CN113120186A - Unmanned ship testing method and system based on virtual reality - Google Patents
Unmanned ship testing method and system based on virtual reality Download PDFInfo
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Abstract
The invention relates to the technical field of virtual reality, and discloses a method and a system for testing an unmanned ship based on virtual reality, wherein the method comprises the following steps: constructing a virtual unmanned ship according to original design data of the unmanned ship; preparing a virtual test project aiming at the virtual unmanned ship; constructing a virtual test environment matched with a test site and a virtual test project; and performing virtual test on the virtual unmanned ship in a virtual test environment according to the virtual test items to obtain a virtual test result. Therefore, the virtual unmanned ship matched with the unmanned ship is constructed by adopting a virtual reality technology, the virtual test environment matched with the test site is constructed, and the virtual test result can be obtained by carrying out virtual test on the virtual unmanned ship in the virtual test environment, so that the unmanned ship can be subjected to virtual test according to original design data before the physical unmanned ship is constructed, the feasibility of the original design data is verified, the test efficiency is improved, and the test cost is obviously reduced.
Description
Technical Field
The invention relates to the technical field of virtual reality, in particular to a method and a system for testing an unmanned ship based on virtual reality.
Background
In the fields of water quality monitoring, water surface cleaning, channel surveying and mapping, security patrol and the like, a ship is often required to continuously operate for a long time, the operation precision of the ship is high in requirement, and the unmanned ship has the capabilities of remote control, route planning, accurate navigation and the like, so that the unmanned ship is rapidly popularized and applied in the fields. However, unlike the unmanned vehicle that performs a test on land, the unmanned ship needs to perform a test in a different water area, modify the unmanned ship after analyzing a plurality of sets of test data, and perform a recheck test again, which makes the test of the unmanned ship costly and inefficient.
Disclosure of Invention
The embodiment of the invention discloses a virtual reality-based unmanned ship testing method and system, wherein a virtual unmanned ship matched with the unmanned ship is constructed by adopting a virtual reality technology, a virtual testing environment matched with a testing site is constructed, and the virtual unmanned ship is subjected to virtual testing in the virtual testing environment to obtain a virtual testing result, so that the unmanned ship can be subjected to virtual testing according to original design data before an entity unmanned ship is constructed, the feasibility of the original design data is verified, the testing efficiency is improved, and the testing cost is obviously reduced.
The first aspect of the embodiment of the invention discloses a virtual reality-based unmanned ship testing method, which comprises the following steps:
constructing a virtual unmanned ship according to original design data of the unmanned ship;
making a virtual test item aiming at the virtual unmanned ship;
constructing a virtual test environment matched with a test site and the virtual test items;
and performing virtual test on the virtual unmanned ship in the virtual test environment according to the virtual test items to obtain a virtual test result.
As an optional implementation manner, in a first aspect of an embodiment of the present invention, the formulating a virtual test item for the virtual unmanned ship includes:
setting a plurality of test cases of the virtual unmanned ship according to a preset performance index of the unmanned ship;
setting a plurality of test index limit values corresponding to each test case;
and synthesizing the plurality of test cases and a plurality of test index limit values corresponding to the plurality of test cases to formulate a virtual test project of the virtual unmanned ship.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the performing a virtual test on the virtual unmanned ship in the virtual test environment according to the virtual test item to obtain a virtual test result, the method further includes:
improving the original design data according to the virtual test result to obtain second design data;
building a physical unmanned ship according to the second design data;
making actual test items for the entity unmanned ship;
and carrying out actual test on the entity unmanned ship in the test field according to the actual test items to obtain an actual test result.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the performing an actual test on the virtual unmanned ship in the test site according to the actual test item to obtain an actual test result, the method further includes:
detecting whether the actual test result reaches a performance index preset by the entity unmanned ship;
if the performance index preset by the entity unmanned ship is not reached, improving the second design data according to the actual test result to obtain third design data;
retrofitting the physical unmanned vessel according to the third design data;
and carrying out actual test on the improved entity unmanned ship in the test field according to the actual test items to obtain a rechecking test result.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the method further includes:
analyzing and comparing the virtual test result, the actual test result and the rechecking test result to determine an environment data difference value of the virtual test environment relative to the test site;
and adjusting the virtual test environment according to the environment data difference value, and perfecting the virtual test environment.
