CN108945361A - Diving interaction systems and interactive approach - Google Patents
Diving interaction systems and interactive approach Download PDFInfo
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- CN108945361A CN108945361A CN201810716774.2A CN201810716774A CN108945361A CN 108945361 A CN108945361 A CN 108945361A CN 201810716774 A CN201810716774 A CN 201810716774A CN 108945361 A CN108945361 A CN 108945361A
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- Prior art keywords
- submersible
- sub
- female
- diving
- driving cabin
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/42—Towed underwater vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Toys (AREA)
Abstract
The embodiment of the present application provides a kind of diving interaction systems and interactive approach, pass through the connexon submersible on female submersible, when using female submersible in the preset position range in mover submersible arrival operation sea area, pass through the operating right in the open virtual driving cabin of control centre, and control female submersible and the separation of sub- submersible, so that virtual driving cabin can manipulate sub- submersible, and the information that sub- submersible can will test feeds back to virtual driving cabin.Pass through above-mentioned setting, by female submersible, sub- submersible be detachably connected in the way of, and drive simulating is realized using virtual driving cabin, in the case where not damaging equipment and environment and guaranteeing the personal safety of operator, realize that layman operates the interactive demand of submersible.
Description
Technical field
The present invention relates to diving system technical fields, in particular to a kind of diving interaction systems and interactive approach.
Background technique
Existing many diving operations need to carry out real-time live broadcast, for example, can allow be unsuitable for diving teenager, the elderly or
The enjoyment that patient etc. are dived under water by diving apparatus from the real-time pictures experience returned under water.Also, user wants diving experience
Ask higher and higher, it is desirable to be able to manipulate to diving apparatus.But since layman does not have professional operation skill, it is easy
Lead to the damage of equipment.Therefore, how to realize a kind of manipulation that can have not only allowed layman to carry out diving apparatus, but also can ensure and set
The problem of standby safety is urgently to be resolved.
Summary of the invention
In view of this, the purpose of the application is, a kind of diving interaction systems and interactive approach are provided to improve above-mentioned ask
Topic.
The embodiment of the present application provides a kind of diving interaction systems, and the system comprises control centre, relay station, virtual drivings
Cabin, female submersible and at least one sub- submersible, the relay station respectively with the control centre, the virtual driving cabin, institute
Female submersible and the sub- submersible communication connection are stated, the control centre also communicates to connect with the virtual driving cabin, described
Female submersible is connected and communicated by umbilical cable and at least one described sub- submersible；
The relay station is used to receive the location data for the optical communication data form that female submersible is sent, will be described fixed
Position data are converted to the location data of radio-communication data form or the location data of electrical communication data mode, and should
Location data is sent to the control centre；
The control centre be used for when detecting that the location data be in preset position range, to it is described virtually
Cockpit sends the open instruction of operation so that the virtual driving cabin starts, and is sent out by the relay station to female submersible
It send and releases order；
It is additionally provided between mother's submersible and the sub- submersible and is detachably connected component, mother's submersible is used for
When receiving described release order, it is detachably connected component described in control and separates so that the sub- submersible is detached from the mother and dives
Hydrophone；
The virtual driving cabin is used for after receiving the open instruction of the operation, latent to the son by the relay station
Hydrophone sends diving control instruction；
The sub- submersible under the diving control instruction that the virtual driving cabin is sent for operating, and by operation information
Feed back to the virtual driving cabin.
Optionally, it is respectively arranged with optical communication equipment on female submersible and the sub- submersible, the optic communication is set
Standby includes optical communication transmission device and optical communication receiver, is respectively set on the optical communication transmission device and the optical communication receiver
There is lens set, for adjusting light emitting width or converging the signal light received.
Optionally, it is respectively arranged with positioning device on female submersible, the sub- submersible and the umbilical cable, institute
Stating positioning device includes optical signal positioning device and auxiliary locator, the auxiliary locator include inertial navigation unit,
At least one of gravity navigation device, sea-floor relief navigation device and earth's magnetic field gravitation navigation device.
Optionally, the auxiliary locator is sea-floor relief navigation device, in the control centre with prestoring seabed
The submarine terrain is sent to by shape electronic chart, the sea-floor relief navigation device for acquiring submarine terrain
The control centre；
The control centre is for matching the submarine terrain received with the sea-floor relief electronic chart prestored
To obtain the current location information of the sea-floor relief navigation device.
