting float is equipped with a float fine-tuning motor and a fine-tuning gear connected to its drive end and meshing with the lifting rack. Through the meshing transmission between the fine-tuning gear and the lifting rack, the lifting float is driven to perform more precise lifting and fine-tuning. In addition, the float fine-tuning motor adopts a Kollmorgen TMBS series frameless torque motor such as TMBS-7615-A00 or is adapted according to requirements, which should also fall within the protection scope of this application.

[0010] Furthermore, the traction guide includes a traction platform connected to the lifting float and a traction rail connected to the traction platform. The tractor is connected to the traction rail. A connecting bracket is connected to the outside of the lifting float. The connecting bracket is connected to the traction platform. A platform railing is connected to the traction platform. The traction rope is laid on the platform railing.

[0011] Furthermore, the return guide includes a fixed platform connected to both sides of the tunnel and a return track connected to the fixed platform. The fixed platform and the return track are arranged in a C-shape, while the traction platform and the traction track are arranged in a straight line.

[0012] Furthermore, traffic tunnels are provided on both sides of the tunnel, and the return track is located inside the traffic tunnels; a corridor connects the tunnel and the traffic tunnels.

[0013] Furthermore, the buoyancy adjustment component includes a float tank drainage pump connected to the lifting float tank and a float tank drainage pipe connected to the float tank drainage pump. The outlet end of the float tank drainage pipe extends to the outside of the lifting float tank, and the inlet end of the float tank drainage pipe is located inside the lifting float tank. A float tank valve is connected to the lifting float tank.

[0014] Preferably, the selection of the drainage pump model based on the volume of the lifting pontoon, the required drainage rate, and the working environment (such as underwater depth and water corrosivity), such as the CLH100-65-8 marine vertical centrifugal pump or the ZW100-100-50 self-priming centrifugal pump, or adaptive adjustments as needed, should also fall within the scope of protection of this application.

[0015] Furthermore, the height recognition device includes a camera bracket connected to the tunnel entrance end and a high-definition camera connected to the camera bracket, the high-definition camera being electrically connected to a control computer.

[0016] Furthermore, the tractor is equipped with a vehicle body sensor for detecting position and speed, and the vehicle body sensor is electrically connected to the control computer.

[0017] On the other hand, a navigation method for a navigation tunnel platform with adaptive water level variation is provided, including the following steps: For different representative ship sizes, fleet sizes and current navigation water levels, conduct ship handling tests to determine the optimal traction platform height, and create a database of the optimal traction platform height for different representative ship types and fleets, which is then stored in the control computer for use when different representative ship types and fleets are used. When the vessel moves to the tunnel entrance, a high-definition camera will capture and identify the vessel, and transmit the data to the control computer for processing and identification to determine the vessel size and fleet size. If the data matches the declared vessel passage information, the vessel passage preparation work will be carried out. Based on the incoming vessel information, the optimal traction platform height data is retrieved from the control computer to adjust the traction platform position. Using the buoyancy of the water, the towing platform automatically adapts to the water depth during this navigation. Based on the distance between the current towing platform and the optimal towing platform position, it adjusts the opening or closing of the pontoon valves and coordinates with the pontoon drain pump to fill and drain water. When the platform position is lower than the optimal position, the pontoon valves are closed and the pontoon drain pump is turned on to drain excess water from the lifting pontoon, allowing the towing platform to rise to the optimal position. When the towing platform position is higher than the optimal position, the pontoon drain pump is turned off and the pontoon valves are opened to fill water, allowing the towing platform to descend to the optimal position. When the traction platform is moved to near the optimal position, start the float box fine-tuning motor to precisely adjust the height of the traction platform and ensure that the platform is in the optimal position; After completing the position adjustment, turn off the float box fine-tuning motor to lock the position of the traction platform; The tractor unit connects the tow rope to the hull and pulls the hull from the tunnel entrance to the exit. The tractor unit then uses sensors on the hull and a control computer to control the position and speed of the hull, thus completing the navigation process.