The second aspect of the embodiment of the invention discloses a virtual reality-based unmanned ship test system, which comprises:
the ship body construction unit is used for constructing the virtual unmanned ship according to the original design data of the unmanned ship;
the project making unit is used for making a virtual test project aiming at the virtual unmanned ship;
the environment construction unit is used for constructing a virtual test environment matched with a test site and the virtual test item;
and the virtual test unit is used for performing virtual test on the virtual unmanned ship in the virtual test environment according to the virtual test items to obtain a virtual test result.
As an alternative implementation, in the second aspect of the embodiment of the present invention, the item formulating unit includes:
the case setting subunit is used for setting a plurality of test cases of the virtual unmanned ship according to the preset performance indexes of the unmanned ship;
a limit setting subunit, configured to set a plurality of test index limits corresponding to each test case;
and the project formulating subunit is used for integrating the plurality of test cases and a plurality of test index limit values corresponding to the plurality of test cases to formulate a virtual test project of the virtual unmanned ship.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the system further includes:
the design improvement unit is used for improving the original design data according to the virtual test result to obtain second design data after the virtual test unit performs virtual test on the virtual unmanned ship in the virtual test environment according to the virtual test items to obtain a virtual test result;
a hull construction unit for constructing a physical unmanned ship according to the second design data;
the project making unit is also used for making actual test projects aiming at the entity unmanned ship;
and the actual test unit is used for actually testing the entity unmanned ship in the test field according to the actual test items to obtain an actual test result.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the system further includes:
the performance detection unit is used for performing actual test on the virtual unmanned ship in the test field according to the actual test items by the actual test unit to obtain an actual test result, and then detecting whether the actual test result reaches a performance index preset by the entity unmanned ship;
the design improvement unit is further used for improving the second design data according to the actual test result to obtain third design data when the performance detection unit detects that the entity unmanned ship does not reach a preset performance index;
the hull building unit further configured to retrofit the solid unmanned vessel according to the third design data;
and the actual test unit is also used for actually testing the improved entity unmanned ship in the test field according to the actual test items to obtain a rechecking test result.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the system further includes:
a difference comparison unit, configured to analyze and compare the virtual test result, the actual test result, and the rechecking test result, and determine an environmental data difference of the virtual test environment with respect to the test site;
and the environment adjusting unit is used for adjusting the virtual test environment according to the environment data difference value so as to perfect the virtual test environment.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, the virtual unmanned ship matched with the unmanned ship is constructed by adopting a virtual reality technology, the virtual test environment matched with the test site is constructed, and the virtual test is carried out on the virtual unmanned ship in the virtual test environment to obtain the virtual test result, so that the unmanned ship can be subjected to virtual test according to the original design data before the entity unmanned ship is constructed, the feasibility of the original design data is verified, the test efficiency is improved, and the test cost is obviously reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a virtual reality-based unmanned ship testing method disclosed in an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another unmanned ship test method based on virtual reality according to the embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a virtual reality-based unmanned ship test system according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another unmanned ship test system based on virtual reality according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of another unmanned ship test system based on virtual reality according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", "third" and "fourth" etc. in the description and claims of the present invention are used for distinguishing different objects, and are not used for describing a specific order. The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical solutions of the embodiments of the present invention will be further described with reference to the following embodiments and the accompanying drawings.
In order to better understand the unmanned ship test method based on virtual reality disclosed in the embodiment of the present invention, an unmanned ship disclosed in the embodiment of the present invention is described first.
The unmanned ship disclosed by the embodiment of the invention can comprise a ship body, a power supply module, a driving module, a task module and a transmission module.
The power supply module, the driving module, the task module and the transmission module are all arranged on the ship body, and therefore the unmanned ship with complete functions is obtained through combination. The power supply module can be a power supply device such as a generator or a storage battery and the like and is used for supplying power to the transmission module, the driving module and the task module; the driving module can be a driving device such as a propeller or a water jet propeller and the like and is used for driving the ship body to make advancing/steering action; the task module is a device which is arranged on the ship body and used for realizing the specific task requirements, for example, the task module of the water quality monitoring unmanned ship is a water quality monitoring device, the task module of the water surface cleaning unmanned ship is a garbage collecting device, and the unmanned ship suitable for various task scenes can be conveniently designed and built by matching different task modules and different ship body configurations; the transmission module is used for receiving the control instruction of the control terminal and distributing the control instruction to the power supply module, the driving module and the task module, so that each module carries out power supply adjustment, navigation control or task allocation according to the control instruction. Therefore, the unmanned ship can flexibly adapt to the water operation environments with different task requirements by modifying the hull configuration and matching with the task module with the designed specific function.
