CN111862720A - Simulation training system and method based on remote control unmanned submersible - Google Patents
Simulation training system and method based on remote control unmanned submersible Download PDFInfo
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- CN111862720A CN111862720A CN201910357351.0A CN201910357351A CN111862720A CN 111862720 A CN111862720 A CN 111862720A CN 201910357351 A CN201910357351 A CN 201910357351A CN 111862720 A CN111862720 A CN 111862720A
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- 238000012549 training Methods 0.000 title claims abstract description 60
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- 238000011156 evaluation Methods 0.000 claims description 16
- 238000009877 rendering Methods 0.000 claims description 15
- 238000011022 operating instruction Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 6
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- 238000004458 analytical method Methods 0.000 description 1
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- 238000005553 drilling Methods 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
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- 239000003345 natural gas Substances 0.000 description 1
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- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
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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
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
- G09B9/063—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles by using visual displays
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Abstract
The invention provides a simulation training system based on a remote control unmanned submersible, which comprises: the operation device is used for determining the current training project according to the received simulation instruction and receiving an operation instruction output by a person to be trained; the main control device is used for receiving the operation instruction, evaluating the accuracy of the operation instruction, performing power calculation and virtual simulation on the operation instruction and generating a simulation video signal; the display device is used for receiving the simulation video signal and displaying real-time working states of the virtual remote control unmanned submersible at different angles through the simulation video signal; and the bearing device is used for bearing the operating device, the main control device and the display device. The invention constructs a simulation training system for the unmanned submersible, realizes the training and the examination of ROV operating personnel through the simulation training of the operation processes of installation, maintenance and the like of the underwater production facility, can quickly, reliably and safely complete the installation and the maintenance tasks of the complex underwater production facility, and improves the underwater operation efficiency.
Description
Technical Field
The invention relates to the field of petroleum and natural gas, in particular to a simulation training system and method based on a remote control unmanned submersible vehicle.
Background
With the development of offshore oil and gas, particularly deep sea oil and gas, the hydrostatic pressure is higher and higher due to the increase of the working water depth, so that operating personnel cannot reach an operation site, and an ROV (Remote operated vehicle) is widely applied to the operations of installation, maintenance and the like of deep sea oil and gas development underwater production facilities. In the deep sea oil and gas operation process, the structure and the working requirements of the underwater production facility are more and more complex, the requirements for quick treatment and response are higher and higher, the operation cost is high, accidents are caused by slight errors, and irrecoverable economic loss is generated. Therefore, training of installation and maintenance personnel of underwater production facilities is extremely important, and the demand for ROV simulation training devices is increasingly strong. At present, simulation training devices used in petroleum industry at home and abroad are all universal devices, the simulation precision and pertinence are poor, and a movable and portable ROV simulation training system specially aiming at ROV does not exist.
Therefore, the invention provides a simulation training system and method based on a remote control unmanned submersible vehicle.
Disclosure of Invention
In order to solve the above problems, the present invention provides a simulation training system based on a remotely controlled unmanned vehicle, the system comprising:
the operation device is used for determining the current training project according to the received simulation instruction and receiving an operation instruction output by a person to be trained;
the main control device is used for receiving the operation instruction, evaluating the accuracy of the operation instruction, performing power calculation and virtual simulation on the operation instruction and generating a simulation video signal;
the display device is used for receiving the simulation video signal and displaying real-time working states of the virtual remote control unmanned submersible at different angles through the simulation video signal;
and the bearing device is used for bearing the operating device, the main control device and the display device.
According to one embodiment of the present invention, the operating device includes:
the main operating platform is provided with a main control module and is used for receiving a direction operating instruction of a person to be trained for controlling the remote control unmanned submersible;
the left operation platform is provided with a left arm control module and is used for receiving a left arm operation instruction of a person to be trained for controlling the left arm of the remote control unmanned submersible;
And the right operation platform is provided with a right arm control module and used for receiving a right arm operation instruction of a person to be trained for controlling the right arm of the remote control unmanned submersible.
According to one embodiment of the invention, the main console further comprises: a selection module to receive the simulation instruction.
According to one embodiment of the present invention, the master device includes:
the resolving module is used for receiving the operation instruction, performing hydrodynamic resolving on the operation instruction and generating operation scene data;
and the simulation rendering module is used for receiving the operation scene data, performing distributed scene graph drawing and scene rendering on the operation scene data, and generating the simulation video signal.
