CN108725716B - Pre-wiring rail diving system and diving experience system - Google Patents
Pre-wiring rail diving system and diving experience system Download PDFInfo
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- CN108725716B CN108725716B CN201810716764.9A CN201810716764A CN108725716B CN 108725716 B CN108725716 B CN 108725716B CN 201810716764 A CN201810716764 A CN 201810716764A CN 108725716 B CN108725716 B CN 108725716B
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- 230000009189 diving Effects 0.000 title claims abstract description 77
- 238000004891 communication Methods 0.000 claims abstract description 50
- 230000008878 coupling Effects 0.000 claims abstract description 11
- 238000010168 coupling process Methods 0.000 claims abstract description 11
- 238000005859 coupling reaction Methods 0.000 claims abstract description 11
- 238000012876 topography Methods 0.000 claims description 20
- 238000000034 method Methods 0.000 claims description 9
- 238000013459 approach Methods 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 5
- 230000005358 geomagnetic field Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000251730 Chondrichthyes Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
Classifications
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- 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
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- 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
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- 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)
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- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The embodiment of the application provides a pre-wiring rail diving system and a diving experience system. The pre-wiring rail diving system comprises a diving device, a communication line rail, a multi-section track line rail, a first rail holding device, a second rail holding device and a line rail power supply. The underwater vehicle is used for performing underwater diving operation and collecting live broadcast data information in real time, and the line rail power supply is electrically connected with the communication line rail and the multi-section channel line rail respectively and is used for supplying power to the communication line rail and the multi-section channel line rail. The communication line rail is arranged at a predetermined distance from the submersible or in contact with the submersible for magnetically coupled communication with the submersible. The multi-section track rail is disposed along the travel path of the submersible. The submersible is connected to the track line rail through the first track-holding device, and the track line rail is fixed with the external environment through the second track-holding device, so that the submersible can dive underwater along the track line rail and move, and diving live broadcast data are sent to the shore through the communication line rail of magnetic coupling communication, and the real-time live broadcast requirement of diving video of the submersible is realized.
Description
Technical Field
The application relates to the technical field of live diving, in particular to a pre-wiring rail diving system and a diving experience system.
Background
The diving device has the capabilities of underwater observation, operation and the like, can be used for performing tasks such as underwater investigation, submarine exploration, submarine development, salvage and lifesaving and can be used as an underwater operation base for the activities of divers.
At present, many scenes have the real-time live broadcasting requirement of the diving video of the unmanned submersible. For example: children, the elderly and patients who are not suitable for diving want to experience diving; when the natural environment is bad, the user wants to experience diving; it is desirable to experience diving in a more dangerous environment; when the natural environment is bad, equipment needs to be overhauled; not at sea but want to experience diving, etc. How to realize the achievement of meeting the above needs is a technical problem to be solved by the person skilled in the art.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks of the prior art, an object of the present application is to provide a pre-routed rail diving system and diving experience system, which solve or improve the above-mentioned problems.
In order to achieve the above object, the technical scheme adopted by the embodiment of the application is as follows:
in a first aspect, an embodiment of the present application provides a pre-routed rail submersible system including a submersible, a communication rail, a multi-segment track rail, a first rail clamp, a second rail clamp, and a rail power supply.
The underwater vehicle is used for performing underwater diving operation and collecting live broadcast data information in real time, and the line rail power supply is electrically connected with the communication line rail and the multi-section channel line rail respectively and used for supplying power to the communication line rail and the multi-section channel line rail.
The communication line rail is arranged at a preset distance from the submersible or is arranged in contact with the submersible and is used for carrying out magnetic coupling communication with the submersible.
The multi-section track rail is arranged along the running path of the submersible, and the submersible is clamped on the track rail through at least one first rail clamping device.
The running path of the submersible comprises a plurality of second rail claspers used for fixing the track rail, so that the track rail is respectively fixed in an external environment through the plurality of second rail claspers.
Optionally, when the submersible moves along the track rail, when the submersible approaches the second rail holding device by a preset distance, the submersible controls a part of the first rail holding devices in the at least one first rail holding device to separate from the track rail so as to pass through the second rail holding device, and when the submersible passes through the second rail holding device by a preset distance, the submersible controls a part of the first rail holding devices separated from the track rail to clamp the track rail so as to continue moving along the track rail.
Optionally, the first rail gripper comprises a rail gripper body, a rail gripper, a spring, a support, a control motor and a first rail gripper controller.