Example one
Referring to fig. 1, as shown in fig. 1, a method for testing a virtual reality-based unmanned ship according to an embodiment of the present invention may include the following steps.
101. And constructing the virtual unmanned ship according to the original design data of the unmanned ship.
In the embodiment of the invention, based on the functional requirements of the unmanned ship and the water area environment in which the unmanned ship operates, the types of equipment required by the hull configuration, the power supply module, the driving module and the task module of the unmanned ship are selected, and the unmanned ship is subjected to original design to obtain original design data.
As an optional implementation manner, based on a physical engine and a large amount of actual measurement data obtained by long-term accumulation, a virtual unmanned ship matched with original design data of the unmanned ship can be constructed according to data, such as the configuration of the unmanned ship, the material of the ship, the size of the ship, the weight of the ship, a three-dimensional design drawing and the like, contained in the original design data in a virtual reality environment, performance parameters, such as the displacement, the draft, the structural strength, the gravity center of the ship and the like, of the ship are accurately and intuitively presented, and therefore the original design data can be preliminarily evaluated through the virtual unmanned ship without building an entity unmanned ship.
102. And making a virtual test project aiming at the virtual unmanned ship.
In the embodiment of the present invention, in step 101, the virtual unmanned ship is constructed according to the original design data, and only the basic situation of the unmanned ship when the unmanned ship is parked in the stable water area can be evaluated, and here, the virtual unmanned ship needs to be correspondingly tested according to the performance index provided for the unmanned ship in the design stage.
As an optional implementation manner, a plurality of test cases of the virtual unmanned ship are set according to a preset performance index of the unmanned ship; setting a plurality of test index limit values corresponding to each test case; and synthesizing a plurality of test cases and a plurality of test index limit values corresponding to the test cases to formulate a virtual test project of the virtual unmanned ship. Specifically, the performance indexes preset by the unmanned ship are assumed to include: A. when the unmanned ship is fully loaded, the patrol voyage of 40km can be completed within 1 hour under the condition of a grade 1 sea state; B. the unmanned ship can complete three shifts of alternate operation under the sea condition of level 1; C. the unmanned ship can normally sail under the condition of 5-level crosswind; here, the test case for the virtual unmanned ship is formulated for the performance index as follows: a. setting the virtual unmanned ship to be in a full-load state and carrying out the highest navigational speed test under a level 1 sea condition; b. carrying out operation duration test according to the operation power consumption of the virtual unmanned ship under the sea condition of level 1; c. testing the pitching degree of the hull of the virtual unmanned ship under 5-level wind power; after the test case is set, a test index limit value needs to be set for the test case to realize digital visual measurement of the test case, wherein the test index limit value set for the test case is as follows: a. the maximum speed of the virtual unmanned ship under the full load state under the level 1 sea condition is not lower than 50 km/h;
b. the duration of the continuous operation of the unmanned ship under the grade 1 sea condition is not less than 10 hours; c. the pitching angle of the hull of the unmanned ship is not more than 20 degrees under the condition of 5-level crosswind, and virtual test items aiming at the virtual unmanned ship can be formulated by integrating the test cases and the test index limit values. Therefore, based on the test cases and the test index limit values in the virtual test project, the self performance and the operation capacity of the virtual unmanned ship can be tested in detail and perfectly.
103. And constructing a virtual test environment matched with the test site and the virtual test item.
In the embodiment of the present invention, after the virtual test items for the virtual unmanned ship are formulated in step 102, a virtual test environment needs to be constructed to test the virtual unmanned ship.
As an alternative embodiment, the virtual unmanned ship is constructed in step 101, and for the test case and the test index limit value formulated in step 102, a virtual test environment matched with the test site and the virtual test item needs to be constructed, for example, for the test case a, the maximum speed of the virtual unmanned ship in a full load state under a level 1 sea condition is not lower than 50km/h, and for the test case b, the virtual water area under the level 1 sea condition needs to be constructed for a duration of operation of the unmanned ship under the level 1 sea condition not lower than 10 hours; for the test case c, the pitching angle of the unmanned ship is not more than 20 degrees under the condition of 5-level crosswind, a virtual water area for generating 5-level crosswind on the virtual unmanned ship needs to be constructed, parameters such as ocean current, water body, aquatic organisms, ship density of the water area and the like of the virtual water area need to be set according to the actual situation of the test field, accordingly, a virtual test environment matched with the test field and a virtual test project is constructed, the virtual test environment of the unmanned ship running in the test field is simulated as truly as possible, and the validity of test data can be ensured.