According to an embodiment of the present invention, the master control device further includes: and the evaluation module is used for monitoring and recording the process of outputting the operation instruction by the personnel to be trained in real time and evaluating the accuracy of the operation instruction.
According to one embodiment of the present invention, the display device includes: and the synchronous display module is communicated with the evaluation module and is used for displaying the process of outputting the operation instruction by the personnel to be trained in real time.
According to one embodiment of the present invention, the display device includes: and the state display module is used for displaying real-time working states of the virtual remote control unmanned submersible at different angles.
According to one embodiment of the invention, the carrying device comprises a seat.
According to one embodiment of the present invention, the carrying device includes a stowable roller.
According to another aspect of the invention, there is also provided a method for simulated training based on a remotely operated unmanned vehicle, the method comprising the steps of:
determining a current training project according to the received simulation instruction, and receiving an operation instruction output by a person to be trained;
receiving the operation instruction, carrying out accuracy evaluation on the operation instruction, carrying out power calculation and virtual simulation on the operation instruction, and generating a simulation video signal;
and receiving the simulation video signal, and displaying the real-time working states of the virtual remote control unmanned submersible at different angles through the simulation video signal.
The simulation training system and the simulation training method based on the remote control unmanned submersible provided by the invention construct a simulation training system for the unmanned submersible, and realize the training and the examination of the personnel to be trained of the ROV through the simulation training of various operation processes such as the installation and the maintenance of underwater production facilities, so that the personnel can quickly, reliably and safely complete the installation and the maintenance tasks of various complicated underwater production facilities, improve the underwater operation efficiency, reduce the operation cost and the risk, and provide powerful technical support and safety guarantee for the deep sea oil and gas development. In addition, the foldable mobile design of the invention is convenient for the carrying and the movement of the whole device, has small occupied area, can adapt to different occasions, has high equipment utilization rate and saves a large amount of equipment repeated construction funds.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 shows a block diagram of a simulated training system based on a remotely operated unmanned vehicle according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a simulated training system based on a remotely operated unmanned vehicle according to another embodiment of the present invention;
FIG. 3 shows a schematic view of an operator panel in a remotely operated unmanned vehicle based simulated training system according to an embodiment of the present invention;
FIGS. 4-7 are partial schematic views of an operator panel of a remotely operated unmanned vehicle based simulated training system according to an embodiment of the present invention; and
FIG. 8 shows a flow diagram of a method for simulated training based on a remotely operated unmanned vehicle, in accordance with an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
At present, the ROV simulation training device mainly comprises a plurality of display systems and simulation methods used in the petroleum industry at home and abroad, the simulation precision and pertinence are poor, and a movable ROV simulation training device specially aiming at ROV does not exist.
Therefore, in order to accelerate the training and examination of the ROV operators, reduce the risk of operations such as installation and maintenance of an underwater production system and rapidly cultivate qualified ROV operators so that the ROV operators can rapidly, reliably and safely complete various complicated underwater operation tasks, the simulation training device is necessary to be established by combining the current mainstream simulation technology and VR technology, particularly by utilizing a VR helmet to display and output simulation operation contents.
FIG. 1 shows a block diagram of a simulated training system based on a remotely operated unmanned vehicle according to an embodiment of the invention. As shown in fig. 1, the simulation training system 100 includes an operation device 101, a main control device 102, a display device 103, and a carrying device 104.
The operating device 101 is configured to determine a current training program according to the received simulation instruction, and receive an operating instruction output by a person to be trained.
Preferably, the training program comprises subsea manifold installation, subsea tree installation, subsea jumper installation, subsea pipeline leak-off maintenance, and free-standing riser installation.
The main control device 102 is configured to receive an operation instruction, perform accuracy evaluation on the operation instruction, perform power calculation and virtual simulation on the operation instruction, and generate a simulation video signal.
The display device 103 is used for receiving the simulation video signal and displaying real-time working states of the virtual remote-control unmanned submersible in different angles through the simulation video signal.
Specifically, the display device may include a display screen and also include a display output for displaying the contents of the simulation operation using the VR headset.
The carrying device 104 is used for carrying an operating device, a main control device and a display device.
