CN102354464A - Remotely operated vehicle-simulating trainer - Google Patents
Remotely operated vehicle-simulating trainer Download PDFInfo
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- CN102354464A CN102354464A CN2011101624846A CN201110162484A CN102354464A CN 102354464 A CN102354464 A CN 102354464A CN 2011101624846 A CN2011101624846 A CN 2011101624846A CN 201110162484 A CN201110162484 A CN 201110162484A CN 102354464 A CN102354464 A CN 102354464A
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Abstract
The invention puts forward a remotely operated vehicle-simulating trainer for training ROV (remotely-operated vehicle) operators. The remotely operated vehicle-simulating trainer comprises a controller, a control system and a scene simulation computer; the controller is a device which is used by an operator to control the position and attitude of a virtual remotely operated vehicle; on the basis of the kinematic and the kinetic models of the remotely operated vehicle and according to the operation of the operator on the controller, the control system calculates the position and attitude of the virtual remotely operated vehicle, and transmits the position and attitude information of the virtual remotely operated vehicle to the scene simulation computer; and the scene simulation computer is used for virtually displaying an ocean environment, the position and attitude of the remotely operated vehicle and the motion track of the remotely operated vehicle carrier. The remotely operated vehicle-simulating trainer simulates an actual ROV operating scene to train operators, the display effect of the scene is lifelike, and has strong illusion of immersion, the training time is good, the effect is good, and moreover, the ROV cannot be damaged and lost.
Description
Technical field
The present invention relates to a kind of remote underwater robot simulation trainer.
Background technology
Underwater robot (ROV) is that mankind nowadays is explored marine environment and one of strong instrument of developing ocean resources.The ROV complicated operation needs special operating personnel to operate.Therefore when ROV is delivered to customer, need carry out special practical operation training to the client.Because the client is stranger to ROV, do not have perceptual knowledge, so the training time is long, result of training is also undesirable.The client operates real ROV for the first time simultaneously, the phenomenon of misoperation may occur, and this very easily causes a series of problems such as ROV damage, heaving pile breakage, even also possibly lose ROV.Lot of manpower and material resources has not only been wasted in the generation of these a series of problems, and result of training is not good, has brought huge psychological burden also for the operating personnel that accepting to train.
Summary of the invention
In order to overcome the above problems a kind of remote underwater robot simulation trainer that the present invention's proposition is used to train ROV operating personnel.
The present invention for realizing the technical scheme that above-mentioned purpose adopted is: a kind of remote underwater robot simulation trainer, it is characterized in that, and comprise
Actuation means is used for the equipment that operating personnel control robot location and attitude under the Virtual water;
Control system; Kinematics and kinetic model based on underwater robot; According to the operation of operating personnel, calculate the position and the attitude of virtual underwater robot, and send the position and the attitude information of virtual underwater robot to the vision simulation computing machine actuation means;
The vision simulation computing machine is used for virtual demonstration marine environment, the demonstration of robot location and attitude under the Virtual water, and the movement locus of virtual demonstration underwater robot carrier.
Said actuation means comprises single pole, button and pilot lamp.
Said single pole is a Three Degree Of Freedom single pole and a two-freedom single pole.
Said control system comprises industrial computer and slave computer module, carries out information interaction through the CAN bus network between industrial computer and each slave computer module, adopts the application layer protocol of master-slave mode, and industrial computer is a main frame, and each slave computer module is a slave.
Said industrial computer is articulated to industrial computer on the CAN bus through the CAN/RS232 intelligent converter indirectly.
Described slave computer module comprises analog output module, analog input module, digital input module and digital output module.
The kinematics of said underwater robot and kinetic model are:
215u+(100+200|u|)u＝τ
x (1)
265v+(100+200|v|)v＝τ
y (2)
265w+(100+200|w|)w＝τ
z (3)
80r+(50+100|r|)r＝M
z (4)
Wherein, τ is power (moment) vector that is produced by thruster, τ ∈ R6 * 1;
U is the movement velocity on the virtual underwater robot fore-and-aft direction;
V is the movement velocity on the virtual underwater robot left and right directions;
W is the movement velocity on the virtual underwater robot above-below direction;
R is machine steering angle speed under water.