104. And performing virtual test on the virtual unmanned ship in a virtual test environment according to the virtual test items to obtain a virtual test result.
In the embodiment of the invention, after the virtual unmanned ship and the virtual test environment are constructed in the steps, the virtual unmanned ship can be tested according to the virtual test items.
As an optional implementation mode, based on a physical engine, deformation and structural strength change of a ship body caused by self gravity influence and structural and gravity center change of the ship body under the action of factors such as water, wind and the like can be simulated really, and under the conditions that the ship type, power and driving mode of a virtual unmanned ship are known and the task requirement and operation mode are determined, the structural performance, navigation performance, wind and wave resistance and the like of the virtual unmanned ship can be tested virtually, so that a physical unmanned ship does not need to be built, the design defects of the ship body can be found by virtually testing the original design data of the virtual unmanned ship, the original design data of the unmanned ship can be modified timely, the testing efficiency is improved, and the testing cost is reduced remarkably.
As another alternative implementation, specific test conditions may be set in the virtual test environment to perform limit tests on the virtual unmanned ship, for example, the wind power level is increased step by step, and a limit value of the wind wave resistance of the hull of the virtual unmanned ship is tested; the method comprises the steps of setting obstacles on a virtual unmanned ship route, testing the collision performance of a virtual unmanned ship body, evaluating the deformation and damage degree of the collided ship body, and further optimizing the structure, material, equipment layout and the like of the ship body. Therefore, besides actual testing under extreme meteorological conditions, the virtual unmanned ship can be conveniently simulated under the extreme meteorological conditions by modifying the environmental parameters in the virtual testing environment.
It can be seen that, by implementing the method for testing an unmanned ship based on virtual reality described in fig. 1, a virtual unmanned ship matched with the unmanned ship is constructed by using a virtual reality technology, a virtual test environment matched with a test site is constructed, and the virtual unmanned ship is virtually tested in the virtual test environment to obtain a virtual test result, so that the unmanned ship can be virtually tested according to original design data before an entity unmanned ship is built, the feasibility of the original design data is verified, the test efficiency is improved, and the test cost is significantly reduced.
Example two
Referring to fig. 2, as shown in fig. 2, another method for testing a virtual reality-based unmanned ship according to an embodiment of the present invention may include the following steps.
201. And constructing the virtual unmanned ship according to the original design data of the unmanned ship.
202. And making a virtual test project aiming at the virtual unmanned ship.
203. And constructing a virtual test environment matched with the test site and the virtual test item.
204. And performing virtual test on the virtual unmanned ship in a virtual test environment according to the virtual test items to obtain a virtual test result.
205. And improving original design data according to the virtual test result, and building the entity unmanned ship and carrying out actual test to obtain an actual test result.
In the embodiment of the invention, based on the virtual test result obtained by virtually testing the virtual unmanned ship in the step 204, the defects of the unmanned ship on original design data such as ship type, structure, basic navigation performance and the like can be obtained, so that the original design data is improved and optimized.