Optionally, it is respectively arranged with sonar equipment on female submersible and the sub- submersible, the sonar equipment is used
In detecting the distance between itself and barrier in the operation sea area information and azimuth information, and by the range information and
The azimuth information is sent to the control centre；
The control centre is used for when detecting that the range information is less than default safe distance, to the virtual driving
Cabin, which is sent, carries the standby signal of the range information and the azimuth information so that the virtual driving cabin show described in mention
Show signal.
Optionally, the outside of the sub- submersible is provided with panoramic camera, and it is aobvious that 3D is provided in the virtual driving cabin
Show system, the panoramic camera is used for the image information in Collecting operation sea area, and described image information is passed through the relaying
Station is sent to the 3D display system in the virtual driving cabin；
The 3D display system shows described image information after receiving described image information.
Optionally, driving device is provided on female submersible, the component that is detachably connected includes being arranged described
The first connector on female submersible and the second connector being arranged on the sub- submersible, first connector and described
Second connector is detachably connected, and first connector is connect with the driving device；
The driving device is used to drive first connector to connect from described second when receiving described release order
It is detached from fitting, so that the sub- submersible and female submersible separation.
Optionally, the diving interaction systems further include track, and in the operation sea area, the mother is latent for the track setting
Hydrophone and the sub- submersible can advance in the operation sea area along the track, wherein the track is pipeline or cable.
Optionally, the sub- submersible is also used to, when satisfaction is preset and goes home condition, opening after being detached from female submersible
Dynamic automatic homing function is to march at female submersible, wherein the default condition of going home is super in the sub- submersible
Out when the preset position range or the default condition of going home is to be detached from from female submersible in the sub- submersible
Duration be more than preset duration when.The embodiment of the present application also provides a kind of diving interactive approach, is applied to diving interaction systems, institute
The system of stating includes control centre, relay station, virtual driving cabin, female submersible and at least one sub- submersible, the relay station point
It is not communicated to connect with the control centre, the virtual driving cabin, female submersible and the sub- submersible, in the control
The heart is also communicated to connect with the virtual driving cabin, and mother's submersible is connected by umbilical cable and at least one described sub- submersible
It connects and communicates, be additionally provided between mother's submersible and the sub- submersible and be detachably connected component, which comprises
The relay station receives the location data for the optical communication data form that female submersible is sent, by the positioning number
According to the location data of the location data or electrical communication data mode that are converted to radio-communication data form, and by the positioning
Data are sent to the control centre；
The control centre is when detecting that the location data is in preset position range, to the virtual driving
Cabin sends the open instruction of operation so that the virtual driving cabin starts, and is released by the relay station to female submersible transmission
Put instruction；
Mother's submersible is detachably connected component separation so that described when receiving described release order described in control
Sub- submersible is detached from female submersible；
The virtual driving cabin is after receiving the open instruction of the operation, by the relay station to the sub- submersible
Send diving control instruction；
The sub- submersible operates under the diving control instruction that the virtual driving cabin is sent, and operation information is fed back
To the virtual driving cabin.
Diving interaction systems and interactive approach provided by the embodiments of the present application, by female submersible connexon dive under water
Device is opened when using female submersible in the preset position range in mover submersible arrival operation sea area by control centre
The operating right in virtual driving cabin is put, and controls female submersible and the separation of sub- submersible, so that virtual driving cabin can antithetical phrase diving
Device is manipulated, and the information that sub- submersible can will test feeds back to virtual driving cabin.By above-mentioned setting, son, mother are utilized
The mode of submersible, and drive simulating is realized using virtual driving cabin, it is not damaging equipment and environment and is guaranteeing operator's
In the case where personal safety, realize that layman operates the interactive demand of submersible.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, 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 structural block diagram of diving interaction systems provided by the embodiments of the present application.
Fig. 2 is the schematic diagram of female submersible and sub- submersible provided by the embodiments of the present application.
Fig. 3 is another structural block diagram of diving interaction systems provided by the embodiments of the present application.
Fig. 4 is the flow chart of diving interactive approach provided by the embodiments of the present application.