Said vision simulation computing machine is that three-dimensional vision shows, adopts virtual reality technology, behind position of receiving the virtual underwater robot that control system is sent and attitude information, dynamically demonstrates the motion conditions of three dimensional model for robot under the Virtual water.
Set up ethernet communication through Ethernet between said industrial computer and the said vision simulation computing machine, adopt ICP/IP protocol to realize the mutual of information.
The present invention has the following advantages:
1. simulation ROV practical operation scene is come operator training, and the what comes into a driver's display effect is true to nature, has very strong feeling of immersion, and the training time is short, and is effective, and can not cause the damage of ROV and lose;
2. controlling equipment only needs two single poles, several button and pilot lamp, and is simple to operate;
3. function modoularization, interface is simple.The present invention includes controlling equipment, control system, three modules of vision simulation computing machine, each module all has function separately, and interface is simple, and is easy to connect.；
4. functions of modules independent.Vision simulation computing machine among the present invention is independent, not only can be used for Aided Design ROV control system, also can be used in the real ROV control cabinet, the motion state that auxiliary ROV operating personnel observe ROV.
5. volume is little, is easy to install.
Description of drawings
Fig. 1 is a general structure block diagram of the present invention;
Fig. 2 is a system signal process flow diagram of the present invention;
Fig. 3 is an industrial computer control flow chart of the present invention;
Fig. 4 is a vision simulation computer control process flow diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is elaborated.
Like Fig. 1, a kind of remote underwater robot simulation trainer comprises
Actuation means is used for position and attitude that operating personnel change virtual underwater robot;
Control system is a core of the present invention, adopts real equipment to build.Based on the kinematics and the kinetic model of underwater robot, according to the operation of operating personnel, calculate the position and the attitude of virtual underwater robot, and send the position and the attitude information of virtual underwater robot to the vision simulation computing machine actuation means;
The vision simulation computing machine, the what comes into a driver's that is used for virtual underwater robot shows.
Said actuation means comprises single pole, button and pilot lamp.
Said single pole is a Three Degree Of Freedom single pole and a two-freedom single pole.
Said control system comprises industrial computer and slave computer module, carries out information interaction through the CAN bus network between industrial computer and each slave computer module, adopts the application layer protocol of master-slave mode, and industrial computer is a main frame, and each slave computer module is a slave.
Described slave computer module comprises analog output module, analog input module, digital input module and digital output module.
Set up ethernet communication through Ethernet between said industrial computer and the said vision simulation computing machine, adopt ICP/IP protocol to realize the mutual of information.
Said industrial computer is articulated to industrial computer on the CAN bus through the CAN/RS232 intelligent converter indirectly.
System signal process flow diagram of the present invention as shown in Figure 2.When operating personnel operated the single pole in the controlling equipment, its corresponding signal lines can be exported-10 volts to+10 volts aanalogvoltage.The signal wire of single pole links to each other with analog input module, and the aanalogvoltage of single pole signal wire output can be input to analog input module.Analog input module is converted into digital quantity with the aanalogvoltage of single pole output by analog quantity.Analog input module has the CAN bus controller, can be articulated on the CAN bus network.Analog input module sends the information of voltage of single pole signal wire output to the industrial computer that is articulated on the CAN bus.After industrial computer receives data and does certain pre-service; In conjunction with the angle of rake deployment scenarios of ROV, motor mathematical model and motor driver model; The motion conditions of four degree of freedom of virtual ROV (displacement and bow are to the angle) is converted into each thruster motor simulation control voltage, and this magnitude of voltage is exported by analog output module through the CAN bus network.Because the present invention does not have real motor driver and motor; But realize with virtual motor driver model and motor mathematical model; So each thruster analog control voltage collects in the industrial computer through analog input module after analog output module output again; Bring virtual motor driver model and motor mathematical model then into, finally calculate the thrust size of each thruster.Said motor mathematical model is:
Where U is the motor driver output voltage, n is the motor speed, Ce,
and R are constant, Ia for the motor circuit current.
Said thruster mathematical model is:
T＝K
T*ρn
2D
4
Wherein T is a thruster thrust, and KT is the zero dimension thrust coefficient, and ρ is a water-mass density, and n is the thruster rotating speed, and D is the thruster airscrew diameter.
