CN108725716A - Prewiring rail diving system and diving experiencing system - Google Patents
Prewiring rail diving system and diving experiencing system Download PDFInfo
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- CN108725716A CN108725716A CN201810716764.9A CN201810716764A CN108725716A CN 108725716 A CN108725716 A CN 108725716A CN 201810716764 A CN201810716764 A CN 201810716764A CN 108725716 A CN108725716 A CN 108725716A
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- rail
- submersible
- armful
- line rail
- navigation channel
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- 230000009189 diving Effects 0.000 title claims abstract description 71
- 238000004891 communication Methods 0.000 claims abstract description 46
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 11
- 230000003287 optical effect Effects 0.000 claims description 5
- 230000005489 elastic deformation Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000008878 coupling Effects 0.000 abstract description 9
- 238000010168 coupling process Methods 0.000 abstract description 9
- 238000005859 coupling reaction Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000000366 juvenile effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000251730 Chondrichthyes Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Theoretical Computer Science (AREA)
- Business, Economics & Management (AREA)
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- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The embodiment of the present application provides a kind of prewiring rail diving system and experiencing system of diving under water.Prewiring rail diving system includes submersible, communication line rail, multistage navigation channel line rail, first armful of rail device, second armful of rail device and line rail power supply.Submersible is for carrying out diving under water running under water and acquiring live data information in real time, and line rail power supply is electrically connected with communication line rail and multistage navigation channel line rail respectively, for being communication line rail and the power supply of multistage navigation channel line rail.Communication line rail keeps the setting of preset distance interval with submersible or contacts setting with submersible, is communicated for being magnetically coupled with submersible.Multistage navigation channel line rail is arranged along the operating path of submersible.Submersible is connected to navigation channel line rail by first armful of rail device, navigation channel line rail is fixed by second armful of rail device with external environment, thus, submersible can under water dive under water along navigation channel line rail and move, and diving live data is ashore sent by the communication line rail of magnetic coupling communication, to realize submersible dive video real-time live broadcast demand.
Description
Technical field
This application involves diving direct seeding technique fields, in particular to a kind of prewiring rail diving system and submerged body
Check system.
Background technology
Diving outfit has the abilities such as underwater observation and operation, can be used for executing underwater investigation, sea floor exploration, seabed are opened
The tasks such as hair and salvaging, lifesaving, and the movable underwater operation base of diver can be used as.
Many scenes have unmanned submersible's dive video real-time live broadcast demand at present.Such as：It is unsuitable for the juvenile, old of diving
Year people, patient think experience diving；Experience diving is thought when natural environment is bad；Wish that experience is dived under water in more dangerous environment；
Repair apparatus is needed when natural environment is bad；Do not think experience diving etc. but by the sea.How to realize and meet the demand, is this
Field technology personnel technical problem urgently to be resolved hurrily.
Invention content
In order to overcome above-mentioned deficiency in the prior art, the application's is designed to provide a kind of prewiring rail diving system
And diving experiencing system, to solve or improve the above problem.
To achieve the goals above, the technical solution that the embodiment of the present application uses is as follows：
In a first aspect, the embodiment of the present application provides a kind of prewiring rail diving system, the prewiring rail diving system packet
Include submersible, communication line rail, multistage navigation channel line rail, first armful of rail device, second armful of rail device and line rail power supply.
The submersible for carrying out diving running and acquiring live data information, the line rail power supply point in real time under water
It is not electrically connected with the communication line rail and the multistage navigation channel line rail, for being the communication line rail and multistage navigation channel line
Rail is powered.
The communication line rail keeps the setting of preset distance interval with the submersible or contacts setting with the submersible,
It is communicated for being magnetically coupled with the submersible.
The multistage navigation channel line rail is arranged along the operating path of the submersible, and the submersible passes through at least one first
Rail device is embraced to be clamped on the navigation channel line rail.
Include multiple second armful of rail device for fixing the navigation channel line rail on the operating path of the submersible, with logical
Multiple second armful of rail device are crossed the navigation channel line rail is fixed in external environment respectively.