Icon: 10- diving interaction systems；100- control centre；200- relay station；300- virtual driving cabin；310-3D is aobvious
Show system；Mother's 400- submersible；The sub- submersible of 500-；600- umbilical cable；700- optical communication equipment；810- positioning device；
820- panoramic camera；830- attitude transducer；840- direction sensor；850- sonar equipment.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
Fig. 1 and Fig. 2 are please referred to, for the schematic connection frame of diving interaction systems 10 provided by the embodiments of the present application
Figure.The diving interaction systems 10 include control centre 100, relay station 200, virtual driving cabin 300, female submersible 400 and extremely
A few sub- submersible 500.Wherein, the relay station 200 respectively with the control centre 100, the virtual driving cabin 300,
It is described mother submersible 400 and the sub- submersible 500 communication connection, the control centre 100 also with the virtual driving cabin 300
Communication connection.Mother's submersible 400 is connected and communicated by umbilical cable 600 at least one described sub- submersible 500.It can
Selection of land, mother's submersible 400 can also be connect at least one described sub- submersible 500 by manipulator, not limited specifically
System.
In the present embodiment, the relay station 200 can be used for receiving the optical communication data form that female submersible 400 is sent
Location data, the location data is converted to the location data or electrical communication data shape of radio-communication data form
The location data of formula, and the location data is sent to the control centre 100.
The control centre 100 can be used for when detecting that the location data is in preset position range, to institute
It states virtual driving cabin 300 and sends the open instruction of operation so that the virtual driving cabin 300 starts, and passes through the relay station 200
It releases order to female transmission of submersible 400.
It is additionally provided between mother's submersible 400 and the sub- submersible 500 and is detachably connected component, female diving
Device 400 is used for when receiving described release order, and component separation is detachably connected described in control so that the sub- submersible 500
It is detached from female submersible 400.
The virtual driving cabin 300 is used for after receiving that the operation is open and instructing, by the relay station 200 to institute
It states sub- submersible 500 and sends diving control instruction.
The sub- submersible 500 will be transported for operating under the diving control instruction that the virtual driving cabin 300 is sent
The virtual driving cabin 300 is fed back to as information.
It, cannot be unlimitedly to layman's exploitation pair since layman does not have the operative skill of profession
The operating right of submersible.The application is just allowing for above-mentioned reason, therefore uses female submersible 400 and pass through detachable member
The mode of the one or more sub- submersibles 500 of connection.When implementing, female submersible 400 can make the sea of retribution with mover submersible 500
Domain is advanced, such as controllable female submersible 400 presses default planning path and advances, or manipulates female submersible by professional person
400 advance in operation sea area.Itself real-time position information can be fed back to control centre during traveling by female submersible 400
100.Optionally, home range is prestored in the control centre 100, which is to be suitable for open to non-special
Industry personage carries out the position range in the operation sea area of submersible manipulation.Control centre 100 is receiving female transmission of submersible 400
Location information after, detect whether the location information is in preset position range, if be in the position range, void can be opened
The operating right of quasi- cockpit 300, so that the layman in virtual driving cabin 300 can manipulate submersible.
Appliance remote controls operation unmanned submersible's dive is being waited to carry out the operation of video real-time live broadcast based on virtual driving cabin 300
In, when being especially used for sightseeing tour purposes, need in real time, ability to communicate at high speed.It is in the prior art that untethered nobody is latent
Water system, it is difficult to be provided simultaneously with high speed communication ability and adapt to the ability of complex barrier environment.For example, in the prior art frequently with
Underwater acoustic communication mode in, the speed of underwater acoustic communication intelligently reaches 200kb/s or so.Based on orbital angular momentum multiplexing technology
Although underwater acoustic communication speed increases, the spread speed of sound wave in water is about 1500M/S, and propagation delay is not enough to realize
The real-time of video.Frequency electromagnetic waves communication decays very greatly in water, and transmission range is very close.Low frequency electromagnetic wave device is big, and
Transmission speed is slow.Needed for existing magnetic communication technical speed is very fast, but distance is still not enough to realize with speed.
In view of drawbacks described above in the prior art, in diving interaction systems 10 provided in this embodiment, mother's submersible
400 and the sub- submersible 500 on be respectively arranged with optical communication equipment 700, improve transmission speed using optical communication mode, it is real
When property is more preferable.
The optical communication equipment 700 includes optical communication transmission device and optical communication receiver, the optical communication transmission device and institute
It states and is respectively arranged with lens set on optical communication receiver.Lens set is arranged on the optical communication transmission device can be used for adjusting light hair
Penetrate width.Lens set is arranged on the optical communication receiver can be used for converging the signal received when receiving optical signal
Light.