[0018] The advantages of this invention compared to the prior art are: 1. Adjust the height of the traction vehicle on the traction guide by adjusting the lifting float to ensure that the traction rope is in the optimal position, thereby stabilizing the hull. 2. By setting up height recognition devices, ship type information and water level information can be monitored when the ship approaches the navigation tunnel. The information is then transmitted to a computer via a signal transmission fiber optic cable to calculate the optimal navigation water level, thereby ensuring reasonable adjustment of the height of the tractor on the traction guide. Attached Figure Description

[0019] Figure 1 A schematic diagram of the plan structure of an adaptive water level variation navigation tunnel platform provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of a navigation tunnel platform with adaptive water level variation provided in an embodiment of the present invention; Figure 3 for Figure 2 Enlarged structural diagram at point Q; Figure 4 A schematic diagram of the lifting component in an adaptive water level variation navigation tunnel platform provided in an embodiment of the present invention; Figure 5 for Figure 4 Enlarged structural diagram at point W; Figure 6 This is a schematic diagram of the lifting rack and fine-tuning gear in an adaptive water level variable navigation tunnel platform provided in an embodiment of the present invention.

[0020] Explanation of reference numerals in the attached figures: 1. Tunnel; 11. Access tunnel; 12. Corridor; 2. Hull; 3. Return guide component; 31. Fixed platform; 32. Return track; 4. Traction guide components; 41. Tractor; 411. Vehicle body sensors; 42. Towing rope; 43. Towing platform; 44. Towing track; 45. Platform railing; 5. Lifting components; 51. Lifting float; 52. Lifting platform column; 53. Lifting guide rail; 54. Lifting rack; 55. Float fine-tuning motor; 56. Fine-tuning gear; 57. Connecting bracket; 6. Buoyancy adjustment components; 61. Float box drainage pump; 62. Float box drainage pipe; 63. Float box valve; 64. Float box inlet pump; 7. Height identification component; 71. Camera bracket; 72. High-definition camera; 73. Control computer. Detailed Implementation

[0021] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0022] See Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this invention discloses an adaptive water level fluctuation navigation tunnel platform, including a tunnel 1, a hull 2 ​​located within the tunnel 1, and return guide members 3 connected to both sides of the tunnel 1. A traction guide member 4 is provided between the inlet and outlet ends of each of the two return guide members 3. Each traction guide member 4 is equipped with a tractor 41, and a traction rope 42 is connected to the tractor 41 and connected to the hull 2. The platform also includes several lifting members 5, each including a lifting buoy 51 connected to the lower end of the traction guide member 4, and a buoyancy adjustment member 6 connected to the lifting buoy 51. Furthermore, it includes a height identification member 7 for identifying the height of the lifting members 5 and the hull 2 ​​above the water surface.

[0023] In this embodiment, the height data of the lifting component 5 and the hull 2 ​​above the water surface are obtained in real time by the height recognition component 7. The buoyancy adjustment component 6 is used to adjust the water filling and emptying of the lifting pontoon 51. This can drive the traction guide component 4 and the traction vehicle 41 to flexibly adjust their height according to the water level changes, ensuring that the traction rope 42 is always in the optimal traction position. This effectively avoids problems such as traction angle deviation and uneven traction force caused by water level fluctuations, and significantly improves the stability and safety of the hull 2 ​​in the tunnel 1. In addition, the inlet and outlet of tunnel 1 only indicate the direction of movement of the ship hull 2 ​​into tunnel 1. Both ends of tunnel 1 can be used for entry and exit, so when one end is the inlet, the other end is the outlet.

[0024] See Figure 4 and Figure 5 As shown, in some embodiments, each of the lifting components 5 includes at least three lifting platform columns 52 arranged in a vertical direction and lifting guide rails 53 connected to the lifting platform columns 52, and the lifting float 51 is slidably connected to the lifting guide rails 53.

[0025] In this embodiment, at least three vertically arranged lifting platform columns 52 form a stable support frame to prevent tilting and swaying during lifting; the lifting float 51 slides along the lifting guide rail 53 to constrain the lifting trajectory and ensure that the traction guide 4 and the traction vehicle 41 lift vertically, avoiding deviation of the traction angle due to lifting offset.

[0026] See Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, a lifting rack 54 is connected to the lifting guide rail 53, a float box fine adjustment motor 55 is connected to the lifting float box 51, and a fine adjustment gear 56 is connected to the drive end of the float box fine adjustment motor 55. The fine adjustment gear 56 meshes with the lifting rack 54.