Optionally, the submersible is along the navigation channel line rail moving process, when the submersible is close to described second
When embracing rail device pre-determined distance, the part first at least one first armful of rail device described in the submersible vehicle control embraces rail device and is detached from institute
Navigation channel line rail is stated, it is described after the submersible is by second armful of rail device pre-determined distance with by second armful of rail device
The rail device clamping navigation channel line rail is embraced in the part first that submersible vehicle control is detached from the navigation channel line rail, to continue along the navigation channel line
Rail moves.
Optionally, first armful of rail device includes embracing a rail device ontology, embracing rail member, spring, support element, control motor and the
One armful of rail controller.
Described armful of rail device ontology includes a cavity, and first armful of rail controller and the control motor are arranged described
In cavity, described armful of rail device ontology is connect with the submersible, and described armful of rail member is for being clamped the navigation channel line rail, the spring
It being fixedly connected respectively with described armful of rail device ontology and described armful of rail member, one end of the support element is connect with the control motor,
The other end of the support element is contacted with described armful of rail member, first armful of rail controller respectively with the control motor and described
Submersible is electrically connected, for controlling the control motor so that the control motor controls the support element and prolongs along the spring
Direction movement is stretched, so that the spring occurs elastic deformation and drives the rail member of embracing flexible, rail member folder is embraced to which control is described
Hold or be detached from the navigation channel line rail.
Optionally, described armful of rail member is provided with idler wheel, the idler wheel and the control on one side close to the navigation channel line rail
Motor connects, and includes Power Component in the submersible, and when the Power Component works, first armful of rail controller drives
Move the control motor so that the control motor controls the idler wheel and moved along the navigation channel line rail extending direction.
Optionally, after being powered to navigation channel line rail, the navigation channel line rail is additionally operable to along the submersible line rail power supply
Operating path move to drive the submersible to move.
Optionally, the submersible is along the navigation channel line rail moving process, when the submersible is close to described second
When embracing rail device pre-determined distance, the navigation channel line rail controls corresponding second armful of rail device and is detached from the navigation channel line rail, so that described latent
Hydrophone passes through corresponding second armful of rail device, after the submersible is by second armful of rail device pre-determined distance, the boat
Diatom rail, which controls corresponding second armful of rail device, to be continued to fix the navigation channel line rail.
Optionally, the prewiring rail diving system further includes positioning device, and the positioning device includes mounted on described
Alignment sensor in communication line rail and the optical signal positioning device on the submersible and auxiliary locator, institute
It includes inertial navigation unit, gravity navigation device, sea-floor relief navigation device and the navigation of earth's magnetic field gravitation to state auxiliary locator
At least one of device.
Optionally, the auxiliary locator is sea-floor relief navigation device, and the sea-floor relief navigation device is for adopting
Collect submarine terrain, and the submarine terrain is sent to shore facilities by the communication line rail.
Optionally, the outside of the submersible is additionally provided with the panoramic shooting of the image information for Collecting operation marine site
Machine.
Second aspect, the embodiment of the present application also provide a kind of diving experiencing system, and the diving experiencing system includes virtual
Cockpit, control centre, relay station and above-mentioned prewiring rail diving system, the prewiring rail diving system pass through described
Communication line rail is connect with the relay station communication, and collected live data information is sent to the relay station, the relaying
It stands and the live data information is transmitted to the control centre, the control centre handles the live data information
Send corresponding virtual driving data to the virtual driving cabin afterwards, the virtual driving cabin be based on the virtual driving data to
Operator feeds back underwater scene.
In terms of existing technologies, the application has the advantages that：
The application by arranging that navigation channel line rail, submersible are connected by first armful of rail device in advance on submersible operating path
To navigation channel line rail, navigation channel line rail is fixed by second armful of rail device with external environment, and submersible can be along navigation channel line rail in water as a result,
Lower diving movement, and diving live data is ashore sent by the communication line rail of magnetic coupling communication, to realize submersible
Dive video real-time live broadcast demand.
Description of the drawings
It, below will be to needed in the embodiment attached in order to illustrate more clearly of the technical solution of the embodiment of the present application
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the interaction schematic block diagram of diving experiencing system provided by the embodiments of the present application；
Fig. 2 is the application scenarios schematic diagram of diving experiencing system provided by the embodiments of the present application；
Fig. 3 is a kind of structural schematic diagram under visual angle of first armful of rail device shown in Fig. 2；
Fig. 4 is the structural schematic diagram under another visual angle of first armful of rail device shown in Fig. 2.