It should be noted that mother's submersible 400 and the sub- submersible 500 are carried out in addition to optical communication mode can be used
Except signal transmission, may also include underwater acoustic communication, radio wave communication, so can a certain communication modes failure wherein when,
Other communication modes also can be used to be communicated, abnormal appearance is avoided to impact undersea operation.
In this embodiment, since female submersible 400, sub- submersible 500 carry out signal biography using optical communication mode under water
Defeated, optical signal data, which is transmitted to control centre 100 then, to be needed to convert optical signal data to realize subsequent wireless biography
Defeated or wire transmission.Optionally, the diving interaction systems 10 include relay station 200, which is arranged in operation sea area
Sea on, can be mobile with female submersible 400, sub- submersible 500, to receive female submersible 400, sub- submersible 500 is sent
The signal of optical communication data form, and it is converted into the signal or electrical communication data mode of radio-communication data form
Signal, to be transmitted to control centre 100.
In the present embodiment, referring to Fig. 3, mother's submersible 400, the sub- submersible 500 and the umbilical cable
Positioning device 810 is respectively arranged on 600, the positioning device 810 includes optical signal positioning device and auxiliary locator.It is female
Submersible 400 can obtain real-time position information using optical signal positioning device and auxiliary locator, and feed back to the control
Center 100.Optionally, the auxiliary locator includes inertial navigation unit, gravity navigation device, sea-floor relief navigation device
At least one of with earth's magnetic field gravitation navigation device.
For example, prestoring sea in the control centre 100 when the auxiliary locator is sea-floor relief navigation device
Bottom landform electronic chart, the sea-floor relief navigation device can acquire submarine terrain, such as image information, and will be collected
Submarine terrain is sent to the control centre 100.
The control centre 100 can match the submarine terrain received with the sea-floor relief prestored electronic chart
To obtain the current location information of the sea-floor relief navigation device.Optionally, the control centre 100 is comprehensive according to seabed shape
Formula navigation device location information obtained and according to optical signal positioning device location information obtained, finally to calculate mother
The location information of submersible 400, sub- submersible 500.
It can be seen from the above, control centre 100 is detecting that it is preset that female submersible 400 has been reached with mover submersible 500
When in position range, i.e., it is detachably connected component separation between controllable female submersible 400 and sub- submersible 500, so that sub
Submersible 500 is detached from from female submersible 400, at this point, the layman in virtual driving cabin 300 can be to sub- submersible
500 are manipulated.
In the present embodiment, driving device is provided on female submersible 400, the component that is detachably connected includes setting
The second connector setting the first connector on female submersible 400 and being arranged on the sub- submersible 500.Described
It is detachably connected between a connection piece and second connector, first connector is also connect with the driving device.?
In the present embodiment, it is more in the sub- submersible 500 that mother's submersible 400 can be connect with one or more sub- submersibles 500
When a, such as 3 or 4, the quantity of the first connector on mother's submersible 400 and the quantity of the sub- submersible 500
Unanimously, i.e., each first connector can be connect with the second connector on sub- submersible 500.
In an embodiment of the present embodiment, first connector and second connector are can be compatible
Magnetic part, such as electromagnet can control mother's submersible when needing for sub- submersible 500 to be connected on female submersible 400
400 and sub- submersible 500 relatively move so that the first connector and the second connector are close to each other, the controllable activation of driving device
The magnetism of first connector, such as the electrical connection circuit of the first connector of controllable conducting, so that the first connector has electromagnetism
Property.When the second connector is close to the first connector, the second connector can be connect with the first connector, thus by sub- submersible
500 are connected on female submersible 400.In addition, driving device can when needing to separate sub- submersible 500 and female submersible 400
The magnetism of the first connector, such as the controllable electrical connection circuit for closing the first connector are closed in control.Due to the first connector
Do not have magnetism, then the second connector is detached from from the first online part, so that sub- submersible 500 can be from female submersible 400
It separates.
In addition, first connector can be hold assembly, such as grab in the another embodiment of the present embodiment
Folder, second connector can be include the mould group convenient for hold assembly clamping of connecting rod and engaging portion, such as the engaging portion
It can be either other arbitrarily convenient for the shape of clamping for discoid, sphere.One end of the connecting rod is attached to sub- diving
The outside of device 500, the other end can connect the engaging portion.The hold assembly may be provided at the outside of female submersible 400, and with institute
State driving device connection.
