CN102289229A - Method for safe driving on frozen water and tool for executing safe navigation thereof - Google Patents
Method for safe driving on frozen water and tool for executing safe navigation thereof Download PDFInfo
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- CN102289229A CN102289229A CN2011101163500A CN201110116350A CN102289229A CN 102289229 A CN102289229 A CN 102289229A CN 2011101163500 A CN2011101163500 A CN 2011101163500A CN 201110116350 A CN201110116350 A CN 201110116350A CN 102289229 A CN102289229 A CN 102289229A
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- vehicle
- ice sheet
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- tool car
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Abstract
The invention discloses a method for safe driving on frozen water and a tool for executing safe navigation thereof. The method mainly comprises the following steps of: finding the road ahead by a driver of a vehicle (P) driving on the frozen water by using a light tool vehicle (2) for executing safe navigation, and timely reporting measured thickness and width data of the ice sheet to a driver of the follow vehicle (P) in a wireless transmission manner; A, if the driver of the vehicle (P) knows that the forward ice sheet (a) is suitable for the vehicle (P) to pass, making the vehicle (P) drive forward continuously; B, if the driver of the vehicle (P) knows that the forward ice sheet (a) is not suitable for the vehicle (P) to pass, promptly reporting the light tool vehicle (2) in the wireless transmission manner to drive on another road, finding the road again and making the vehicle (P) drive on another road. The tool vehicle (2) for executing safe navigation of the method has a simple structural principle which is realized by mainly measuring the thickness and width of the ice sheet (a) through an ice thickness measuring probe (1) and controlling different operation manners of measuring data.
Description
Technical field
The present invention relates to the method for safe driving on water surface ice sheet and the instrument of execution safety navigation thereof.
Background technology
All the time, in the middle of the driver drives to cross the process of riverbed ice sheet or coastal waters ice sheet, owing to do not know the concrete condition of zones of different ice layer thickness, tend to take place the incident that people and Che fall into the thin position of ice cave (causing the thin excessively phenomenon of this zone ice sheet owing to the reason such as eddy current one class causes the ice sheet bottom to form the hole) or ice sheet (partial water of ice sheet bottom flow through anxious due to).
People have known the thickness that many scientific approachs can be measured ice, for example, utilize the thickness measurement technology of technology such as ultrasound wave and optics to ice, especially wherein utilize the related instrument and equipment of the method for ultrasonic measurement ice thickness degree simple and volume that take is less.
Present wireless communication technology is quite flourishing, and any measurement data information and control information can directly send to in-plant destination by the wireless radio transmission mode.
Summary of the invention
The present invention's purpose:
A kind of method of safe driving on water surface ice sheet is proposed exactly and in order to realize the version of the safety navigation instrument that this method is utilized.
Key of the present invention is:
Propose to utilize the safety navigation tool car that is provided with water surface measuring of ice thickness instrument to come the guided vehicle driver to be suitable for a kind of method of safety traffic on the eisbahn of load-carrying at the water surface and carry out the version of the tool car of this safety navigation method.
Characteristics of the present invention:
Because the present invention can help the vehicle driver in time to grasp the overview of the place ahead ice face, promptly obtain the overview of the thickness (the load-bearing demand of vehicle) and the width (the width demand of vehicle) thereof of ice sheet, this is with regard to for helping the driver in time to avoid to ice cave (being caused by under water eddy current) or the thin zone (the underwater high-speed current by regional area cause) of ice sheet to create condition, has promptly created condition for improving on ice traveling security (it is perfectly safe to be in close proximity to).
Description of drawings
Fig. 1 has illustrated the navigation overview of the present invention on ice sheet; Fig. 2 has illustrated of the present invention in concrete traffic route (illustrating with vertical view) of when navigation.
1: very near ice face Thicknesser probe from the ice sheet surface; 2: the light-duty tool car of safety navigation; 3. trundle; 4. the controlled general orientation of advancing of exploring the way of the light-duty tool car of safety navigation: 5. " Z " font driving trace of under the general orientation framework of advancing, setting; A: ice sheet; B: water body; C: riverbed or seashore bottom surface; P: vehicle.