Icon：10- diving experiencing systems；100- prewiring rail diving systems；110- submersibles；120- communication line rails；
The navigation channels 130- line rail；140- first embraces rail device；141- embraces rail device ontology；142- embraces rail member；143- springs；144- support elements；
145- controls motor；146- first embraces rail controller；147- idler wheels；150- second embraces rail device；200- relay stations；In 300- controls
The heart；400- virtual drivings cabin.
Specific implementation mode
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation describes, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Usually herein
The component of the embodiment of the present application described and illustrated in place's attached drawing can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiments herein to providing in the accompanying drawings be not intended to limit it is claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
All other embodiment that technical staff is obtained without creative efforts belongs to the model of the application protection
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Meanwhile the application's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Referring to Fig. 1, for the interaction schematic diagram of diving experiencing system 10 provided by the embodiments of the present application.In the present embodiment,
The diving experiencing system 10 includes prewiring rail diving system 100, relay station 200, control centre 300 and virtual driving cabin
400, the prewiring rail diving system 100 is communicated to connect with the relay station 200, and collected live data information is sent
To the relay station 200, the live data information is transmitted to the control centre 300, the control by the relay station 200
Center 300 to the virtual driving cabin 400 sends corresponding virtual driving data after handling the live data information,
The virtual driving cabin 400 is based on the virtual driving data and feeds back underwater scene to operator.
Fig. 2 is please referred to, for the application scenarios schematic diagram of diving experiencing system 10 provided by the embodiments of the present application.This reality
It applies in example, the prewiring rail diving system 100 is most of to be arranged in the scene that can carry out diving experience, such as marine, lake
In etc..It virtual driving cabin 400 can be with 100 underwater function situation of remote control prewiring rail diving system, the pre- cloth
Line rail diving system 100 can be used for obtaining the live data information in diving experience scene, and feed back to virtual driving cabin 400,
Virtual driving cabin 400 according to these live data information to operator feed back corresponding experience sense by.
In the present embodiment, the relay station 200 can be used for receiving and forward the live data that the diving system obtains
Information relays to next relay station, to ensure to transmit the quality of signal, to just be covered by the forwarding of each relay station
To wider array of communication range, the communication caused by landform or artificial obstacle's object in shadow region, blind area, dead angle and tunnel is solved
Problem.
In the present embodiment, the control centre 300 should be understood offer processing, data bank, communications service service point.
For example, control centre 300 can refer to the single physical treatment with related communication and data storage and document library facility
Device or it can refer to the aggregate of networking or the processor gathered, related network and storing unit, and to software and one or
Multiple document library systems and the application software for supporting the service that control centre 300 is provided are operated.Control centre 300 can be with
It is widely different in configuration or performance, but control centre 300 generally may include one or more central processing unit and deposit
Storage unit.Control centre 300 can also include one or more large-scale storage area equipment, one or more power supplys, one or more
A wired or wireless network component, one or more input output assemblies or one or more operating systems, such as,
Windows Server, Mac OS X, Unix, Linux, FreeBSD etc..
In the present embodiment, the virtual driving cabin 400 is used to provide operating environment and experience environment, Neng Goumo for operator
Quasi- true diving impression and submerged operation impression.
The prewiring rail diving system 100 is described in detail with reference to Fig. 2.
As shown in Fig. 2, the prewiring rail diving system 100 includes submersible 110, communication line rail 120, multistage navigation channel line
130, first armfuls of rail, 140, second armfuls of rail device rail device 150 and line rail power supply.The submersible 110 for diving under water under water
It operates and acquires live data information in real time.Optionally, the outside of the submersible 110 is additionally provided with for Collecting operation marine site
Image information panoramic camera, the live data information may include the collected operation marine site of the panoramic camera
Image information.
The line rail power supply is electrically connected with the communication line rail 120 and the multistage navigation channel line rail 130 respectively, for for
The communication line rail 120 and the multistage navigation channel line rail 130 power supply.Optionally, the line rail power supply can be arranged on the coast,
It can be arranged in underwater sealing space, not limit in detail herein.