When needing to connect the sub- submersible 500 and female submersible 400, female submersible 400 can control
It is mobile to the position of sub- submersible 500, and it is mobile close to second connector to control the first connector.Pass through driving dress again
The control hold assembly expansion is set to grab the engaging portion on second connector, after grabbing successfully, then is controlled described
Hold assembly closure, so that the second connector is held fixedly, so that mother's submersible 400 is connected with the sub- diving.
When needing to separate female submersible 400 and the sub- submersible 500, the folder is controlled by driving device
Component expansion is held, so that the engaging portion in second connector is detached from from hold assembly, so that 500 He of sub- submersible
Mother's submersible 400 separates.
It should be noted that the above-mentioned composition for being detachably connected component is by way of example only, it is not limited to female latent
Detachable connection method between hydrophone 400 and sub- submersible 500, when it is implemented, it can adaptively be used according to demand
His connection type, as long as realizing controllable, the detachable connection between sub- submersible 500 and female submersible 400, this
Embodiment is not specifically limited this.
It should be noted that when sub- submersible 500 and female submersible 400 separate, sub- submersible 500 and female submersible
Sub- submersible 500 and female submersible 400 still can be connected with each other by the umbilical cable 600 between 400, in this way, amateur
When personage occurs abnormal during moving under water to the misoperation or sub- submersible 500 of sub- submersible 500, can also it pass through
Female submersible 400 is controlled further to control sub- submersible 500.
Further, the diving interaction systems 10 may also include track, and the seabed in operation sea area is arranged in the track,
The track is either supported on to by setting support column the sea area between seabed and sea.
In the present embodiment, the track can be pipeline, for example, the track can be rail made of the material of transparent material
Road.Mother's submersible 400 and the sub- submersible 500 can advance in the track, in this way, can avoid to marine environment pair
Mother's submersible 400 and the sub- submersible 500 damage.
In an embodiment of the present embodiment, the track can also be cable, then female submersible 400 and described
The bottom of sub- submersible 500 is provided with articulating members, which can install on the cable, in power
It is moved on the cable under driving.
Further, the diving interaction systems 10 further include cleaning device, and the cleaning device is arranged in the track
Side, for being cleaned to the sundries on the track, such as mud, seaweed and shell etc..The cleaning device can be big function
The blowing device of rate either has the cleaning equipment of cleaning brush, specifically with no restriction.
In the present embodiment, mother's submersible 400 and the sub- submersible 500 can be carried out along the track in a manner described
It moves under water, in addition, mother's submersible 400 and the sub- submersible 500 can also freely move under water in operation sea area, it can not be along rail
Road direction is moved under water, and specifically the present embodiment is with no restriction.
Further, after female submersible 400 reaches preset position range with mover submersible 500, sub- submersible 500
It can be separated with female submersible 400.Layman in virtual driving cabin 300 can manipulate sub- submersible 500.In this reality
It applies in example, the outside of the sub- submersible 500 is provided with panoramic camera 820, and it is aobvious that 3D is provided in the virtual driving cabin 300
Show system 310.Sub- submersible 500 during traveling, the panoramic camera 820 can Collecting operation sea area image information,
And described image information is sent to by the relay station 200 to the 3D display system 310 in the virtual driving cabin 300.Institute
3D display system 310 is stated to show described image information after receiving described image information.In this way, can be described to being located at
Layman in virtual driving cabin 300 provides naked eye 3D experience, and user is made to have a kind of place oneself in the midst of in virtual sea floor world
Impression.In addition, in the also settable virtual reality head-mounted display apparatus in virtual driving cabin 300, panoramic camera 820 can will be acquired
The image information in operation sea area the virtual display head-mounted display apparatus is sent to by relay station 200, with for wearing, this is set
Standby personnel provide the experience of immersion.
Further, also settable attitude transducer 830, direction sensor 840 etc., user on the sub- submersible 500
Sub- submersible 500 can be manipulated by controlling the attitude transducer 830, direction sensor 840 etc..
Since subsea environment is complex, it is described mother submersible 400 and the sub- submersible 500 during moving under water,
It is possible that phenomena such as striking reef, the shoal of fish, to be damaged to equipment.Therefore, in the present embodiment, female diving
Sonar equipment 850 is additionally provided on device 400 and sub- submersible 500, the sonar equipment 850 can be used for detecting itself and make the sea of retribution
The distance between barrier in domain information and azimuth information.And the range information and the azimuth information are passed through in described
The control centre 100 is sent to after station 200.