The rail holding device comprises a rail holding device body, a spring, a rail holding device and a control motor, wherein the rail holding device body comprises a cavity, the first rail holding controller and the control motor are arranged in the cavity, the rail holding device body is connected with the submersible, the rail holding device is used for holding a track line rail, the spring is respectively fixedly connected with the rail holding device body and the rail holding device, one end of the support is connected with the control motor, the other end of the support is contacted with the rail holding device, the first rail holding controller is respectively electrically connected with the control motor and the submersible and used for controlling the control motor to enable the control motor to control the support to move along the extending direction of the spring so that the spring is elastically deformed and drives the rail holding device to stretch out and draw back, and accordingly the rail holding device is controlled to clamp or separate from the track line rail.
Optionally, the one side that embraces the rail spare is close to the lane rail is provided with the gyro wheel, the gyro wheel with control motor is connected, including power pack in the submersible, when power pack works, first embracing the rail controller drive control motor makes control motor control the gyro wheel is followed lane rail extending direction removes.
Optionally, the track power supply is further configured to move along a running path of the submersible after powering on the track, so as to drive the submersible to move.
Optionally, when the submersible moves along the track rail, the track rail controls the corresponding second track rail to be separated from the track rail when the submersible approaches the second track rail by a preset distance, so that the submersible passes through the corresponding second track rail, and the track rail controls the corresponding second track rail to continuously fix the track rail after the submersible passes through the second track rail by a preset distance.
Optionally, the pre-wiring rail diving system further comprises a positioning device, wherein the positioning device comprises a positioning sensor installed in the communication line rail, and an optical signal positioning device and an auxiliary positioning device which are installed on the diving device, and the auxiliary positioning device comprises at least one of an inertial navigation device, a gravity navigation device, a submarine topography navigation device and a geomagnetic field attraction navigation device.
Optionally, the auxiliary positioning device is a submarine topography navigation device, and the submarine topography navigation device is used for collecting submarine topography information and sending the submarine topography information to the onshore equipment through the communication line rail.
Optionally, a panoramic camera for acquiring image information of the working sea area is further arranged outside the submersible.
In a second aspect, an embodiment of the present application further provides a diving experience system, where the diving experience system includes a virtual cockpit, a control center, a relay station, and the pre-wiring rail diving system described above, where the pre-wiring rail diving system is communicatively connected to the relay station through the communication line rail, and sends collected live broadcast data information to the relay station, the relay station forwards the live broadcast data information to the control center, and the control center processes the live broadcast data information and then sends corresponding virtual driving data to the virtual cockpit, and the virtual cockpit feeds back an underwater scene to an operator based on the virtual driving data.
Compared with the prior art, the application has the following beneficial effects:
according to the application, the track is pre-arranged on the running path of the submersible, the submersible is connected to the track through the first track-holding device, and the track is fixed with the external environment through the second track-holding device, so that the submersible can dive underwater along the track and move, and diving live broadcast data is sent to the shore through the communication track of magnetic coupling communication, thereby realizing the real-time live broadcast requirement of the diving video of the submersible.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an interactive schematic block diagram of a diving experience system provided by an embodiment of the present application;
fig. 2 is a schematic diagram of an application scenario of a diving experience system provided by an embodiment of the present application;
FIG. 3 is a schematic view of the first rail clamp shown in FIG. 2 in a view;
fig. 4 is a schematic view of the first rail holder shown in fig. 2 in another view.
Icon: 10-a diving experience system; 100-pre-wiring rail diving system; 110-a submersible; 120-communication line tracks; 130-track line tracks; 140-a first rail clamp; 141-a rail clamp body; 142-rail holding pieces; 143-a spring; 144-support; 145-controlling the motor; 146-a first rail holding controller; 147-roller; 150-a second rail clamp; 200-relay station; 300-a control center; 400-virtual cockpit.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Referring to FIG. 1, an interactive schematic diagram of a diving experience system 10 is provided in an embodiment of the present application. In this embodiment, the diving experience system 10 includes a pre-wiring rail diving system 100, a relay station 200, a control center 300 and a virtual cockpit 400, the pre-wiring rail diving system 100 is in communication connection with the relay station 200, and transmits collected live broadcast data information to the relay station 200, the relay station 200 forwards the live broadcast data information to the control center 300, the control center 300 processes the live broadcast data information and then transmits corresponding virtual driving data to the virtual cockpit 400, and the virtual cockpit 400 feeds back an underwater scene to an operator based on the virtual driving data.