After the size of each thruster thrust was confirmed, position and attitude that industrial computer just can be confirmed virtual ROV according to kinetic model and the kinematics model of ROV finally sent position and the attitude information of virtual ROV to the vision simulation computing machine through Ethernet.After the vision simulation computing machine receives the position and attitude of the virtual ROV that industrial computer sends, drive the virtual ROV three-dimensional model motion in the vision simulation environment.In robot simulation's training aids under the control of input equipments such as single pole and button, the virtual ROV three-dimensional model in the vision simulation computing machine has been realized the variation of position and the change of attitude so under water.
Industrial computer control flow chart of the present invention as shown in Figure 3.This program adopts the multi-thread programming technology, mainly is divided into serial port communication thread, ROV dynamics and kinematics model thread, main thread.
Because industrial computer does not have the CAN controller, can't directly be articulated on the CAN bus network, therefore need industrial computer be articulated on the CAN bus indirectly through the CAN/RS232 intelligent converter.The CAN/RS232 intelligent converter can convert the CAN message frame to RS232 serial communication frame, and the serial communication frame of also RS232 can being gone here and there converts the CAN message frame to.Industrial computer only need carry out serial communication with CAN/RS232 and can be articulated to indirectly on the CAN bus network, and then communicates with each slave computer module.Serial port communication thread is responsible for communicating by letter between industrial computer and the CAN/RS232 intelligent converter; Indirect CAN bus network that industrial computer is inserted; Receive the input information of analog input module, digital input module; Finally obtain the analog output voltage information of single pole and the switch situation of button, and export digital information to analog output module output aanalogvoltage with to digital output module through the CAN bus network.
Table 1 is the message frame form of CAN bus application layer protocol.The message frame formal definition identifier and the using priciple and the functional meaning of data division of CAN message, make the CAN message component in the network that its particular functionality and implication arranged.Agreement is the basis with the CAN2.0B frame structure, and identifier adopts extended format, and wherein source node MAC and destination node MAC are used to distinguish the numbering of equal modules type, to prevent the CAN bus collision.
Table 1
ROV kinematics and kinetic model thread are mainly used in brings the input information of single pole into ROV dynamics and kinematics model, calculates position and the attitude of virtual ROV.
The kinematics of ROV and kinetic model are:
Mv+C(v)v+D(v)v+g(η)＝τ
M is the virtual underwater robot inertial matrix that comprises additional mass, M ∈ R6 * 6;
C (v) be virtual underwater robot Ke Shi and centripetal force matrix, C (v) ∈ R6 * 6;
D (v) be virtual underwater robot fluid resistance matrix, D (v) ∈ R6 * 6;
G (η) is restoring force (moment) vector that is produced by gravity and buoyancy, g (η) ∈ R6 * 1;
τ is power (moment) vector that is produced by thruster, τ ∈ R6 * 1.
Ke Shi and centripetal force are slightly low to neglect under the ROV low speed situation, and displacement and the bow of only studying the ROV three degree of freedom be to the angle, and kinematics and the kinetic model of the ROV that the present invention adopts can be reduced to:
215u+(100+200|u|)u＝τ
x
265v+(100+200|v|)v＝τ
y
265w+(100+200|w|)w＝τ
z
80r+(50+100|r|)r＝M
z
Main thread is mainly used in the update software interface and sends position and the attitude information of virtual ROV to the vision simulation computing machine through ICP/IP protocol.
Vision simulation computer control process flow diagram of the present invention as shown in Figure 4, this program adopts Visual Studio2003 and the realization of Vega Prime function library, is made up of a main thread.This program is initialization vision simulation environment at first, the position of the position of various objects and attitude, especially ROV and attitude in the set environment.After reading the position and attitude information of the virtual ROV three-dimensional model that sends through Ethernet by industrial computer then, change the motion state of virtual ROV according to these information.The frame rate that this program is provided with picture is 50 frames/s, and at position and the attitude information of the virtual ROV of each frame update of picture, in continuous picture shows, just can demonstrate the motion state of virtual ROV so intuitively.This program also need be carried out collision detection to virtual ROV carrier, and so-called collision detection is exactly to detect the distance of virtual ROV three-dimensional model and other three-dimensional models.If virtual ROV three-dimensional model with other modal distances be zero (promptly colliding), just make the stop motion of virtual ROV three-dimensional model, take place to prevent the phenomenon that virtual ROV three-dimensional model passes other three-dimensional models.This program feeds back to industrial computer with some status informations of virtual ROV through Ethernet at last, and on the human-computer interaction interface of industrial computer, these information is shown.