The control centre 100 carries out the range information and default safe distance after receiving the range information
It compares, detects whether the range information is less than the default safe distance, if being less than, sent out to the virtual driving cabin 300
The standby signal for carrying the range information and the azimuth information is sent, so that the virtual driving cabin 300 shows the prompt
Signal avoids damaging equipment so that user be made to operate the sub- submersible 500 in time.
If in addition, when detecting that the distance between sub- submersible 500 and barrier are less than safe distance, in the control
The heart 100 can also will be prompted to signal and be sent to the female submersible 400 connecting with the sub- submersible 500, pass through female 400 antithetical phrase of submersible
Submersible 500 is controlled, to realize timely avoidance.
It can be seen from the above, the female submersible 400 and sub- submersible 500 in the present embodiment be provided with optical communication equipment 700 with
Realize signal transmission.Although transmission speed is very fast by the way of optic communication, but is easy the shadow by the shoal of fish, reef hole etc.
It rings, when under such environment, signal of communication easily causes signal transmission unsmooth by the blockings such as the shoal of fish or reef hole, it will influences logical
Letter.It therefore, can also be by the separation of female submersible 400 and sub- submersible 500 to solve above-mentioned drawback in the present embodiment.
Optionally, female submersible 400 acquires week by sonar equipment 850 or camera during traveling in real time
Information is enclosed, and feeds back to the control centre 100.Control centre 100 handles the information received, if it is determined that the mother
When the front of the travelling route of submersible 400 has the shoal of fish or reef hole, then it can control connection 400 He of female submersible
The sub- submersible 500 is detachably connected component separation, so that mother's submersible 400 and the sub- submersible 500 separation,
And control female submersible 400 and the sub- submersible 500 is advanced at different rates, such as the sub- submersible 500
The speed of fast speed, mother's submersible 400 is slower.In this way, then passing through the shoal of fish or reef hole in the sub- submersible 500
When, although the communication of sub- submersible 500 is obstructed because being communicated caused by the blockings such as the shoal of fish or reef hole, mother's submersible 400
It is not in the shoal of fish or reef hole at this time, therefore, the communication of mother's submersible 400 is normal, it is ensured that mother's submersible
At least one of 400 and the sub- submersible 500 keep communicating well with the control centre 100.
In addition, in the present embodiment, in order to ensure sub- submersible 500 after being detached from female submersible 400 in layman
Control under traveling safety, the sub- submersible 500 can also have the function of automatic homing, detect in sub- submersible 500 full
Foot, which is preset, can start automatic homing function when going home condition.The sub- submersible 500 can real-time detection itself location information,
And it (is supplied to layman when its location information has been more than above-mentioned preset position range and manipulates sub- submersible 500
Range), the sub- submersible 500 can start automatic homing function, and obtain the positioning letter of presently described female submersible 400
Breath, to be marched at female submersible 400 according to the location information of female submersible 400.
In the another embodiment of the present embodiment, the sub- submersible 500 can after being detached from female submersible 400
Start timing, and counts obtained duration more than preset duration, such as ten minutes or 20 minutes etc., the sub- submersible
500 can start automatic homing function.And it is marched at female submersible 400 according to the location information of current female submersible 400.
Sub- submersible 500 is damaged in this way, can avoid the preset range that sub- submersible 500 is more than safety, or son diving
The overlong time that device 500 is manipulated by layman, causes some accidents.
Optionally, in order to which the traveling for further ensureing sub- submersible 500 is safe, in the present embodiment, also settable sub- diving
The upper limit value of the travel speed of device 500 is protected so that sub- submersible 500 is positively retained at upper limit value speed below and advances
Barrier is advanced safe.
In addition, in the present embodiment, the sub- submersible 500 also has following function, the sub- submersible 500 can pass through
The panoramic camera 820 of itself shoots the sea area landscape in traveling process, such as the shoal of fish.The object taken is identified,
And can demarcate want tracking object using as tracking target.The sub- submersible 500 can be according to determining tracking target
Direction of travel and travel speed to adjust itself direction of travel and travel speed, in this way, sub- submersible 500 and tracking target it
Between can keep lesser distance, in order to take tracking target detailed image information, in virtual driving cabin 300
Personnel observe.
Referring to Fig. 4, be the diving interactive approach provided by the embodiments of the present application applied to above-mentioned diving interaction systems 10,
It should be noted that method provided by the invention is not limitation with Fig. 4 and specific order as described below, it below will be in Fig. 4
Each step shown is described in detail.