As an optional implementation manner, after the virtual test is performed on the virtual unmanned ship in the virtual test environment according to the virtual test items in step 204 to obtain a virtual test result, the original design data is improved according to the virtual test result to obtain second design data; building the physical unmanned ship according to the second design data; preparing an actual test project aiming at the entity unmanned ship; and carrying out actual test on the entity unmanned ship in a test field according to actual test items to obtain an actual test result. Specifically, according to the defects in the original design data disclosed by the virtual test result, the original design data is improved to obtain second design data, for example, if the virtual test shows that the wind and wave resistance of the virtual unmanned ship cannot reach the standard due to the fact that the gravity center of the ship body is too high, the gravity center of the ship body of the virtual unmanned ship is lowered under the condition that other performance indexes of the virtual unmanned ship are not influenced by adjusting the ship body structure and equipment layout, reducing redundant design and the like, the wind and wave resistance of the virtual unmanned ship under various sea conditions is improved, and the second design data is obtained after the original design data of the virtual unmanned ship is improved and optimized. It can be understood that the second design data substantially overcomes the defects of the hull in the original design data, and at this time, the physical unmanned ship is built according to the second design data, and an actual test item is formulated based on the verified virtual test item, and the physical unmanned ship is actually tested in a test site; the actual test comprises the steps of verifying the basic navigation performance (speed, endurance, draught, hull shaking angle/frequency, gravity center, structural strength and the like) of the entity unmanned ship, carrying out operation test (hull water inflow self-inspection, wireless communication detection, positioning monitoring, electric quantity monitoring and the like) on the supporting equipment of the entity unmanned ship, and carrying out operation test on the task operation capacity (security patrol, water quality monitoring, water surface cleaning and the like) of the entity unmanned ship. Therefore, the physical unmanned ship is built based on the improved second design data, obvious technical defects do not exist, the actual operation test of the next stage can be carried out only by simply verifying the basic navigation performance of the physical unmanned ship during the actual test, the test efficiency is high, and meanwhile, the construction cost of the physical unmanned ship is saved through the virtual test.
As another optional implementation manner, after an actual test is performed on the virtual unmanned ship in a test field according to an actual test project to obtain an actual test result, whether the actual test result reaches a performance index preset by the physical unmanned ship is detected; if the performance index preset by the entity unmanned ship is not reached, improving the second design data according to an actual test result to obtain third design data; modifying the physical unmanned vessel according to the third design data; and carrying out actual test on the improved entity unmanned ship in a test field according to actual test items to obtain a rechecking test result. The method comprises the following steps that the influence of special environmental factors and environmental data updating frequency existing in a tested field is detected, and the tested field is not completely matched with a virtual testing environment in an actual test, so that whether an actual test result reaches a performance index preset by an entity unmanned ship or not is detected; assuming that the surge height and frequency set for each sea condition in the virtual test scene are fixed, the virtual unmanned ship smoothly passes the surge test, and in the test field, the surge height and frequency under the same sea condition fluctuate within a certain range, and the shaking angle of the ship body of the entity unmanned ship under the impact of continuous and irregular surges exceeds the test index limit calibrated by the actual test and cannot reach the performance index preset by the entity unmanned ship; and improving the second design data according to an actual test result, improving the second design data by reducing the gravity center of the entity unmanned ship, optimizing the ship body configuration, reducing the windward area of the ship body and other measures to obtain third design data, improving the entity unmanned ship according to the third design data, and performing actual test on the improved entity unmanned ship again to obtain a recheck test result. By testing and iteratively updating the design scheme of the unmanned ship, the unmanned ship with standard performance and complete functions can be efficiently built.
As another optional implementation manner, the virtual test result, the actual test result and the rechecking test result are analyzed and compared to determine an environmental data difference value of the virtual test environment relative to the test site; and adjusting the virtual test environment according to the environment data difference value to perfect the virtual test environment. Specifically, in the same test project, the environment data in the virtual test environment and the test site include data of ocean current direction, wind direction, wave height, visibility, aquatic life interfering navigation, the number of ships in a water area and the like, based on the virtual test result, the actual test result and the rechecking test result, the environment data in the virtual test environment and the actual environment data of the test site in the actual test process can be compared and analyzed to determine the environment data difference value of the virtual test environment relative to the test site, and the virtual test environment is adjusted through the environment data difference value to make the environment data of the virtual test environment approach to the environment data of the test site; in addition, environmental data monitoring equipment can be arranged in a test field for a long time, long-term records of environmental data such as ocean current directions, wind directions, wave heights, visibility and the like in the test field are obtained to perfect a virtual test environment, the simulation degree of the virtual test environment is improved, so that virtual tests finished in the virtual test environment are more and more accurate, and virtual test results are also provided with stronger persuasion.