Referring to fig. 2 in combination, an application scenario of the diving experience system 10 according to an embodiment of the present application is illustrated. In this embodiment, the pre-routed rail submersible system 100 is mostly disposed in a scene where a submersible experience is available, such as in the sea, in a lake, etc. The virtual cockpit 400 can remotely control the operation condition of the pre-wiring rail diving system 100 under water, and the pre-wiring rail diving system 100 can be used for acquiring live data information in a diving experience scene and feeding back the live data information to the virtual cockpit 400, and the virtual cockpit 400 feeds back corresponding experience feelings to an operator according to the live data information.
In this embodiment, the relay station 200 may be configured to receive and forward the live broadcast data information acquired by the diving system to forward to the next relay station, so as to ensure the quality of the transmission signal, thereby covering a wider communication range by forwarding of each relay station, and solving the communication problems in the shadow area, the blind area, the dead angle and the tunnel caused by the topography or the artificial obstacle.
In this embodiment, the control center 300 is understood to be a service point providing processing, database, and communication facilities. For example, control center 300 may refer to a single physical processor with associated communication and data storage and database facilities, or it may refer to an aggregate of networked or aggregated processors, associated networks, and storage devices, and operate on software and one or more database systems and application software supporting services provided by control center 300. The control center 300 may vary widely in configuration or performance, but the control center 300 may generally include one or more central processing units and memory units. The control center 300 may also include one or more large storage area devices, one or more power supplies, one or more wired or wireless network components, one or more input/output components, or one or more operating systems, such as Windows Server, mac OS X, unix, linux, freeBSD, and the like.
In this embodiment, the virtual cockpit 400 is configured to provide an operating environment and an experience environment for an operator, so as to simulate a real diving feeling and a diving operation feeling.
The pre-routed rail submersible system 100 is described in detail below in conjunction with FIG. 2.
As shown in fig. 2, the pre-routed rail diving system 100 includes a diving vessel 110, a communication line rail 120, a multi-segment track line rail 130, a first rail clamp 140, a second rail clamp 150, and a line rail power source. The submersible 110 is used for performing a submersible operation under water and collecting live data information in real time. Optionally, a panoramic camera for acquiring image information of the working sea area is further arranged outside the submersible 110, and the live broadcast data information may include the image information of the working sea area acquired by the panoramic camera.
The track power supply is electrically connected to the communication track 120 and the multi-segment track 130, respectively, and is used for supplying power to the communication track 120 and the multi-segment track 130. Alternatively, the rail power supply may be disposed on shore or in an underwater sealed space, which is not limited in detail herein.
The communication wire rail 120 is disposed at a predetermined distance from the submersible 110 or in contact with the submersible 110 for magnetically coupled communication with the submersible 110. In detail, a plurality of groups of first magnetic coupling coils may be disposed in the submersible 110, a plurality of groups of second magnetic coupling coils may be disposed in the communication line rail 120, the power supply device may generate alternating current to enable the plurality of groups of second magnetic coupling coils in the communication line rail 120 to generate a near magnetic field, the submersible 110 establishes magnetic coupling communication with the communication line rail 120 through the plurality of groups of first magnetic coupling coils within the near magnetic field generated by the communication line rail 120, and transmits live broadcast data information acquired in real time to the relay station 200 through the communication line rail 120.
The multi-section track rail 130 is disposed along the travel path of the submersible 110, and the submersible 110 is clamped to the track rail 130 by at least one first rail clamp 140. The running path of the submersible 110 includes a plurality of second rail holders 150 for fixing the track rail 130, so that the track rail 130 is respectively fixed in the external environment by the plurality of second rail holders 150.
The travel path of the submersible 110 may be determined according to different requirements. For example, a child, elderly person, or patient not suitable for diving may want to experience diving in a fish, and the path of travel of the submersible 110 may be along a densely populated area of fish. Alternatively, it may be desirable to experience diving in a more dangerous environment, and the path of travel of the submersible 110 may be along a dangerous environment, such as a shark dense area.
Based on the above design, by arranging the track rail 130 in advance on the running path of the submersible 110, the submersible 110 is connected to the track rail 130 through the first rail holder 140, and the track rail 130 is fixed with the external environment through the second rail holder 150, so that the submersible 110 can dive underwater along the track rail 130 and transmit live diving data to the shore through the communication rail 120 of magnetic coupling communication, thereby realizing the real-time live diving requirement of the submersible 110 diving video.
Optionally, in order to allow the submersible vehicle 110 to pass through the second rail clamp 150 unobstructed during movement along the track rail 130, two alternative implementations are listed below.
The first implementation may be: during the movement of the submersible 110 along the track rail 130, when the submersible 110 approaches the second rail holder 150 by a preset distance (for example, 1 m), the submersible 110 controls a part of the first rail holder 140 of the at least one first rail holder 140 to be separated from the track rail 130, so that the submersible 110 can control the part of the first rail holder 140 separated from the track rail 130 to clamp the track rail 130 to continue to move along the track rail 130 after the submersible 110 passes the second rail holder 150 by the preset distance.