Step S110, the relay station 200 receive the positioning number for the optical communication data form that female submersible 400 is sent
According to the location data to be converted to the location data of radio-communication data form or the positioning of electrical communication data mode
Data, and the location data is sent to the control centre 100.
Step S120, the control centre 100 when detecting that the location data is in preset position range, to
The virtual driving cabin 300 sends the open instruction of operation so that the virtual driving cabin 300 starts, and passes through the relay station
200 release order to female transmission of submersible 400.
Step S130, mother's submersible 400 are detachably connected component described in control when receiving described release order
It separates so that the sub- submersible 500 is detached from female submersible 400.
Step S140, the virtual driving cabin 300 pass through the relay station after receiving the open instruction of the operation
200 send diving control instruction to the sub- submersible 500.
Step S150, the sub- submersible 500 operate under the diving control instruction that the virtual driving cabin 300 is sent,
And operation information is fed back into the virtual driving cabin 300.
In conclusion diving interaction systems 10 provided by the embodiments of the present application and interactive approach, by female submersible 400
Upper connexon submersible 500, in female submersible 400 with the preset position range in the arrival of mover submersible 500 operation sea area
When interior, by the operating right in the open virtual driving cabin 300 of control centre 100, and female submersible 400 and sub- submersible are controlled
500 separation, so that virtual driving cabin 300 can manipulate sub- submersible 500, and the letter that sub- submersible 500 can will test
Breath feeds back to virtual driving cabin 300.By above-mentioned setting, in the way of sub, female submersible 400, and virtual driving cabin is utilized
300 realize drive simulating, in the case where not damaging equipment and environment and guaranteeing the personal safety of operator, realize non-special
The interactive demand of industry personage operation submersible.
In embodiment provided herein, it should be understood that disclosed device and method, it can also be by other
Mode realize.The apparatus embodiments described above are merely exemplary, for example, the flow chart and block diagram in attached drawing are shown
Architectural framework in the cards, function and the behaviour of devices in accordance with embodiments of the present invention, method and computer program product
Make.In this regard, each box in flowchart or block diagram can represent a part of a module, section or code, institute
The a part for stating module, section or code includes one or more executable instructions for implementing the specified logical function.
It should also be noted that function marked in the box can also be to be different from attached drawing in some implementations as replacement
The sequence marked occurs.For example, two continuous boxes can actually be basically executed in parallel, they sometimes can also be by
Opposite sequence executes, and this depends on the function involved.It is also noted that each box in block diagram and or flow chart,
And the combination of the box in block diagram and or flow chart, hardware can be based on the defined function of execution or the dedicated of movement
System realize, or can realize using a combination of dedicated hardware and computer instructions.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are 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 a ...", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of diving interaction systems, which is characterized in that the system comprises control centre, relay station, virtual driving cabin, mother are latent
Hydrophone and at least one sub- submersible, the relay station are dived under water with the control centre, the virtual driving cabin, the mother respectively
Device and the sub- submersible communication connection, the control centre also communicate to connect with the virtual driving cabin, mother's submersible
It is connected and communicated by umbilical cable and at least one described sub- submersible；
The relay station is used to receive the location data for the optical communication data form that female submersible is sent, by the positioning number
According to the location data of the location data or electrical communication data mode that are converted to radio-communication data form, and by the positioning
Data are sent to the control centre；
The control centre is used for when detecting that the location data is in preset position range, to the virtual driving
Cabin sends the open instruction of operation so that the virtual driving cabin starts, and is released by the relay station to female submersible transmission
Put instruction；
It is additionally provided between mother's submersible and the sub- submersible and is detachably connected component, mother's submersible is for connecing
When receiving described release order, it is detachably connected component described in control and separates so that the sub- submersible is detached from female diving
Device；
The virtual driving cabin is used for after receiving that the operation is open and instructing, by the relay station to the sub- submersible
Send diving control instruction；
The sub- submersible feeds back operation information for operating under the diving control instruction that the virtual driving cabin is sent
To the virtual driving cabin.
2. diving interaction systems according to claim 1, which is characterized in that on mother's submersible and the sub- submersible
It is respectively arranged with optical communication equipment, the optical communication equipment includes optical communication transmission device and optical communication receiver, the optic communication
It is respectively arranged with lens set on transmitter and the optical communication receiver, for adjusting light emitting width or converging the letter received
Number light.