Claims (9)
1. a remote underwater robot simulation trainer is characterized in that, comprises
Actuation means is used for the equipment that operating personnel control robot location and attitude under the Virtual water;
Control system; Kinematics and kinetic model based on underwater robot; According to the operation of operating personnel, calculate the position and the attitude of virtual underwater robot, and send the position and the attitude information of virtual underwater robot to the vision simulation computing machine actuation means;
The vision simulation computing machine is used for virtual demonstration marine environment, the demonstration of robot location and attitude under the Virtual water, and the movement locus of virtual demonstration underwater robot carrier.
2. a kind of remote underwater robot simulation trainer according to claim 1 is characterized in that said actuation means comprises single pole, button and pilot lamp.
3. a kind of remote underwater robot simulation trainer according to claim 2 is characterized in that, said single pole is a Three Degree Of Freedom single pole and a two-freedom single pole.
4. a kind of remote underwater robot simulation trainer according to claim 1; It is characterized in that; Said control system comprises industrial computer and slave computer module; Carry out information interaction through the CAN bus network between industrial computer and each slave computer module; Adopt the application layer protocol of master-slave mode; Industrial computer is a main frame, and each slave computer module is a slave.
5. a kind of remote underwater robot simulation trainer according to claim 4 is characterized in that said industrial computer is articulated to industrial computer on the CAN bus through the CAN/RS232 intelligent converter indirectly.
6. a kind of remote underwater robot simulation trainer according to claim 4 is characterized in that described slave computer module comprises analog output module, analog input module, digital input module and digital output module.
7. a kind of remote underwater robot simulation trainer according to claim 1 is characterized in that the kinematics of said underwater robot and kinetic model are:
215u+(100+200|u|)u＝τ
x (1)
265v+(100+200|v|)v＝τ
y (2)
265w+(100+200|w|)w＝τ
z (3)
80r+(50+100|r|)r＝M
z (4)
Wherein, τ is power (moment) vector that is produced by thruster, τ ∈ R6 * 1;
U is the movement velocity on the virtual underwater robot fore-and-aft direction;
V is the movement velocity on the virtual underwater robot left and right directions;
W is the movement velocity on the virtual underwater robot above-below direction;
R is machine steering angle speed under water.
8. a kind of remote underwater robot simulation trainer according to claim 1; It is characterized in that; Said vision simulation computing machine is that three-dimensional vision shows; Adopt virtual reality technology; Behind position of receiving the virtual underwater robot that control system is sent and attitude information, dynamically demonstrate the motion conditions of three dimensional model for robot under the Virtual water.
9. a kind of remote underwater robot simulation trainer according to claim 1 is characterized in that, sets up ethernet communication through Ethernet between said industrial computer and the said vision simulation computing machine, adopts ICP/IP protocol to realize the mutual of information.