The communication line rail 120 and the submersible 110 keep the setting of preset distance interval or with the submersible 110
Contact setting, communicates for being magnetically coupled with the submersible 110.In detail, it can be provided in the submersible 110 more
The first magnetic coupling coil of group, can be provided with multigroup second magnetic coupling coil in the communication line rail 120, it is described can for electric installation
Generating alternating current makes multigroup second magnetic coupling coil in the communication line rail 120 generate nearly magnetic field, and the submersible 110 exists
Pass through multigroup first magnetic coupling coil and the communication line rail 120 in the nearly magnetic field range that the communication line rail 120 generates
Magnetic coupling communication is established, and sends the live data letter acquired in real time to the relay station 200 by the communication line rail 120
Breath.
The multistage navigation channel line rail 130 is arranged along the operating path of the submersible 110, and the submersible 110 is by extremely
Few first armful of rail device 140 is clamped on the navigation channel line rail 130.Include multiple on the operating path of the submersible 110
Second armful of rail device 150 for fixing the navigation channel line rail 130, with respectively will be described by multiple second armful of rail device 150
Navigation channel line rail 130 is fixed in external environment.
Wherein, the operating path of the submersible 110 can need to be determined according to different needs.For example, uncomfortable
Want to experience the impression dived under water in the shoal of fish in the juvenile, the elderly, patient of diving, then the operating path of the submersible 110 can
To be arranged along the intensive region of the shoal of fish.Or, it is desirable to it experiences and dives under water in more dangerous environment, then the submersible 110
Operating path can be along dangerous environment, such as the setting of shark close quarters.
Based on above-mentioned design, by arranging that navigation channel line rail 130, submersible 110 are logical in advance on 110 operating path of submersible
It crosses first armful of rail device 140 and is connected to navigation channel line rail 130, navigation channel line rail 130 is fixed by second armful of rail device 150 with external environment,
Submersible 110 can under water dive under water along navigation channel line rail 130 and move as a result, and by the communication line rail 120 of magnetic coupling communication to
Diving live data is sent on the bank, to realize 110 dive video real-time live broadcast demand of submersible.
It optionally, can be without barrier in order to make the submersible 110 along 130 moving process of navigation channel line rail
By second armful of rail device 150, two kinds of optional realization methods are set forth below.
The first realization method can be：The submersible 110 works as institute along 130 moving process of navigation channel line rail
When stating submersible 110 close to second armful of rail device, 150 pre-determined distance (such as 1m), the submersible 110 control it is described at least
Part first in one first armful of rail device 140 embraces rail device 140 and is detached from the navigation channel line rail 130, to pass through second armful of rail
Device 150, after the submersible 110 is by second armful of rail, 150 pre-determined distance of device, the control of the submersible 110 is detached from institute
The part first for stating navigation channel line rail 130 embraces rail device 140 the navigation channel line rail 130 is clamped, to continue to move along the navigation channel line rail 130
It is dynamic.
As a kind of embodiment of above-mentioned realization method, referring to Fig. 3, first armful of rail device 140 may include embracing rail
Ontology embraces rail member 142, spring 143, support element 144, control motor 145 and first armful of rail controller 146.
In detail, described armful of rail ontology includes a cavity, first armful of rail controller 146 and the control motor
145 are arranged in the cavity, and described armful of rail ontology is connect with the submersible 110, and described armful of rail member 142 is described for being clamped
Navigation channel line rail 130, the spring 143 are fixedly connected with described armful of rail ontology and described armful of rail member 142 respectively, the support element
144 one end is connect with the control motor 145, and the other end of the support element 144 is contacted with described armful of rail member 142.
First armful of rail controller 146 is electrically connected with the control motor 145 and the submersible 110 respectively, is used
In controlling the control motor 145 so that the control motor 145 controls the support element 144 along 143 side of extension of the spring
To movement so that the spring 143 occurs elastic deformation and drives the rail member 142 of embracing flexible rail member is embraced to which control is described
142 clampings are detached from the navigation channel line rail 130.Wherein, described when the navigation channel line rail 130 is clamped in described armful of rail member 142
Spring 143 is in tensional state, when the support element 144 along 143 extending direction of the spring to described armful of rail device ontology 141 1
When side is moved, the spring 143 is compressed to described armful of 141 direction of rail device ontology, described to drive armful rail member 142 to be detached from
Navigation channel line rail 130.