3. diving interaction systems according to claim 1, which is characterized in that it is described mother submersible, the sub- submersible and
Positioning device is respectively arranged on the umbilical cable, the positioning device includes optical signal positioning device and auxiliary positioning dress
It sets, the auxiliary locator includes inertial navigation unit, gravity navigation device, sea-floor relief navigation device and earth's magnetic field gravitation
At least one of navigation device.
4. diving interaction systems according to claim 3, which is characterized in that the auxiliary locator is led for sea-floor relief
Navigate device, sea-floor relief electronic chart is prestored in the control centre, the sea-floor relief navigation device is for acquiring seabed
Shape information, and the submarine terrain is sent to the control centre；
The control centre with the sea-floor relief electronic chart prestored for matching the submarine terrain received to obtain
Obtain the current location information of the sea-floor relief navigation device.
5. diving interaction systems according to claim 1, which is characterized in that on mother's submersible and the sub- submersible
Be respectively arranged with sonar equipment, the sonar equipment be used to detect the distance between itself and barrier in operation sea area information with
And azimuth information, and the range information and the azimuth information are sent to the control centre；
The control centre is used to send out when detecting that the range information is less than default safe distance to the virtual driving cabin
The standby signal for carrying the range information and the azimuth information is sent, so that the virtual driving cabin shows the prompt letter
Number.
6. diving interaction systems according to claim 3, which is characterized in that the outside of the sub- submersible is provided with panorama
Video camera, 3D display system is provided in the virtual driving cabin, and the panoramic camera is used for the image in Collecting operation sea area
Information, and described image information is sent to by the relay station to the 3D display system in the virtual driving cabin；
The 3D display system shows described image information after receiving described image information.
7. diving interaction systems according to claim 1, which is characterized in that be provided with driving dress on mother's submersible
It sets, the component that is detachably connected includes the first connector being arranged on female submersible and is arranged in the sub- submersible
On the second connector, first connector and second connector be detachably connected, first connector with it is described
Driving device connection；
The driving device is used to drive first connector from second connector when receiving described release order
Upper disengaging, so that the sub- submersible and female submersible separation.
8. diving interaction systems according to claim 1, which is characterized in that the diving interaction systems further include track,
In operation sea area, mother's submersible and the sub- submersible can be along the tracks in the operation sea area for the track setting
It advances, wherein the track is pipeline or cable.
9. diving interaction systems according to claim 1, which is characterized in that the sub- submersible is also used to described in the disengaging
After female submersible when satisfaction is preset and goes home condition, start automatic homing function to march at female submersible, wherein institute
State default condition of going home be when the sub- submersible is beyond the preset position range or the default condition of going home be
When the duration that the sub- submersible is detached from from female submersible is more than preset duration.
10. a kind of diving interactive approach, which is characterized in that be applied to diving interaction systems, the system comprises control centre, in
After station, virtual driving cabin, female submersible and at least one sub- submersible, the relay station respectively with the control centre, described
Virtual driving cabin, female submersible and the sub- submersible communication connection, the control centre also with the virtual driving cabin
Communication connection, mother's submersible are connected and communicated by umbilical cable and at least one described sub- submersible, female diving
It is additionally provided between device and the sub- submersible and is detachably connected component, which comprises
The relay station receives the location data for the optical communication data form that female submersible is sent, and the location data is turned
It is changed to the location data of radio-communication data form or the location data of electrical communication data mode, and by the location data
It is sent to the control centre；
The control centre is sent out when detecting that the location data is in preset position range to the virtual driving cabin
Send operation is open to instruct so that the virtual driving cabin starts, and sends release to female submersible by the relay station and refer to
It enables；
Mother's submersible is detachably connected component and separates so that the son is latent when receiving described release order described in control
Hydrophone is detached from female submersible；
The virtual driving cabin is sent after receiving the open instruction of the operation, through the relay station to the sub- submersible
Diving control instruction；
The sub- submersible operates under the diving control instruction that the virtual driving cabin is sent, and operation information is fed back to institute
State virtual driving cabin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810716774.2A CN108945361A (en) | 2018-07-03 | 2018-07-03 | Diving interaction systems and interactive approach |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810716774.2A CN108945361A (en) | 2018-07-03 | 2018-07-03 | Diving interaction systems and interactive approach |
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| CN108945361A true CN108945361A (en) | 2018-12-07 |
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ID=64485005
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110379247A (en) * | 2019-07-19 | 2019-10-25 | 武汉理工大学 | A kind of multitask, polygonal color ROV coorinated training analogue system and method |
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