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| CN103901781A (en) * | 2014-04-22 | 2014-07-02 | 深圳市智乐梦科技有限公司 | Networking on-line remote control simulation system and networking on-line remote control simulation method |
| CN104751692A (en) * | 2013-12-31 | 2015-07-01 | 中国人民解放军军械工程学院 | Virtual and physical synchronization equipment training simulator |
| CN105319987A (en) * | 2015-11-09 | 2016-02-10 | 哈尔滨工程大学 | Working ROV training simulator motion control simulation system |
| CN105607476A (en) * | 2016-01-04 | 2016-05-25 | 哈尔滨工程大学 | Six-degree freedom motion control system for operating type ROV |
| CN105654836A (en) * | 2016-02-01 | 2016-06-08 | 北京理工大学 | Comprehensive simulation method for spherical robot based on SolidWorks and ADAMS environment |
| CN106448422A (en) * | 2016-08-22 | 2017-02-22 | 纳博特南京科技有限公司 | VR device-based robot training system and method |
| CN104867369B (en) * | 2015-05-29 | 2017-04-12 | 哈尔滨工程大学 | Movement simulating device and method of unmanned submersible vehicle |
| CN106600666A (en) * | 2016-12-19 | 2017-04-26 | 河海大学常州校区 | Underwater robot simulation demonstration system and simulation method |
| CN108008733A (en) * | 2017-11-29 | 2018-05-08 | 中国地质大学（武汉） | A kind of underwater robot attitude control method, equipment and storage device |
| CN108108018A (en) * | 2017-12-12 | 2018-06-01 | 歌尔科技有限公司 | Commanding and training method, equipment and system based on virtual reality |
| CN109116973A (en) * | 2017-06-23 | 2019-01-01 | 百度在线网络技术（北京）有限公司 | Data processing method and device |
| CN110039561A (en) * | 2019-05-14 | 2019-07-23 | 南京理工大学 | Hot line robot remote operating staff training system and method based on cloud |
| CN110362017A (en) * | 2019-08-02 | 2019-10-22 | 上海电气集团股份有限公司 | A kind of control system of robot |
| CN110434876A (en) * | 2019-08-09 | 2019-11-12 | 南京工程学院 | A kind of six degree of freedom ROV driving simulation system and its analogy method |
| CN112530226A (en) * | 2020-12-13 | 2021-03-19 | 中国船舶重工集团公司七五0试验场 | ROV simulation training system for turbid water area auxiliary operation |
| CN112748806A (en) * | 2021-01-12 | 2021-05-04 | 北京卓越电力建设有限公司 | Virtual cable tunnel environment roaming simulation system |
| CN112819966A (en) * | 2021-01-05 | 2021-05-18 | 上海大学 | Environment fusion system and method suitable for man-machine interaction operation of underwater remote control robot |
| CN114218702A (en) * | 2021-12-10 | 2022-03-22 | 哈尔滨工业大学（深圳） | Virtual visual simulation system for space on-orbit control |
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| CN104751692A (en) * | 2013-12-31 | 2015-07-01 | 中国人民解放军军械工程学院 | Virtual and physical synchronization equipment training simulator |
| CN103901781A (en) * | 2014-04-22 | 2014-07-02 | 深圳市智乐梦科技有限公司 | Networking on-line remote control simulation system and networking on-line remote control simulation method |
| CN104867369B (en) * | 2015-05-29 | 2017-04-12 | 哈尔滨工程大学 | Movement simulating device and method of unmanned submersible vehicle |
| CN105319987A (en) * | 2015-11-09 | 2016-02-10 | 哈尔滨工程大学 | Working ROV training simulator motion control simulation system |
| CN105607476A (en) * | 2016-01-04 | 2016-05-25 | 哈尔滨工程大学 | Six-degree freedom motion control system for operating type ROV |
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| CN109116973A (en) * | 2017-06-23 | 2019-01-01 | 百度在线网络技术（北京）有限公司 | Data processing method and device |
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| CN108008733A (en) * | 2017-11-29 | 2018-05-08 | 中国地质大学（武汉） | A kind of underwater robot attitude control method, equipment and storage device |
| CN108008733B (en) * | 2017-11-29 | 2020-02-14 | 中国地质大学（武汉） | Underwater robot attitude control method, device and storage device |
| CN108108018A (en) * | 2017-12-12 | 2018-06-01 | 歌尔科技有限公司 | Commanding and training method, equipment and system based on virtual reality |
| CN110039561A (en) * | 2019-05-14 | 2019-07-23 | 南京理工大学 | Hot line robot remote operating staff training system and method based on cloud |
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| CN110434876A (en) * | 2019-08-09 | 2019-11-12 | 南京工程学院 | A kind of six degree of freedom ROV driving simulation system and its analogy method |
| CN110434876B (en) * | 2019-08-09 | 2024-03-22 | 南京工程学院 | Six-degree-of-freedom ROV simulation driving system and simulation method thereof |
| CN112530226A (en) * | 2020-12-13 | 2021-03-19 | 中国船舶重工集团公司七五0试验场 | ROV simulation training system for turbid water area auxiliary operation |
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| CN112819966A (en) * | 2021-01-05 | 2021-05-18 | 上海大学 | Environment fusion system and method suitable for man-machine interaction operation of underwater remote control robot |
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| CN114419943A (en) * | 2021-12-29 | 2022-04-29 | 宜昌测试技术研究所 | Multi-AUV (autonomous Underwater vehicle) semi-offline tactical deduction system |
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Application publication date: 20120215 |