Optionally, referring to Fig. 4, the mode that the submersible 110 is moved along the navigation channel line rail 130 can pass through idler wheel
147 realize, for example, described armful of rail member 142 is provided with idler wheel 147, the idler wheel 147 on one side close to the navigation channel line rail 130
It is connect with the control motor 145, includes Power Component in the submersible 110, it is described when the Power Component works
First armful of rail controller 146 drives the control motor 145 so that the control motor 145 controls the idler wheel 147 along described
Line rail 130 extending direction in navigation channel moves, to drive the submersible 110 to be moved along 130 extending direction of navigation channel line rail.
In another example the mode that the submersible 110 is moved along the navigation channel line rail 130 can also be in the line rail power supply
After being powered to navigation channel line rail 130, the navigation channel line rail 130 is additionally operable to move with band along the operating path of the submersible 110
The dynamic submersible 110 moves.
Further, second of realization method can also be：The submersible 110 is moved along the navigation channel line rail 130
In the process, when the submersible 110 is close to second armful of rail device, 150 pre-determined distance (such as 1m), the navigation channel line rail 130
It controls corresponding second armful of rail device 150 and is detached from the navigation channel line rail 130, so that the submersible 110 passes through described corresponding
Two armfuls of rail devices 150, after the submersible 110 is by second armful of rail, 150 pre-determined distance of device, the navigation channel line rail 130 is controlled
Corresponding second armful of rail device 150 is made to continue to fix the navigation channel line rail 130.
Based on above-mentioned design, it can so that the submersible 110, can along 130 moving process of navigation channel line rail
Pass unopposed through second armful of rail device 150.
Optionally, the prewiring rail diving system 100 can also include positioning device, and the positioning device includes installation
Alignment sensor in the communication line rail 120 and the optical signal positioning device on the submersible 110 and auxiliary
It includes inertial navigation unit, gravity navigation device, sea-floor relief navigation device and ground to help positioning device, the auxiliary locator
At least one of magnetic field gravitation navigation device.Prewiring rail diving system 100, which can have, as a result, positions submersible 110
Ability, can also be positioned by the alignment sensor combination inertial navigation installed in communication line rail 120, also can be other
Navigation channel line rail 130 nearby installs alignment sensor, or only inertial navigation, or the optical signal positioning device by similar optical mouse
Displacement distance of the submersible 110 with respect to line rail is measured, or uses the side such as the ranging of mechanical rollers spin or installation acoustic positioning system
Formula is positioned, and is not specifically limited herein.
Optionally, the auxiliary locator is sea-floor relief navigation device, and the sea-floor relief navigation device is for adopting
Collect submarine terrain, and the submarine terrain is sent to shore facilities by the communication line rail 120, such as can be with
It is sent to control centre 300 by the relay station 200, sea-floor relief electronic chart is prestored in the control centre 300, is being incited somebody to action
It is matched with the sea-floor relief electronic chart to prestore after the submarine terrain received and is led with obtaining the sea-floor relief
Navigate the current location information of device.
In conclusion the application by arranging that navigation channel line rail, submersible pass through first in advance on submersible operating path
It embraces rail device and is connected to navigation channel line rail, navigation channel line rail is fixed by second armful of rail device with external environment, and submersible can be along boat as a result,
Diatom rail is dived under water movement under water, and diving live data is ashore sent by the communication line rail of magnetic coupling communication, to real
Submersible dive video real-time live broadcast demand is showed.
It should be noted that herein, term " including ", " including " or its any other variant are intended to non-row
Its property includes, so that the process, method, article or equipment including a series of elements includes not only those elements, and
And further include the other elements being not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence " including one ... ", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case of without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of prewiring rail diving system, which is characterized in that the prewiring rail diving system includes submersible, communication line
Rail, multistage navigation channel line rail, first armful of rail device, second armful of rail device and line rail power supply；
The submersible for carry out under water diving running and in real time acquisition live data information, the line rail power supply respectively with
The communication line rail and the multistage navigation channel line rail are electrically connected, for being supplied for the communication line rail and the multistage navigation channel line rail
Electricity；
The communication line rail keeps the setting of preset distance interval with the submersible or contacts setting with the submersible, is used for
It is magnetically coupled and communicates with the submersible；
The multistage navigation channel line rail is arranged along the operating path of the submersible, and the submersible passes through at least one first armful of rail
Device is clamped on the navigation channel line rail；
Include multiple second armful of rail device for fixing the navigation channel line rail on the operating path of the submersible, it is more to pass through
The navigation channel line rail is fixed in external environment by a second armful of rail device respectively.
