CN109557930A - A kind of underwater robot operation control system and method based on VR - Google Patents
A kind of underwater robot operation control system and method based on VR Download PDFInfo
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- CN109557930A CN109557930A CN201710892656.2A CN201710892656A CN109557930A CN 109557930 A CN109557930 A CN 109557930A CN 201710892656 A CN201710892656 A CN 201710892656A CN 109557930 A CN109557930 A CN 109557930A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000009877 rendering Methods 0.000 claims abstract description 40
- 230000000007 visual effect Effects 0.000 claims abstract description 22
- 230000009471 action Effects 0.000 claims abstract description 11
- 239000011521 glass Substances 0.000 claims description 16
- 230000005236 sound signal Effects 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 14
- 239000007789 gas Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 238000005094 computer simulation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
Disclose a kind of underwater robot operation control system and method based on VR.The device includes pseudo operation console, motion control device, resolver, emulation rendering device, visual display device, and the pseudo operation console issues operational order depending on the user's operation；The motion control device is converted into the control data of robot motion, and the control data are passed to resolver；The resolver carries out the real-time calculating of underwater robot respective action and hydrodynamics based on the control data, and calculated result is passed to emulation rendering device；The working scene figure that the emulation rendering device carries out the robot is drawn and scene rendering, and generates vision signal；The visual display device receives the vision signal of the emulation rendering device, and is shown.The present invention facilitates technology and the administrative staff that culture has practical underwater robot operating experience, improves underwater operation efficiency, reduces operating cost and risk.
Description
Technical field
The present invention relates to the fields ROV, more particularly, to a kind of ROV operation control system and method based on VR.
Background technique
The offshore oil construction of natural gas fields especially deep-sea oil gas develop, since hydrostatic pressure is too big so that operating personnel without
Method reaches, and underwater production facility installation, the operations such as maintenance are needed through underwater robot (ROV) Lai Shixian.And underwater robot
The superiority and inferiority of operation control system is directly related to underwater robot operation controllers result of training, a set of water haveing excellent performance
Lower robot manipulation's control system, often gets twice the result with half the effort.
Virtual reality (Virtual Reality, abbreviation VR) refer to comprehensive utilization computer technology, sensing and measuring technique,
The modem technologies such as emulation technology, microelectric technique create a virtual scene, and people is made to be immersed in the void of computer generation
And it can be directly with the natural technical ability of people (language, gesture etc.) and the mode of thinking and input environmental interaction, wound in near-ring border
The Multi information space for having built a kind of making children, has broad application prospects.The development of VR technology is a set of virtual for establishing
Underwater robot operating system provide good platform.But currently, in the prior art there is not yet the water based on VR technology
Lower robot manipulation's control system.Therefore, it is necessary to establish a kind of underwater robot operation control system and method based on VR.
The information for being disclosed in background of invention part is merely intended to deepen the reason to general background technique of the invention
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Summary of the invention
It is underwater for deep-sea oil gas exploitation the purpose of the present invention is establishing underwater robot operation control system based on VR technology
The underwater robots operation such as production system installation, maintenance provides a digit manipulation platform, by underwater robot items function
The operations such as underwater robot operation control subsea production system installation, maintenance are realized in the operation control of energy.
The present invention has abandoned traditional physical operations platform, using VR technology and equipment, establishes the underwater of virtual digital
Robot manipulation's control system.By carrying out the operation control of the underwater robots such as deep-sea subsea production system installation, maintenance, culture
Technology and administrative staff with practical underwater robot operating experience improve operating efficiency, reduce operating cost and risk, can
Strong technical support and safety guarantee are provided for deep-sea oil gas Efficient Development.
According to an aspect of the invention, it is proposed that a kind of underwater robot operation control system based on VR.The system includes
Pseudo operation console, motion control device, resolver, emulation rendering device, visual display device,
The pseudo operation console and the visual display device are integrated in VR glasses；
The pseudo operation console issues operational order depending on the user's operation；
The motion control device receives the operational order that the pseudo operation console issues, and is converted into robot
The control data of movement, and the control data are passed into resolver；
The resolver carries out the real-time of underwater robot respective action and hydrodynamics based on the control data
It calculates, and calculated result is passed into emulation rendering device；
The emulation rendering device is according to the working scene for carrying out the robot from the resolver received signal
Figure is drawn and scene rendering, and generates vision signal；
The visual display device receives the vision signal of the emulation rendering device, and is shown.
Preferably, between the pseudo operation console and the motion control device and the emulation rendering device with
It is connected between the visual display device by cable communication.
Preferably, it the system also includes the audio devices being integrated in VR glasses and is integrated in the resolver
Audio treatment unit, the audio treatment unit receives the audio signal of the working scene from underwater robot, by right
The audio signal is parsed, and generates the audio signal synchronous with underwater human action, is transferred to the audio devices.