Therefore, by implementing the unmanned ship test method based on virtual reality described in fig. 2, the original design data of the unmanned ship is improved based on the virtual test result, and then the physical unmanned ship is built for actual test, so that the major defects existing in the design stage can be prevented from being reserved to the actual test stage, and the capital and time loss can be avoided; the virtual test environment is improved and perfected continuously based on the environmental data of the test site, so that the simulation degree of the virtual test environment is higher and higher, and a more convincing virtual test result can be obtained through virtual test.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a virtual reality-based unmanned ship test system according to an embodiment of the present invention. The system may include:
a hull construction unit 301 for constructing a virtual unmanned ship according to original design data of the unmanned ship;
an item preparation unit 302 for preparing a virtual test item for the virtual unmanned ship;
an environment construction unit 303 configured to construct a virtual test environment that matches the test site and the virtual test item;
the virtual test unit 304 performs a virtual test on the virtual unmanned ship in the virtual test environment according to the virtual test items to obtain a virtual test result.
The item preparation unit 302 includes:
the case setting subunit 3021 is configured to set a plurality of test cases of the virtual unmanned ship according to a performance index preset by the unmanned ship;
a limit setting subunit 3022, configured to set a plurality of test index limits corresponding to each test case;
and the item formulating subunit 3023 is configured to synthesize the plurality of test cases and the plurality of test index limit values corresponding to the plurality of test cases, and formulate a virtual test item of the virtual unmanned ship.
As an optional implementation manner, based on a physical engine and a large amount of actual measurement data obtained by long-term accumulation, the hull construction unit 301 may construct a virtual unmanned ship matched with the original design data of the unmanned ship according to the data, such as the configuration of the unmanned ship, the material of the hull, the size of the hull, the weight of the hull, the three-dimensional design drawing, and the like, included in the original design data in the virtual reality environment, and accurately and intuitively present performance parameters, such as the displacement, the draft, the structural strength, the center of gravity of the hull, and the like, of the hull, so that the original design data can be preliminarily evaluated through the virtual unmanned ship without constructing an actual unmanned ship.
As an optional implementation manner, the use case setting subunit 3021 sets a plurality of test use cases of the virtual unmanned ship according to a preset performance index of the unmanned ship; the limit setting subunit 3022 sets a plurality of test index limits corresponding to each test case; the item formulating subunit 3023 integrates the plurality of test cases and the plurality of test index limit values corresponding to the plurality of test cases, and formulates a virtual test item of the virtual unmanned ship. Specifically, the performance indexes preset by the unmanned ship are assumed to include: A. when the unmanned ship is fully loaded, the patrol voyage of 40km can be completed within 1 hour under the condition of a grade 1 sea state; B. the unmanned ship can complete three shifts of alternate operation under the sea condition of level 1; C. the unmanned ship can normally sail under the condition of 5-level crosswind; here, the example setting subunit 3021 prepares a corresponding test example for the virtual unmanned ship with respect to the performance index as follows: a. setting the virtual unmanned ship to be in a full-load state and carrying out the highest navigational speed test under a level 1 sea condition; b. carrying out operation duration test according to the operation power consumption of the virtual unmanned ship under the sea condition of level 1; c. testing the pitching degree of the hull of the virtual unmanned ship under 5-level wind power; after the test case is set, a test index limit value needs to be set for the test case to realize digital visual measurement of the test case, where the limit value setting subunit 3022 sets the test index limit value for the test case as follows: a. the maximum speed of the virtual unmanned ship under the full load state under the level 1 sea condition is not lower than 50 km/h; b. the duration of the continuous operation of the unmanned ship under the grade 1 sea condition is not less than 10 hours; c. the hull pitch angle of the unmanned ship is not more than 20 degrees under the condition of 5-level crosswind, and the item formulation subunit 3023 can formulate a virtual test item for the virtual unmanned ship by integrating the test cases and the test index limit values. Therefore, based on the test cases and the test index limit values in the virtual test project, the self performance and the operation capacity of the virtual unmanned ship can be tested in detail and perfectly.
As an alternative embodiment, the virtual unmanned ship is constructed by the ship body construction unit 101, and for the test case and the test index limit value formulated by the item formulation unit 302, a virtual test environment matched with the test site and the virtual test item needs to be constructed, for example, for the test case a, the maximum speed of the virtual unmanned ship in a full load state under a class 1 sea condition is not lower than 50km/h, and for the test case b, the duration of the operation of the unmanned ship under the class 1 sea condition is not lower than 10 hours, a virtual water area under the class 1 sea condition needs to be constructed; for the test case c, the pitching angle of the unmanned ship is not more than 20 degrees under the condition of 5-level crosswind, a virtual water area for generating 5-level crosswind on the virtual unmanned ship needs to be constructed, parameters such as ocean current, water body, aquatic organisms, ship density of the water area and the like of the virtual water area need to be set according to the actual situation of the test site, accordingly, the environment construction unit 303 constructs a virtual test environment matched with the test site and the virtual test project, and the virtual test environment of the unmanned ship running in the test site is simulated as truly as possible, so that the validity of test data can be ensured.
