Method for avoiding barriers in navigation at tubular water area in underground draining laneway

A roadway and tubular technology, which is applied in the field of navigation obstacle avoidance, can solve the problems of weak obstacle avoidance ability, difficult operation, and poor practicability, so as to reduce the difficulty of search and rescue, high safety and reliability, and reduce the difficulty of driving and operation Effect

Active Publication Date: 2015-04-15
CHINA SHIP DEV & DESIGN CENT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, other navigation devices such as submersible or pneumatic stepping are usually used to pass. This kind of navigation device is very difficult to operate, and the obstacle avoidance ability is not strong, and the practicability is not strong.

Method used

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  • Method for avoiding barriers in navigation at tubular water area in underground draining laneway
  • Method for avoiding barriers in navigation at tubular water area in underground draining laneway
  • Method for avoiding barriers in navigation at tubular water area in underground draining laneway

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Embodiment Construction

[0029] Below with reference to accompanying drawing, through the description to embodiment, to the specific embodiment of the present invention such as the shape of each member involved, structure, mutual position and connection relationship between each part, the effect of each part and working principle, make further Detailed explanation.

[0030] Such as figure 1 As shown, the navigation device involved in the implementation of the present invention includes a watertight cabin and a non-watertight cabin 16, and the described watertight cabin is equipped with a driver's cab 15; the described non-watertight cabin 16 has two, respectively Located at the front and rear of the watertight cabin; a retractable and foldable guiding mechanism 1 is provided on the top of the watertight cabin; an underwater propulsion mechanism 2 is provided on both sides of the watertight cabin; Image sonar 3, submersible infrared camera front end 4, an adjustment water tank system 5 for adjusting t...

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Abstract

The invention discloses a method for avoiding barriers in navigation at a tubular water area in an underground draining laneway. The method is characterized by comprising the following steps in sequence: a navigation device comprises a watertight compartment, a non-watertight compartment, a guide mechanism which can telescopically return, an underwater propulsion mechanism and a water compartment adjusting system are arranged; after the navigation device is driven water, the underwater propulsion mechanism is started; and the navigation device is adjusted by a water compartment adjusting device so as to ensure that the guide mechanism is in contact with the top part of the laneway by a proper positive buoyancy, so that the guide mechanism navigates by being in contact with the top of the laneway. According to the method, the navigation area with relatively few barriers is selected, so that the difficulty in driving and operating can be lowered, and high reliability in driving at the tubular water area can be realized; and relatively few barriers are contained in the area at the top part, so that the safety and the reliability are relatively high.

Description

technical field [0001] The invention relates to a method for navigating and avoiding obstacles in the tubular waters of underground permeable roadways. Background technique [0002] The underground operation roadways are criss-crossed and the routes are complex. The cross-section of the roadway is door frame-shaped, with a cross-sectional area of ​​5㎡~9㎡. After the water is permeable, the bottom is sealed by water, and the water quality in the roadway is relatively turbid. There may be debris such as mine cars, brackets, and silt at the bottom of the roadway. There may also be floating sleepers on top. At present, navigation devices of other modes such as submersible or pneumatic stepping are usually used to pass. This navigation device is very difficult to operate, has weak obstacle avoidance ability, and is not strong in practicability. [0003] Therefore, there is a need for a permeable roadway that is easy to operate in a narrow, dark and complex environment, and can ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63C11/52E21F11/00
Inventor 葛萌萌祝海勇王威陈将涛许东辉
Owner CHINA SHIP DEV & DESIGN CENT
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