[0027] In this embodiment, the float box fine adjustment motor 55 drives the fine adjustment gear 56 to mesh along the lifting rack 54, which can finely adjust the lifting position of the lifting float box 51 and make up for the accuracy deviation that may exist if the adjustment is solely based on buoyancy. In addition, the float box fine-tuning motor 55 can be a stepper motor or a servo motor, so that it can maintain a fixed position when self-locking is required, and the movement of the lifting float box 51 when unlocking will not affect the service life of the motor.

[0028] See Figures 1 to 6As shown, in some embodiments, the traction guide 4 includes a traction platform 43 connected to the lifting float 51 and a traction rail 44 connected to the traction platform 43. The tractor 41 is connected to the traction rail 44. A connecting bracket 57 is connected to the outside of the lifting float 51. The connecting bracket 57 is connected to the traction platform 43. A platform railing 45 is connected to the traction platform 43. The traction rope 42 is laid on the platform railing 45.

[0029] In this embodiment, the connecting bracket 57 provides support for the traction platform 43 and the lifting float 51, improving the overall structural rigidity; the traction rail 44 can constrain the running trajectory of the traction vehicle 41, ensuring that the traction vehicle 41 moves smoothly in the set direction; the platform railing 45 not only provides safety protection for the traction platform 43, but also guides and limits the traction rope 42, and can also connect a sliding sleeve on the platform railing 45, with the traction rope 42 laid on the sliding sleeve to avoid friction between the traction rope 42 and the platform.

[0030] See Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, the return guide 3 includes a fixed platform 31 connected to both sides of the tunnel 1 and a return track 32 connected to the fixed platform 31. The fixed platform 31 and the return track 32 are arranged in a C-shape, and the traction platform 43 and the traction track 44 are arranged in a straight line.

[0031] In this embodiment, the entire track system is O-shaped to achieve traction of the hull 2 ​​during reciprocating cyclical movement.

[0032] See Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, traffic tunnels 11 are provided on both sides of the tunnel 1, and the return track 32 is located in the traffic tunnel 11; a corridor 12 connects the tunnel 1 and the traffic tunnel 11.

[0033] In this embodiment, the traffic tunnel 11 is used for the arrangement of the return track 32, and the two ends of the corridor 12 are connected to the return track 32 and the traction track 44 respectively, which facilitates the operation of the maintenance personnel.

[0034] See Figure 4 and Figure 5As shown, in some embodiments, the buoyancy adjustment component 6 includes a float tank drainage pump 61 connected to the lifting float 51 and a float tank drainage pipe 62 connected to the float tank drainage pump 61. The outlet end of the float tank drainage pipe 62 extends to the outside of the lifting float 51, and the inlet end of the float tank drainage pipe 62 is located inside the lifting float 51. A float tank valve 63 is connected to the lifting float 51.

[0035] In this embodiment, the float tank drainage pump 61 can actively drain the water in the lifting float tank 51. With the switching control of the float tank valve 63, the water volume in the tank can be adjusted, thereby regulating the buoyancy. The inlet end of the float tank drainage pipe 62 is located inside the tank, and the outlet end extends to the outside, which improves the drainage efficiency. In addition, a float tank inlet pump 64 can be installed to pump external water into the lifting float tank 51 by turning on the float tank inlet pump 64.

[0036] See Figure 1 As shown, in some embodiments, the height recognition device 7 includes a camera bracket 71 connected to the entrance end of the tunnel 1 and a high-definition camera 72 connected to the camera bracket 71. The high-definition camera 72 is electrically connected to a control computer 73.

[0037] In this embodiment, the high-definition camera 72 can collect image data of the water level, the lifting component 5, and the hull 2, and transmit the data to the control computer 73 via electrical signals. The control computer 73 can analyze and process the image data to obtain the height of each component above the water surface.

[0038] See Figure 1 , Figure 4 and Figure 5 As shown, in some embodiments, the tractor 41 is equipped with a vehicle body sensor 411 for detecting position and speed, and the vehicle body sensor 411 is electrically connected to the control computer 73.

[0039] In this embodiment, the vehicle body sensor 411 can collect the running position and speed data of the tractor 41 in real time and transmit it synchronously to the control computer 73, complementing the water level and hull height data collected by the height recognition device 7. The control computer 73 can perform comprehensive analysis based on the two types of data to regulate the running status of the tractor 41, avoiding problems such as excessively fast or slow traction speed or position deviation, and realizing closed-loop control of traction operation. At the same time, when the tractor 41 experiences abnormal speed or position deviation, the vehicle body sensor 411 can promptly provide feedback data, facilitating the control computer 73 to quickly issue adjustment or braking commands, further improving the safety and stability of traction operation.