As an optional implementation manner, based on the physical engine, the virtual test unit 304 may truly simulate the deformation and structural strength change of the hull due to the influence of its own gravity, and the structural and gravity center change of the hull under the action of the water body, wind power and other factors, and under the condition that the ship type, power and driving manner of the virtual unmanned ship are known and the task requirement and operation manner are determined, the virtual test unit 304 may virtually test the structural performance, navigation performance, wind and wave resistance and the like of the virtual unmanned ship, so that the physical unmanned ship does not need to be built, and the design defects of the hull can be found by virtually testing the original design data of the virtual unmanned ship, the original design data of the unmanned ship is modified in time, the test efficiency is improved, and the test cost is significantly reduced.
As another alternative, the virtual testing unit 304 may set a specific testing condition in the virtual testing environment to perform a limit test on the virtual unmanned ship, such as increasing the wind power level step by step, and testing a limit value of the wind wave resistance of the hull of the virtual unmanned ship; the method comprises the steps of setting obstacles on a virtual unmanned ship route, testing the collision performance of a virtual unmanned ship body, evaluating the deformation and damage degree of the collided ship body, and further optimizing the structure, material, equipment layout and the like of the ship body. Therefore, besides actual testing under extreme meteorological conditions, the virtual unmanned ship can be conveniently simulated under the extreme meteorological conditions by modifying the environmental parameters in the virtual testing environment.
It can be seen that, by implementing the virtual reality-based unmanned ship test system described in fig. 3, a virtual unmanned ship matched with the unmanned ship is constructed by using a virtual reality technology, a virtual test environment matched with a test site is constructed, and the virtual unmanned ship is virtually tested in the virtual test environment to obtain a virtual test result, so that the unmanned ship can be virtually tested according to original design data before an entity unmanned ship is built, the feasibility of the original design data is verified, the test efficiency is improved, and the test cost is remarkably reduced.
Example four
Referring to fig. 4, fig. 4 is a schematic structural diagram of another virtual reality-based unmanned ship testing system disclosed on the basis of fig. 3. As shown in fig. 4, the virtual reality unmanned ship test system further includes:
a design improving unit 305, configured to, after the virtual testing unit 304 performs virtual testing on the virtual unmanned ship in a virtual testing environment according to the virtual testing items to obtain a virtual testing result, improve the original design data according to the virtual testing result to obtain second design data;
a hull building unit 306 for building the physical unmanned ship according to the second design data;
the project making unit 302 is also used for making actual test projects aiming at the entity unmanned ship;
an actual test unit 307, configured to perform an actual test on the entity unmanned ship in a test site according to an actual test item, so as to obtain an actual test result;
the performance detection unit 308 is configured to perform actual testing on the virtual unmanned ship in the test site according to the actual test items in the actual test unit 307, and after an actual test result is obtained, detect whether the actual test result reaches a performance index preset by the physical unmanned ship;
the design improving unit 305 is further configured to improve the second design data according to an actual test result to obtain third design data when the performance detecting unit 308 detects that the unmanned physical ship does not reach the preset performance index;
a hull construction unit 306 for further retrofitting the physical unmanned vessel according to the third design data;
the actual testing unit 307 is further configured to perform actual testing on the improved entity unmanned ship in a testing field according to the actual testing item, so as to obtain a rechecking testing result;
a difference comparison unit 309, configured to analyze and compare the virtual test result, the actual test result, and the recheck test result, and determine an environment data difference of the virtual test environment with respect to the test site;
and an environment adjusting unit 310, configured to adjust the virtual test environment according to the environmental data difference, so as to complete the virtual test environment.