As an embodiment of the foregoing implementation, referring to fig. 3, the first rail clamp 140 may include a rail clamp body, a rail clamp 142, a spring 143, a support 144, a control motor 145, and a first rail clamp controller 146.
In detail, the rail holding body includes a cavity, the first rail holding controller 146 and the control motor 145 are disposed in the cavity, the rail holding body is connected with the submersible 110, the rail holding member 142 is used for holding the track line rail 130, the spring 143 is fixedly connected with the rail holding body and the rail holding member 142 respectively, one end of the supporting member 144 is connected with the control motor 145, and the other end of the supporting member 144 is in contact with the rail holding member 142.
The first rail holding controller 146 is electrically connected to the control motor 145 and the submersible 110, and is configured to control the control motor 145 to control the support member 144 to move along the extending direction of the spring 143, so that the spring 143 is elastically deformed and drives the rail holding member 142 to stretch and retract, thereby controlling the rail holding member 142 to clamp or separate from the track line rail 130. When the rail holding member 142 clamps the track rail 130, the spring 143 is in a stretched state, and when the support member 144 moves to one side of the rail holding member 141 along the extending direction of the spring 143, the spring 143 is compressed to the direction of the rail holding member 141, so as to drive the rail holding member 142 to separate from the track rail 130.
Alternatively, referring to fig. 4, the manner of moving the submersible 110 along the track rail 130 may be implemented by using rollers 147, for example, a surface of the rail holding member 142, which is close to the track rail 130, is provided with rollers 147, the rollers 147 are connected with the control motor 145, the submersible 110 includes a power assembly, and when the power assembly works, the first rail holding controller 146 drives the control motor 145, so that the control motor 145 controls the rollers 147 to move along the extending direction of the track rail 130, thereby driving the submersible 110 to move along the extending direction of the track rail 130.
For another example, the manner in which the submersible 110 moves along the track rail 130 may be that the track rail 130 is further configured to move along the travel path of the submersible 110 to move the submersible 110 after the track rail 130 is energized by the track rail power supply.
Further, the second implementation manner may also be: during the movement of the submersible 110 along the track rail 130, when the submersible 110 approaches the second rail holding device 150 by a preset distance (for example, 1 m), the track rail 130 controls the corresponding second rail holding device 150 to be separated from the track rail 130, so that the submersible 110 passes through the corresponding second rail holding device 150, and when the submersible 110 passes through the second rail holding device 150 by the preset distance, the track rail 130 controls the corresponding second rail holding device 150 to continuously fix the track rail 130.
Based on the above design, the submersible 110 can pass through the second rail clamp 150 without obstruction during the movement along the track line rail 130.
Optionally, the pre-wired rail diving system 100 may further comprise positioning means comprising a positioning sensor mounted within the communication rail 120 and an optical signal positioning means and an auxiliary positioning means mounted on the diving vessel 110, the auxiliary positioning means comprising at least one of an inertial navigation means, a gravity navigation means, a submarine topography navigation means and a geomagnetic field attraction navigation means. Thus, the pre-routed rail diving system 100 may have the capability of positioning the diving device 110, that is, may be positioned by a positioning sensor installed in the communication rail 120 in combination with inertial navigation, or may be installed near other channel rails 130, or may be simply inertial navigation, or may be positioned by measuring the moving distance of the diving device 110 relative to the rail by an optical signal positioning device like an optical mouse, or may be positioned by using a mechanical roller ball ranging, or by installing an underwater sound positioning system, etc., without being limited thereto.
Optionally, the auxiliary positioning device is a submarine topography navigation device, and the submarine topography navigation device is configured to collect submarine topography information, and send the submarine topography information to an onshore device through the communication line rail 120, for example, the submarine topography information may be sent to the control center 300 through the relay station 200, a submarine topography electronic map is pre-stored in the control center 300, and after the received submarine topography information is matched with the pre-stored submarine topography electronic map, so as to obtain current location information of the submarine topography navigation device.