[0040] On the other hand, a navigation method for a navigation tunnel platform with adaptive water level variation is provided, including the following steps: For different representative ship hull 2 ​​sizes, fleet sizes and current navigation water levels, ship handling tests are conducted to determine the optimal traction platform 43 height. A database of the optimal traction platform 43 height for different representative ship types and fleets is created and stored in the control computer 73 for use when different representative ship hulls 2 and fleets are used. When the ship 2 moves to the entrance of the tunnel 1, the high-definition camera 72 takes pictures of the ship 2 and identifies it. The data is then transmitted to the control computer 73 for processing and identification. The size of the ship 2 and the fleet size are determined. When they are consistent with the declared ship passage information, the ship passage preparation work is carried out. Based on the incoming ship information, the optimal height data of the traction platform 43 in the control computer 73 is retrieved to adjust the position of the traction platform 43. Using the buoyancy of the water, the towing platform 43 automatically adapts to the water depth during this navigation. Based on the distance between the current towing platform 43 and the optimal towing platform 43 position, the pontoon valve 63 is opened or closed, and the pontoon drainage pump 61 is used to fill and drain water. When the platform position is lower than the optimal position, the pontoon valve 63 is closed, and the pontoon drainage pump 61 is turned on to drain excess water from the lifting pontoon 51, so that the towing platform 43 rises to the optimal position. When the towing platform 43 is higher than the optimal position, the pontoon drainage pump 61 is closed, and the pontoon valve 63 is opened to fill water, so that the towing platform 43 descends to the optimal position. When the traction platform 43 is moved to near the optimal position, the float box fine adjustment motor 55 is started to precisely adjust the height of the traction platform 43 to ensure that the platform is in the optimal position; After completing the position adjustment, turn off the float box fine adjustment motor 55 to lock the position of the traction platform 43; The traction rope 42 on the tractor 41 is connected to the hull 2, and the tractor 41 pulls the hull 2 ​​from the entrance end of the tunnel 1 to the exit end. The position and speed of the hull 2 ​​are controlled by the vehicle sensor 411 and the control computer 73, thus completing the navigation.

[0041] The advantages of this invention compared to the prior art are: 1. Adjust the height of the traction vehicle on the traction guide by adjusting the lifting float to ensure that the traction rope is in the optimal position, thereby stabilizing the hull. 2. By setting up height recognition devices, ship type information and water level information can be monitored when the ship approaches the navigation tunnel. The information is then transmitted to a computer via a signal transmission fiber optic cable to calculate the optimal navigation water level, thereby ensuring reasonable adjustment of the height of the tractor on the traction guide.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive water level variable navigation tunnel platform, comprising a tunnel (1), a hull (2) located within the tunnel (1), and return guide components (3) connected to both sides of the tunnel (1), characterized in that, A traction guide (4) is provided between the inlet and outlet ends of the two return guides (3). Each traction guide (4) is equipped with a tractor (41), and a traction rope (42) is connected to the tractor (41). The traction rope (42) is connected to the hull (2). The system also includes several lifting components (5), each of which includes a lifting buoy (51) connected to the lower end of the traction guide (4). A buoyancy adjustment component (6) is connected to the lifting buoy (51). The system also includes a height identification component (7) for identifying the height of the lifting components (5) and the hull (2) above the water surface.

2. The adaptive water level variation navigation tunnel platform as described in claim 1, characterized in that, Each of the lifting components (5) includes at least three lifting platform columns (52) arranged in a vertical direction and lifting guide rails (53) connected to the lifting platform columns (52), and the lifting float (51) is slidably connected to the lifting guide rails (53).

3. The adaptive water level variation navigation tunnel platform as described in claim 2, characterized in that, A lifting rack (54) is connected to the lifting guide rail (53), and a float box fine adjustment motor (55) is connected to the lifting float box (51). A fine adjustment gear (56) is connected to the drive end of the float box fine adjustment motor (55), and the fine adjustment gear (56) meshes with the lifting rack (54).