Preferably, the operation device 101 includes a main operation table, a left operation table, and a right operation table.
The main operating platform is provided with a main control module and is used for receiving a direction operating instruction of a person to be trained for controlling the remote control unmanned submersible. The left operation platform is provided with a left arm control module and is used for receiving a left arm operation instruction of a person to be trained for controlling the left arm of the remote control unmanned submersible. The right operation platform is provided with a right arm control module and used for receiving a right arm operation instruction of a person to be trained for controlling the right arm of the remote control unmanned submersible.
Preferably, the main console further comprises: a selection module to receive a simulation instruction.
Preferably, the master control device comprises: a resolving module and a simulation rendering module.
The calculation module is used for receiving the operation instruction, performing hydrodynamic calculation on the operation instruction and generating operation scene data. The simulation rendering module is used for receiving the operation scene data, performing distributed scene graph drawing and scene rendering on the operation scene data, and generating a simulation video signal.
Preferably, the master control device further comprises: and the evaluation module is used for monitoring and recording the process of outputting the operation instruction by the personnel to be trained in real time and evaluating the accuracy of the operation instruction.
The display device includes: and the synchronous display module is communicated with the evaluation module and is used for displaying the process of outputting the operation instruction by the personnel to be trained in real time.
Preferably, the display device includes: and the state display module is used for displaying real-time working states of the virtual remote control unmanned submersible at different angles.
Preferably, the load bearing means comprises a seat.
Preferably, the carrying means comprises a stowable roller.
As shown in figure 1, a movable ROV simulation training system is established, and a visual and immersive simulation training system is provided for operations such as installation and maintenance of an underwater production system for deep sea oil and gas development. The most real simulation training of various operation processes such as installation and maintenance of underwater production facilities is provided, and the training and the examination of ROV operators are realized, so that various complex underwater operation tasks can be completed quickly, reliably and safely.
FIG. 2 is a schematic diagram of a simulated training system based on a remotely operated unmanned vehicle according to another embodiment of the invention. As shown in fig. 2, 1 denotes a main control device, 2 denotes a left console, 3 denotes a right console, 4 denotes a main console, 5 denotes a display device, 6 denotes a seat, 7 denotes a base, and a wheel stowing system.
The simulation training system shown in fig. 2 includes a main control device (a resolving module, a simulation rendering module, and an evaluation module), an operation device (a main console, a left console, and a right console), a display device, and a carrying device (a seat and a wheel stowing system).
The main control device is the core of the whole simulation training system and is responsible for simulation and simulation of various working conditions, and the main control device comprises a resolving module, a simulation rendering module and an evaluation module. The calculation module is developed and built based on Vortex (multi-body dynamics virtual simulation system) on the basis of indoor hydrodynamic experiment and hydrodynamic numerical simulation, is responsible for receiving various control data transmitted by the operating device and performing real-time calculation on physical simulation data such as hydrodynamics, and then transmits a calculation result to the real rendering module.
Specifically, hydrodynamic coefficients of various large underwater structures (such as a Christmas tree, an underwater manifold, a jumper pipe, a PLET (pipeline End termination) and the like) in the sea area where the simulation working condition is located are determined by combining an indoor hydrodynamic experiment and hydrodynamic numerical simulation, and corresponding general parameters in Vortex are corrected; meanwhile, aiming at the problems of large real-time calculation precision and errors of the Vortex, the calculation result of the nodes of the offline finite element in a large range is used as a real-time calculation reference point of the Vortex through programming, so that the real-time calculation accuracy of the Vortex is improved, and the precision of visual simulation is greatly improved.
The simulation rendering module is used for drawing a distributed scene graph and rendering a parallel scene, and outputting a simulation video signal to the display device. The evaluation module can monitor the control process of the trained personnel in real time, synchronously record each operation process of the trained personnel, and use the playback and analysis of the training process and the comprehensive evaluation of the training effect.
The operation device is responsible for the operation of various functions of the ROV, comprises a main operation console, a left operation console, a right operation console and other equipment, is responsible for the operation and control between the personnel to be trained and the simulation system, and sends operation and control signals sent by the personnel to be trained to the main control device. Wherein the main console is responsible for the operation of various main functions of the ROV. The left operation platform is responsible for the operation of various functions of the left arm of the ROV; the right operation platform is responsible for the operation of various functions of the right arm of the ROV.