According to another aspect of the invention, it is proposed that a kind of underwater robot method of controlling operation thereof based on VR, utilizes upper
The underwater robot operation control system based on VR stated controls underwater robot.This method comprises:
User wears VR glasses, issues operational order by the pseudo operation console being integrated in VR glasses；
Motion control device receives the operational order that the pseudo operation console issues, and is converted into robot motion
Control data, and the control data are passed into resolver；
Resolver receives the control data, and carries out the real-time meter of underwater robot respective action and hydrodynamics
It calculates, and calculated result is passed into emulation rendering device；
Emulation rendering device is drawn based on the working scene figure that the calculated result of checkout apparatus carries out the robot and field
Scape rendering, and generate vision signal；
Visual display device receives the vision signal of the emulation rendering device, and is shown.
Preferably, between the pseudo operation console and the motion control device and the emulation rendering device with
It is connected between the visual display device by cable communication.
Preferably, when the underwater robot operation control system based on VR further includes the audio devices being integrated in VR glasses
And when being integrated in the audio treatment unit in the resolver, the audio treatment unit is received from underwater robot
The audio signal of working scene by parsing to the audio signal, and generates the sound synchronous with underwater human action
Frequency signal is transferred to the audio devices.
The beneficial effects of the present invention are: being controlled by the operation that VR technology realizes underwater robot various functions, culture
Technology and administrative staff with practical underwater robot operating experience improve underwater operation efficiency, reduce operating cost and wind
Danger provides strong technical support and safety guarantee for deep-sea oil gas exploitation；And using the underwater robot operation based on VR
Control system has abandoned traditional physical operations platform, reduce the physical device training various failures that may occur of operation and
Accident can greatly improve underwater robot underwater operation control operating efficiency, save substantial contribution.
Methods and apparatus of the present invention has other characteristics and advantages, these characteristics and advantages are attached from what is be incorporated herein
It will be apparent in figure and subsequent specific embodiment, or will be in the attached drawing and subsequent specific implementation being incorporated herein
It is stated in detail in example, these the drawings and specific embodiments are used together to explain specific principle of the invention.
Detailed description of the invention
Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, of the invention is above-mentioned and other
Purpose, feature and advantage will be apparent, wherein in exemplary embodiments of the present invention, identical reference label is usual
Represent same parts.
Fig. 1 shows showing for the underwater robot operation control system based on VR in accordance with an exemplary embodiment of the invention
It is intended to.
Description of symbols:
1- comprehensive server, 2-VR glasses, 3- resolver, 4- emulation rendering device, 5- motion control device, 6- are virtual
Operating console, 7- visual display device.
Specific embodiment
The present invention will be described in more detail below with reference to accompanying drawings.Although showing the preferred embodiment of the present invention in attached drawing,
However, it is to be appreciated that may be realized in various forms the present invention and should not be limited by the embodiments set forth herein.On the contrary, providing
These embodiments are of the invention more thorough and complete in order to make, and can will fully convey the scope of the invention to ability
The technical staff in domain.
Below with reference to the underwater robot operation based on VR of Fig. 1 detailed description in accordance with an exemplary embodiment of the invention
Control system.
The underwater robot operating system based on VR specifically includes that resolver 3, emulation rendering device 4, motion control
Device 5, pseudo operation console 6, visual display device 7, wherein pseudo operation console 6 and visual display device 7 are integrated in VR
In mirror 2, resolver 3, emulation rendering device 4 and motion control device 5 belong to comprehensive server 1.As shown in Figure 1, virtual behaviour
Make console 6 and motion control device 5 communicates to connect, emulation rendering device 4 and visual display device 7 communicate to connect, motion control
Device 5 is connect with resolver 3, and resolver 3 is connect with emulation rendering device 4.
Comprehensive server 1 is arranged on ground, transmits control data to underwater robot by cable.
Pseudo operation console 6 issues operational order to motion control device 5, motion control device depending on the user's operation
5 by received operational order be converted to the control data of underwater robot, send it to underwater robot on the one hand to control
Its movement is made, resolver 3 is on the other hand passed it to.
Resolver 3 based on received control data carry out the real-time of underwater robot respective action and hydrodynamics
It calculates, and calculated result is passed into emulation rendering device 4.
Checkout apparatus 3 is using based on dynamics calculation software Vortex and finite element analysis software Flunet secondary development
Core drive resolves software, according to the control data that motion control device 5 issues, carries out dynamics simulation modeling, and by institute
The model of foundation, which is added in required dynamics simulation space, carries out real-time Dynamic Kinetic resolving.
The drafting of working scene figure and scene rendering that rendering device carries out robot based on received signal are emulated, is generated
Vision signal simultaneously sends it to visual display device 7.
The working scene of robot is marine environment, including the above atmospheric environment in sea, wave of the sea, ocean water body, sea
Bottom landform etc..