In summary, the track is pre-arranged on the running path of the submersible, the submersible is connected to the track through the first track gripper, and the track is fixed with the external environment through the second track gripper, so that the submersible can dive underwater along the track to move, and diving live broadcast data is sent to the shore through the communication line of magnetic coupling communication, and the real-time live broadcast requirement of the diving video of the submersible is realized.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The pre-wiring rail diving system is characterized by comprising a diving device, a communication line rail, a multi-section track line rail, a first rail holding device, a second rail holding device and a line rail power supply;
the underwater vehicle is used for performing underwater diving operation and collecting live broadcast data information in real time, and the line rail power supply is respectively and electrically connected with the communication line rail and the multi-section channel line rail and is used for supplying power to the communication line rail and the multi-section channel line rail;
the communication line rail is arranged at a preset distance from the submersible or in contact with the submersible and is used for carrying out magnetic coupling communication with the submersible;
the multi-section track rail is arranged along the running path of the submersible, and the submersible clamps the track rail through at least one first rail clamping device;
the running path of the submersible comprises a plurality of second rail claspers used for fixing the track rail, so that the track rail is respectively fixed in an external environment through the plurality of second rail claspers;
after the track power supply is electrified, the track is also used for moving along the running path of the submersible to drive the submersible to move; the outside of the submersible is also provided with a panoramic camera for collecting image information of the operation sea area.
2. The pre-routed track diving system of claim 1, wherein said diving device controls a portion of said first rail clasping device of said at least one first rail clasping device to disengage from said track rail when said diving device approaches said second rail clasping device by a predetermined distance during movement along said track rail, such that said diving device controls a portion of said first rail clasping device disengaged from said track rail to clamp said track rail for continued movement along said track rail after said diving device passes said second rail clasping device by a predetermined distance.
3. The pre-routed rail dive system of claim 1, wherein the first rail clamp comprises a rail clamp body, a rail clamp, a spring, a support, a control motor, and a first rail clamp controller;
the rail holding device comprises a rail holding device body, a spring, a rail holding device and a control motor, wherein the rail holding device body comprises a cavity, the first rail holding controller and the control motor are arranged in the cavity, the rail holding device body is connected with the submersible, the rail holding device is used for holding a track line rail, the spring is respectively fixedly connected with the rail holding device body and the rail holding device, one end of the support is connected with the control motor, the other end of the support is contacted with the rail holding device, the first rail holding controller is respectively electrically connected with the control motor and the submersible and used for controlling the control motor to enable the control motor to control the support to move along the extending direction of the spring so that the spring is elastically deformed and drives the rail holding device to stretch out and draw back, and accordingly the rail holding device is controlled to clamp or separate from the track line rail.
4. The pre-wiring rail diving system of claim 3, wherein a roller is arranged on one surface of said rail holding member close to said track rail, said roller is connected with said control motor, said diving device comprises a power assembly, and when said power assembly works, said first rail holding controller drives said control motor, so that said control motor controls said roller to move along said track rail extending direction.
5. The pre-routed rail diving system of claim 1, wherein said track rail controls a corresponding second rail holder to disengage from said track rail when said vehicle is approaching said second rail holder a predetermined distance during movement along said track rail such that said vehicle passes said corresponding second rail holder, said track rail controls said corresponding second rail holder to continue to secure said track rail after said vehicle passes said second rail holder a predetermined distance.
6. The pre-wiring rail dive system of claim 1, further comprising a positioning device comprising a positioning sensor mounted within the communication rail and an optical signal positioning device and an auxiliary positioning device mounted on the diver, the auxiliary positioning device comprising at least one of an inertial navigation device, a gravity navigation device, a seafloor topography navigation device, and a geomagnetic field attraction navigation device.
7. The pre-wiring rail diving system of claim 6, wherein said auxiliary positioning device is a subsea topography navigation device for gathering subsea topography information and transmitting said subsea topography information to onshore equipment via said communication rail.
8. The diving experience system is characterized by comprising a virtual cockpit, a control center, a relay station and the pre-wiring rail diving system according to any one of claims 1-7, wherein the pre-wiring rail diving system is in communication connection with the relay station through a communication line rail, collected live broadcast data information is sent to the relay station, the relay station forwards the live broadcast data information to the control center, the control center processes the live broadcast data information and then sends corresponding virtual driving data to the virtual cockpit, and the virtual cockpit feeds back an underwater scene to an operator based on the virtual driving data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810716764.9A CN108725716B (en) | 2018-07-03 | 2018-07-03 | Pre-wiring rail diving system and diving experience system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810716764.9A CN108725716B (en) | 2018-07-03 | 2018-07-03 | Pre-wiring rail diving system and diving experience system |
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| Publication Number | Publication Date |
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| CN108725716A CN108725716A (en) | 2018-11-02 |
| CN108725716B true CN108725716B (en) | 2023-11-03 |
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| CN111504302B (en) * | 2020-05-13 | 2021-08-31 | 中国人民解放军61540部队 | Gravity beacon navigation path planning method and system combining sea power information |
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