Specifically, FIG. 3 shows a schematic view of an operator panel in a remotely operated unmanned vehicle based simulated training system according to an embodiment of the present invention. Fig. 4-7 show partial schematic views of an operator panel in a remotely operated unmanned vehicle based simulated training system according to an embodiment of the present invention.
Wherein figure 4 shows a detailed schematic view of the portion 400 of the panel identified in figure 3. As shown in fig. 4, the panel includes a system operation indication, a system overload indication and an alarm buzzer; it also includes sonar detection, automatic depth, automatic navigation and propeller enabling four rotation buttons.
Fig. 5 shows a detailed schematic view of the portion 500 of the panel identified in fig. 3. As shown in fig. 5, the panel includes light 1 dimming, light 2 dimming, rotary propeller power preconditioning, rotary propeller speed preconditioning, X-axis propeller power preconditioning, X-axis propeller speed preconditioning, Y-axis propeller power preconditioning, Y-axis propeller speed preconditioning, etc. rotary buttons and ROV motion levers.
Fig. 6 shows a detailed schematic view of the portion 600 of the panel identified in fig. 3. As shown in fig. 6, the panel includes a camera for taking a picture, manual overload protection activation, system scram, Z-axis snap selection, system start, and system shut down.
Fig. 7 shows a detailed schematic view of the portion 700 of the panel identified in fig. 3. As shown in fig. 7, the panel includes a right manipulator arm, a right manipulator jaw, a right manipulator swing, a left manipulator arm, a left manipulator jaw, a left manipulator swing, an inclined platform control, a horizontal platform control, and a Z-axis propulsion adjustment.
The display device is used for displaying various forms of the ROV under different views, so that the personnel to be trained can more visually know the working state of the ROV, and the ROV can be accurately controlled in various operations. In order to better match the operation of the user on the ROV, the display interface can also synchronously display the corresponding operations of the main console, the right console and the left console.
The bearing device comprises a seat and a roller wheel receiving system. The bottom of the seat is provided with the retractable idler wheels, so that the whole set of system is convenient to carry and move.
The simulation training system shown in fig. 2 provides a professional ROV operation drilling and testing platform for operations such as installation and maintenance of the deep sea oil and gas development underwater production system, and the training and examination of ROV operators are realized through simulation training of various operation processes such as installation and maintenance of underwater production facilities, so that the ROV operation personnel can quickly, reliably and safely complete installation and maintenance tasks of various complex underwater production facilities, the operation efficiency is improved, and the operation cost and risk are reduced. Meanwhile, the whole device is convenient to carry and move due to the movable design, the occupied area is small, the device can adapt to different occasions, the utilization rate of the device is high, and a large amount of repeated construction funds of the device are saved.
FIG. 8 shows a flow diagram of a method for simulated training based on a remotely operated unmanned vehicle, in accordance with an embodiment of the present invention.
As shown in fig. 8, in step S801, a current training program is determined according to the received simulation instruction, and an operation instruction output by a person to be trained is received.
Furthermore, after the simulation training system is started to operate, the main console receives the simulation instruction, the ROV simulation operation to be performed is selected, and then various operation instructions are sent to the resolving system of the main control device through the left and right consoles.
Then, in step S802, the operation command is received, accuracy evaluation is performed on the operation command, and dynamic calculation and virtual simulation are performed on the operation command to generate a simulation video signal.
Further, the resolving module completes power resolving according to the operation instruction, generates operation scene data and transmits the operation scene data to the simulation rendering module; and the simulation rendering module performs distributed scene graph drawing and parallel scene rendering according to the received operation scene data and then generates a simulation video signal.
In addition, the evaluation module records the whole operation process, evaluates the normalization and the effect of each operation, and gives comprehensive evaluation of the training operation effect after the training operation is finished.
Finally, in step S803, the simulation video signal is received, and the real-time operating states of the virtual remotely-controlled unmanned vehicle at different angles are displayed through the simulation video signal.
Further, the display device receives and outputs the simulation video signal to perform three-dimensional display of different visual angles of the operation scene. The personnel to be trained can judge the operation to be carried out next step according to the actual state of the ROV under different visual angles, and then carry out single or combined operation through corresponding operating devices (a main operating platform, a left operating platform and a right operating platform) to adjust the working state of the ROV, thereby completing the whole simulation operation.