Visual display device 7 receives the vision signal, and is shown.
By above method, user can control the movement of underwater robot by pseudo operation console, and can be from
VR glasses are visually observed that the corresponding actions of robot, facilitate the technology that culture has practical underwater robot operating experience
And administrative staff, underwater operation efficiency is improved, operating cost and risk are reduced.
In one example, between pseudo operation console 6 and motion control device 5 and emulation rendering device 4 and view
It is connected between scape display 7 by cable communication.
In one example, which further includes the audio devices being integrated in VR glasses and is integrated in checkout apparatus
Audio treatment unit.
The invention also provides a kind of underwater robot method of controlling operation thereof based on VR, using above-mentioned based on VR's
Underwater robot operation control system controls underwater robot.This method comprises:
User wears VR glasses, issues operational order by the pseudo operation console being integrated in VR glasses；
Motion control device receives the operational order that the pseudo operation console issues, and is converted into robot motion
Control data, and the control data are passed into resolver；
Resolver receives the control data, and carries out the real-time meter of underwater robot respective action and hydrodynamics
It calculates, and calculated result is passed into emulation rendering device；
Emulation rendering device is drawn based on the working scene figure that the calculated result of checkout apparatus carries out the robot and field
Scape rendering, and generate vision signal；
Visual display device receives the vision signal of the emulation rendering device, and is shown.
In one example, between the pseudo operation console and the motion control device and the emulation rendering
It is connected between device and the visual display device by cable communication.
In one example, when the underwater robot operation control system based on VR further includes the sound being integrated in VR glasses
When frequency device and the audio treatment unit being integrated in the resolver, the audio treatment unit, which receives, comes from underwater machine
The audio signal of the working scene of device people by parsing to the audio signal, and generates same with underwater human action
The audio signal of step is transferred to the audio devices.
It will be understood by those skilled in the art that above to the purpose of the description of the embodiment of the present invention only for illustratively saying
The beneficial effect of bright the embodiment of the present invention is not intended to limit embodiments of the invention to given any example.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport
In the principle, practical application or improvement to the technology in market for best explaining each embodiment, or make the art
Other those of ordinary skill can understand each embodiment disclosed herein.
Claims (6)
1. a kind of underwater robot operation control system based on VR, which is characterized in that including pseudo operation console, movement control
Device processed, resolver, emulation rendering device, visual display device,
The pseudo operation console and the visual display device are integrated in VR glasses；
The pseudo operation console issues operational order depending on the user's operation；
The motion control device receives the operational order that the pseudo operation console issues, and is converted into robot motion
Control data, and the control data are passed into resolver；
The resolver carries out the real-time calculating of underwater robot respective action and hydrodynamics based on the control data,
And calculated result is passed into emulation rendering device；
The emulation rendering device is drawn according to the working scene figure for carrying out the robot from the resolver received signal
System and scene rendering, and generate vision signal；
The visual display device receives the vision signal of the emulation rendering device, and is shown.
2. the underwater robot operation control system according to claim 1 based on VR, wherein the pseudo operation control
Pass through cable communication between platform and the motion control device and between the emulation rendering device and the visual display device
Connection.
3. the underwater robot operation control system according to claim 1 based on VR, wherein the system also includes collection
At in the audio devices in VR glasses and the audio treatment unit being integrated in the resolver, the audio treatment unit
The audio signal for receiving the working scene from underwater robot, by being parsed to the audio signal, and generation and water
The synchronous audio signal of lower robot motion, is transferred to the audio devices.
4. a kind of underwater robot method of controlling operation thereof based on VR utilizes the base as described in one in claim 1-3
Underwater robot is controlled in the underwater robot operation control system of VR characterized by comprising
User wears VR glasses, issues operational order by the pseudo operation console being integrated in VR glasses；
Motion control device receives the operational order that the pseudo operation console issues, and is converted into the control of robot motion
Data processed, and the control data are passed into resolver；
Resolver receives the control data, and carries out the real-time calculating of underwater robot respective action and hydrodynamics,
And calculated result is passed into emulation rendering device；
Emulation rendering device is drawn based on the working scene figure that the calculated result of checkout apparatus carries out the robot and scene wash with watercolours
Dye, and generate vision signal；
Visual display device receives the vision signal of the emulation rendering device, and is shown.
5. underwater robot method of controlling operation thereof according to claim 4, wherein the pseudo operation console with it is described
It is connected between motion control device and by cable communication between the emulation rendering device and the visual display device.
6. underwater robot method of controlling operation thereof according to claim 4, wherein when the underwater robot operation based on VR
Control system further includes the audio devices being integrated in VR glasses and the audio treatment unit that is integrated in the resolver
When, the audio treatment unit receives the audio signal of the working scene from underwater robot, by the audio signal
It is parsed, and generates the audio signal synchronous with underwater human action, be transferred to the audio devices.
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