4. The adaptive water level variation navigation tunnel platform as described in claim 3, characterized in that, The traction guide (4) includes a traction platform (43) connected to the lifting float (51) and a traction rail (44) connected to the traction platform (43). The tractor (41) is connected to the traction rail (44). A connecting bracket (57) is connected to the outside of the lifting float (51). The connecting bracket (57) is connected to the traction platform (43). A platform railing (45) is connected to the traction platform (43). The traction rope (42) is laid on the platform railing (45).

5. The adaptive water level variation navigation tunnel platform as described in claim 4, characterized in that, The return guide (3) includes a fixed platform (31) connected to both sides of the tunnel (1) and a return track (32) connected to the fixed platform (31). The fixed platform (31) and the return track (32) are arranged in a C-shape, and the traction platform (43) and the traction track (44) are arranged in a straight line.

6. The adaptive water level variation navigation tunnel platform as described in claim 4, characterized in that, Traffic tunnels (11) are provided on both sides of the tunnel (1), and the return track (32) is located in the traffic tunnel (11); a corridor (12) connects the tunnel (1) and the traffic tunnel (11).

7. The adaptive water level variation navigation tunnel platform as described in claim 6, characterized in that, The buoyancy adjustment component (6) includes a float tank drainage pump (61) connected to the lifting float tank (51) and a float tank drainage pipe (62) connected to the float tank drainage pump (61). The outlet end of the float tank drainage pipe (62) extends to the outside of the lifting float tank (51), and the inlet end of the float tank drainage pipe (62) is located inside the lifting float tank (51). A float tank valve (63) is connected to the lifting float tank (51).

8. The adaptive water level variation navigation tunnel platform as described in claim 6, characterized in that, The height recognition device (7) includes a camera bracket (71) connected to the entrance end of the tunnel (1) and a high-definition camera (72) connected to the camera bracket (71). The high-definition camera (72) is electrically connected to a control computer (73).

9. The adaptive water level variation navigation tunnel platform as described in claim 8, characterized in that, The tractor (41) is equipped with a vehicle body sensor (411) for detecting position and speed, and the vehicle body sensor (411) is electrically connected to the control computer (73).

10. A navigation method for an adaptive water level variation navigation tunnel platform as described in any one of claims 1 to 9, characterized in that, Includes the following steps: For different representative ship hull (2) sizes, fleet sizes and current navigation water levels, conduct ship handling tests to determine the optimal traction platform (43) height, and create a database of the optimal traction platform (43) height for different representative ship types and fleets, which is then stored in the control computer (73) for use when different representative ship hulls (2) and fleets are involved. When the hull (2) moves to the entrance of the tunnel (1), the high-definition camera (72) takes pictures of the hull (2) and transmits the data to the control computer (73) for processing and identification. The size of the hull (2) and the scale of the fleet are determined. When they are consistent with the declared data for passing the ship, the preparation work for passing the ship is carried out. Based on the incoming ship information, the optimal traction platform (43) height data in the control computer (73) is retrieved to adjust the position of the traction platform (43); Using the buoyancy of the water, the traction platform (43) automatically adapts to the water depth during this navigation. Based on the distance between the current traction platform (43) and the optimal traction platform (43) position, the pontoon valve (63) is opened or closed, and the pontoon drainage pump (61) is used to fill and drain water. When the platform position is lower than the optimal position, the pontoon valve (63) is closed, and the pontoon drainage pump (61) is turned on to drain the excess water in the lifting pontoon (51) so that the traction platform (43) rises to the optimal position. When the traction platform (43) position is higher than the optimal position, the pontoon drainage pump (61) is turned off, and the pontoon valve (63) is opened to fill water so that the traction platform (43) descends to the optimal position. When the traction platform (43) is moved to the vicinity of the optimal position, the float box fine adjustment motor (55) is started to precisely adjust the height of the traction platform (43) to ensure that the platform is in the optimal position; After the position adjustment is completed, turn off the float box fine adjustment motor (55) to lock the position of the traction platform (43); Connect the towing rope (42) on the tractor (41) to the hull (2), and use the tractor (41) to pull the hull (2) from the entrance end of the tunnel (1) to the exit end. Through the cooperation of the vehicle sensor (411) and the control computer (73), control the position and speed of the hull (2) to complete the navigation.

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