In conclusion, the simulation training system and the simulation training method based on the remote control unmanned submersible provided by the invention construct a simulation training system for the unmanned submersible, and realize the training and the examination of the personnel to be trained of the ROV through the simulation training of various operation processes such as the installation and the maintenance of underwater production facilities, so that the personnel can quickly, reliably and safely complete the installation and the maintenance tasks of various complex underwater production facilities, improve the underwater operation efficiency, reduce the operation cost and the risk, and provide powerful technical support and safety guarantee for the deep sea oil and gas development. In addition, the foldable mobile design of the invention is convenient for the carrying and the movement of the whole device, has small occupied area, can adapt to different occasions, has high equipment utilization rate and saves a large amount of equipment repeated construction funds.
It is to be understood that the disclosed embodiments of the invention are not limited to the particular structures, process steps, or materials disclosed herein but are extended to equivalents thereof as would be understood by those ordinarily skilled in the relevant arts. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrase "one embodiment" or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A remotely operated unmanned submersible based simulated training system, the system comprising:
the operation device is used for determining the current training project according to the received simulation instruction and receiving an operation instruction output by a person to be trained;
the main control device is used for receiving the operation instruction, evaluating the accuracy of the operation instruction, performing power calculation and virtual simulation on the operation instruction and generating a simulation video signal;
the display device is used for receiving the simulation video signal and displaying real-time working states of the virtual remote control unmanned submersible at different angles through the simulation video signal;
and the bearing device is used for bearing the operating device, the main control device and the display device.
2. The system of claim 1, wherein the operation device comprises:
the main operating platform is provided with a main control module and is used for receiving a direction operating instruction of a person to be trained for controlling the remote control unmanned submersible;
the left operation platform is provided with a left arm control module and is used for receiving a left arm operation instruction of a person to be trained for controlling the left arm of the remote control unmanned submersible;
and the right operation platform is provided with a right arm control module and used for receiving a right arm operation instruction of a person to be trained for controlling the right arm of the remote control unmanned submersible.
3. The system of claim 2, wherein said main console further comprises: a selection module to receive the simulation instruction.
4. The system of any one of claims 1-3, wherein the master device comprises:
the resolving module is used for receiving the operation instruction, performing hydrodynamic resolving on the operation instruction and generating operation scene data;
and the simulation rendering module is used for receiving the operation scene data, performing distributed scene graph drawing and scene rendering on the operation scene data, and generating the simulation video signal.
5. The system of claim 4, wherein the master device further comprises: and the evaluation module is used for monitoring and recording the process of outputting the operation instruction by the personnel to be trained in real time and evaluating the accuracy of the operation instruction.
6. The system of claim 5, wherein the display device comprises: and the synchronous display module is communicated with the evaluation module and is used for displaying the process of outputting the operation instruction by the personnel to be trained in real time.
7. The system of any one of claims 1-6, wherein the display device comprises: and the state display module is used for displaying real-time working states of the virtual remote control unmanned submersible at different angles.
8. The system of any one of claims 1-7, wherein the carrier comprises a seat.
9. The apparatus of any one of claims 1-8, wherein the carrier comprises a stowable roller.
10. A simulation training method based on a remote control unmanned submersible vehicle is characterized by comprising the following steps:
determining a current training project according to the received simulation instruction, and receiving an operation instruction output by a person to be trained;
receiving the operation instruction, carrying out accuracy evaluation on the operation instruction, carrying out power calculation and virtual simulation on the operation instruction, and generating a simulation video signal;
and receiving the simulation video signal, and displaying the real-time working states of the virtual remote control unmanned submersible at different angles through the simulation video signal.
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| 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 |
| CN114694440A (en) * | 2020-12-29 | 2022-07-01 | 中国科学院沈阳自动化研究所 | ROV simulation training ware |
| CN115229814A (en) * | 2022-07-25 | 2022-10-25 | 江苏科技大学 | Design method and control method of manipulator simulation system in submersible retraction system |
| CN118438440A (en) * | 2024-04-29 | 2024-08-06 | 江苏集萃清联智控科技有限公司 | In-loop simulation operation device, system and method for underwater robot |
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