Embodiment
As shown in Figure 1, when certain driver's steering vehicle P need assist to cross certain bar riverbed water surface ice sheet a, promptly when realizing the purpose of foregoing invention, can adopt following technology:
The above-mentioned vehicle P driver who travels on water surface ice sheet a utilizes remote control to determine that the light-duty tool car 2 of carrying out safety navigation explores the way in front, under the prerequisite that the general orientation of advancing by remote control of this light-duty tool car 2 is determined, this light-duty tool car 2 is just realized the above-mentioned general orientation 4 of advancing in the mode of " Z " font driving trace 5, and the width that in the middle of these light-duty tool car 2 whole processes of travelling, measures the thickness of ice sheet a continuously and derive this thickness ice sheet a, and, at any time with above-mentioned thickness that relates to ice sheet a and the width data that obtains, circular is given and is followed this advance general orientation and driver of to overtake vehicle P in the back;---above-mentioned " remote control " is wireless transmission with the optimised form of " circular ".
Describedly explore the way in front that to advance under the framework of general orientation 4 according to " Z " font driving trace 5 be to be determined by the straightaway path length of above-mentioned light-duty tool car 2 and corresponding the two key element of angle of turn next: adopt by the computing machine mode of the good said two devices of program setting in advance, perhaps, adopt the mode of determining said two devices by vehicle P driver according to range estimation.---the driving trace 5 that is somebody's turn to do " Z " font relates to the general orientation 4 of advancing that guided vehicle P will follow, and the minimum widith that has under these general orientation 4 frameworks of advancing, just:
Described width under general orientation 4 frameworks of advancing should equal the frontal width of the vehicle P that navigated at least.
In the whole driving process of vehicle P:
If A., it is current that vehicle P driver learns that the ice sheet a in the place ahead is suitable for this vehicle P, just allows this vehicle P along with the general orientation 4 of advancing of this light-duty tool car 2 continues to travel;
If B., vehicle P driver learns that the ice sheet a in the place ahead is not suitable for this vehicle P current (be certainly have at least among the two data of width of the ice sheet a thickness that measures and derivation wherein undesirable), just this light-duty tool car 2 of remote control is in time changed its original general orientation 4 of advancing, promptly turning changes its course surveys and travels, and the vehicle P that is navigated also turns to change its course thereupon and travels.
Carry out the version of safety navigation tool car:
The preceding bottom of C. carrying out the light-duty tool car 2 of safety navigation is provided with by ice face Thicknesser probe 1 supersonic thickness meter control or optical thickness gauge control.---the instrument and equipment of employing control ice sheet a Thicknesser probe 1 belongs to the ultrasound wave ice sheet a thicknessmeter or the optics ice sheet a thicknessmeter of prior art among the present invention, generally needn't be very high to the requirement of its measuring accuracy; The body design of this light-duty tool car 2 can be controlled at about about half cubic metre, or littler.
D. carry out to have installed on the light-duty tool car 2 of safety navigation and be wireless transmission and the wireless transmission system that is provided with by wireless remote control (to the thickness of vehicle P transmission ice sheet a and width data or/and image) and wireless receiving system (reception vehicle P is to the telecommand of oneself).---the wireless transmitting/receiving system system that is arranged on this light-duty tool car 2 should be nonvolatil, and the wireless transmitting/receiving system that is arranged on driver the place ahead in the vehicle P should be a provisional configuration, when vehicle P finish cross certain bar river or coastal waters water surface ice sheet a after, it can be taken off and surrender, need the driver of its other vehicles P use after allowing.
Claims (4)
1. the method for a safe driving on water surface ice sheet,
Have: vehicle (P) and driver thereof on water surface ice sheet (a) travel;
It is characterized in that:
Above-mentioned vehicle (P) driver who travels on water surface ice sheet (a) utilizes remote control to determine that the light-duty tool car (2) of carrying out safety navigation explores the way in front, under the prerequisite that the general orientation of advancing by remote control of this light-duty tool car (2) is determined, this light-duty tool car (2) is just realized the above-mentioned general orientation of advancing (4) in the mode of " Z " font driving trace (5), and in the middle of the whole process of travelling of this light-duty tool car (2), measure the thickness of ice sheet (a) continuously and derive the width of this thickness ice sheet (a), and, at any time with the above-mentioned thickness and the width data that relate to ice sheet (a) that obtains, circular is given and is followed this in the back and advance general orientation and the driver of the vehicle (P) that travels;
In the whole driving process of vehicle (P):
If A., it is current that vehicle (P) driver learns that the ice sheet (a) in the place ahead is suitable for this vehicle (P), just allows this vehicle (P) along with the general orientation of advancing (4) of this light-duty tool car (2) continues to travel;
If B., it is current that vehicle P driver learns that the ice sheet (a) in the place ahead is not suitable for this vehicle (P), just in time remote control this light-duty tool car (2) is changed its original general orientation of advancing (4), and promptly turning changes its course surveys and travel, and the vehicle (P) that is navigated also thereupon turning change its course and travel.