2. prewiring rail diving system according to claim 1, which is characterized in that the submersible is along the navigation channel line
In rail moving process, when the submersible is close to second armful of rail device pre-determined distance, described in the submersible vehicle control at least
Part first in one first armful of rail device embraces rail device and is detached from the navigation channel line rail, with by second armful of rail device, when described
After submersible is by second armful of rail device pre-determined distance, the part first that the submersible vehicle control is detached from the navigation channel line rail is embraced
The navigation channel line rail is clamped in rail device, to continue to move along the navigation channel line rail.
3. prewiring rail diving system according to claim 1, which is characterized in that first armful of rail device includes embracing rail device
Ontology embraces rail member, spring, support element, control motor and first armful of rail controller；
Described armful of rail device ontology includes a cavity, and first armful of rail controller and the control motor are arranged in the cavity
In, described armful of rail device ontology is connect with the submersible, and described armful of rail member is for being clamped the navigation channel line rail, the spring difference
It is fixedly connected with described armful of rail device ontology and described armful of rail member, one end of the support element is connect with the control motor, described
The other end of support element is contacted with described armful of rail member, first armful of rail controller respectively with the control motor and the diving
Device is electrically connected, for controlling the control motor so that the control motor controls the support element along the spring extension side
To movement so that the spring occurs elastic deformation and drives the rail member of embracing flexible, embraced to which control is described rail member clamping or
Person is detached from the navigation channel line rail.
4. prewiring rail diving system according to claim 3, which is characterized in that described armful of rail member is close to the navigation channel line
Rail is provided with idler wheel on one side, and the idler wheel connect with the control motor, includes Power Component in the submersible, work as institute
When stating Power Component work, first armful of rail controller drives the control motor so that described in the control motor control
Idler wheel is moved along the navigation channel line rail extending direction.
5. prewiring rail diving system according to claim 1, which is characterized in that the line rail power supply is to navigation channel line rail
After energization, the navigation channel line rail is additionally operable to be moved along the operating path of the submersible to drive the submersible to move.
6. prewiring rail diving system according to claim 1, which is characterized in that the submersible is along the navigation channel line
In rail moving process, when the submersible is close to second armful of rail device pre-determined distance, the navigation channel line rail control is corresponding
Second armful of rail device is detached from the navigation channel line rail, so that the submersible is by corresponding second armful of rail device, when the diving
After device is by second armful of rail device pre-determined distance, the navigation channel line rail controls corresponding second armful of rail device and continues fixed institute
State navigation channel line rail.
7. prewiring rail diving system according to claim 1, which is characterized in that the prewiring rail diving system also wraps
Include positioning device, the positioning device includes the alignment sensor being mounted in the communication line rail and is mounted on the diving
Optical signal positioning device on device and auxiliary locator, the auxiliary locator include inertial navigation unit, gravity navigation
At least one of device, sea-floor relief navigation device and earth's magnetic field gravitation navigation device.
8. prewiring rail diving system according to claim 7, which is characterized in that the auxiliary locator is for seabed
Shape navigation device, the sea-floor relief navigation device pass through the submarine terrain for acquiring submarine terrain
The communication line rail is sent to shore facilities.
9. prewiring rail diving system according to claim 1, which is characterized in that the outside of the submersible is additionally provided with
The panoramic camera of image information for Collecting operation marine site.
10. a kind of diving experiencing system, which is characterized in that the diving experiencing system include virtual driving cabin, control centre, in
After the prewiring rail diving system described in any one of station and claim 1-9, the prewiring rail diving system passes through
The communication line rail is connect with the relay station communication, and collected live data information is sent to the relay station, described
The live data information is transmitted to the control centre by relay station, and the control centre carries out the live data information
Corresponding virtual driving data are sent to the virtual driving cabin after processing, the virtual driving cabin is based on the virtual driving number
Underwater scene is fed back according to operator.
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