2. the method for a safe driving on water surface ice sheet according to claim 1, it is characterized in that: describedly explore the way in front that to advance under the framework of general orientation (4) according to " Z " font driving trace (5) be to be determined by the straightaway path length of above-mentioned light-duty tool car (2) and corresponding the two key element of angle of turn next: adopt by the computing machine mode of the good said two devices of program setting in advance, perhaps, adopt the mode of determining said two devices by vehicle (P) driver according to range estimation.
3. the method for a safe driving on water surface ice sheet according to claim 1 is characterized in that: described advance the width under general orientation (4) framework of exploring the way in front equals the frontal width of the vehicle (P) that navigated at least.
4. the method for a safe driving on water surface ice sheet according to claim 1 relies on the light-duty tool car of carrying out safety navigation,
It is characterized in that:
The preceding bottom of C. carrying out the light-duty tool car (2) of safety navigation is provided with the ice face Thicknesser probe of being controlled by thicknessmeter (1);
D. carry out that to have installed on the light-duty tool car (2) of safety navigation be wireless transmission and the wireless transmission system and the wireless receiving system that are provided with by wireless remote control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101163500A CN102289229A (en) | 2011-04-29 | 2011-04-29 | Method for safe driving on frozen water and tool for executing safe navigation thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101163500A CN102289229A (en) | 2011-04-29 | 2011-04-29 | Method for safe driving on frozen water and tool for executing safe navigation thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102289229A true CN102289229A (en) | 2011-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101163500A Pending CN102289229A (en) | 2011-04-29 | 2011-04-29 | Method for safe driving on frozen water and tool for executing safe navigation thereof |
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| CN (1) | CN102289229A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0322110A (en) * | 1989-06-20 | 1991-01-30 | Shinko Electric Co Ltd | Mobile robot |
| JPH0466364A (en) * | 1990-07-05 | 1992-03-02 | Tokyo Electric Power Co Inc:The | In-pipe travelling robot |
| JPH066364A (en) * | 1992-06-22 | 1994-01-14 | Hitachi Cable Ltd | Automatic recognition method for mounted expansion board |
| EP0805952B2 (en) * | 1994-10-07 | 2003-10-15 | Siemens Aktiengesellschaft | Navigation device for people |
| CN201508493U (en) * | 2009-03-16 | 2010-06-16 | 厦门矿通科技有限公司 | No-man control system of mine locomotive |
| CN201569919U (en) * | 2009-12-10 | 2010-09-01 | 西安理工大学 | Intelligent exploration trolley |
-
2011
- 2011-04-29 CN CN2011101163500A patent/CN102289229A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0322110A (en) * | 1989-06-20 | 1991-01-30 | Shinko Electric Co Ltd | Mobile robot |
| JPH0466364A (en) * | 1990-07-05 | 1992-03-02 | Tokyo Electric Power Co Inc:The | In-pipe travelling robot |
| JPH066364A (en) * | 1992-06-22 | 1994-01-14 | Hitachi Cable Ltd | Automatic recognition method for mounted expansion board |
| EP0805952B2 (en) * | 1994-10-07 | 2003-10-15 | Siemens Aktiengesellschaft | Navigation device for people |
| CN201508493U (en) * | 2009-03-16 | 2010-06-16 | 厦门矿通科技有限公司 | No-man control system of mine locomotive |
| CN201569919U (en) * | 2009-12-10 | 2010-09-01 | 西安理工大学 | Intelligent exploration trolley |
Non-Patent Citations (1)
| Title |
|---|
| 杨汉塘: "GR_115型测量淡水冰的雷达雪地车", 《水利水文自动化》, no. 1, 31 December 1995 (1995-12-31), pages 45 * |
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| ASS | Succession or assignment of patent right |
Owner name: CHINA JILIANG UNIVERSITY Free format text: FORMER OWNER: LIANG JIALIN Effective date: 20121115 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20121115 Address after: Hangzhou City, Zhejiang province 310018 Xiasha College of mechanical and electrical engineering China Jiliang University Applicant after: China Jiliang University Address before: Hangzhou City, Zhejiang province 310018 Xiasha College of mechanical and electrical engineering China Jiliang University Applicant before: Liang Jialin |
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| C12 | Rejection of a patent application after its publication | ||
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Application publication date: 20111221 |