As an alternative embodiment, after the virtual test unit 304 performs virtual test on the virtual unmanned ship in the virtual test environment according to the virtual test items to obtain a virtual test result, the design improvement unit 305 improves the original design data according to the virtual test result to obtain second design data; the hull building unit 306 builds the physical unmanned ship according to the second design data; the item preparation unit 302 prepares an actual test item for the physical unmanned ship; the actual test unit 307 performs actual tests on the unmanned solid vessel in the test site according to the actual test items, and obtains actual test results. Specifically, according to the defects in the original design data revealed by the virtual test result, the design improvement unit 305 improves the original design data to obtain the second design data, for example, if the virtual test shows that the wind and wave resistance of the virtual unmanned ship cannot reach the standard due to the excessively high center of gravity of the ship body, the center of gravity of the ship body of the virtual unmanned ship is lowered by adjusting the ship body structure and equipment layout, reducing the redundant design and other methods without affecting other performance indexes of the virtual unmanned ship, so that the wind and wave resistance of the virtual unmanned ship under various sea conditions is increased, and the second design data is obtained after the original design data of the virtual unmanned ship is improved and optimized. It can be understood that the second design data has substantially overcome the defects of the hull in the original design data, in which case the hull construction unit 306 constructs the physical unmanned ship according to the second design data, and the project making unit 302 makes the actual test projects based on the verified virtual test projects, and the actual test unit 307 performs the actual test on the physical unmanned ship at the test site; the actual test comprises the steps of verifying the basic navigation performance (speed, endurance, draught, hull shaking angle/frequency, gravity center, structural strength and the like) of the entity unmanned ship, carrying out operation test (hull water inflow self-inspection, wireless communication detection, positioning monitoring, electric quantity monitoring and the like) on the supporting equipment of the entity unmanned ship, and carrying out operation test on the task operation capacity (security patrol, water quality monitoring, water surface cleaning and the like) of the entity unmanned ship. Therefore, the physical unmanned ship is built based on the improved second design data, obvious technical defects do not exist, the actual operation test of the next stage can be carried out only by simply verifying the basic navigation performance of the physical unmanned ship during the actual test, the test efficiency is high, and meanwhile, the construction cost of the physical unmanned ship is saved through the virtual test.
As another optional implementation, the performance detection unit 308 performs an actual test on the virtual unmanned ship in the test site according to the actual test items, and after obtaining an actual test result, detects whether the actual test result reaches a performance index preset by the physical unmanned ship; if the performance index preset by the entity unmanned ship is not reached, the design improvement unit 305 improves the second design data according to an actual test result to obtain third design data; the hull building unit 306 refines the physical unmanned vessel in accordance with the third design data; the actual test unit 307 performs actual tests on the improved entity unmanned ship in a test field according to actual test items, and obtains a recheck test result. The test site is not completely matched with the virtual test environment in the actual test due to the influence of special environmental factors and the updating frequency of environmental data existing in the test site, so that the performance detection unit 308 also detects whether the actual test result reaches the performance index preset by the entity unmanned ship; assuming that the surge height and frequency set for each sea condition in the virtual test scene are fixed, the virtual unmanned ship smoothly passes the surge test, and in the test field, the surge height and frequency under the same sea condition fluctuate within a certain range, and the shaking angle of the ship body of the entity unmanned ship under the impact of continuous and irregular surges exceeds the test index limit calibrated by the actual test and cannot reach the performance index preset by the entity unmanned ship; at this time, the design improvement unit 305 improves the second design data according to the actual test result, the second design data is improved by reducing the gravity center of the physical unmanned ship, optimizing the hull configuration, reducing the windward area of the hull and other measures, so as to obtain third design data, the hull construction unit 306 improves the physical unmanned ship according to the third design data, and the actual test unit 307 performs actual test on the improved physical unmanned ship again, so as to obtain a recheck test result. By testing and iteratively updating the design scheme of the unmanned ship, the unmanned ship with standard performance and complete functions can be efficiently built.
As another optional implementation manner, the difference comparison unit 309 analyzes and compares the virtual test result, the actual test result, and the rechecking test result, and determines an environmental data difference of the virtual test environment with respect to the test site; the environment adjusting unit 310 adjusts the virtual test environment according to the environmental data difference, and completes the virtual test environment. Specifically, in the same test item, the environment data in the virtual test environment and the test site include data of ocean current direction, wind direction, wave height, visibility, aquatic life interfering with navigation, number of ships in the water area, and the like, based on the virtual test result, the actual test result, and the rechecking test result, the difference comparison unit 309 may compare and analyze the environment data in the virtual test environment with the actual environment data of the test site in the actual test process to determine an environment data difference of the virtual test environment with respect to the test site, and the environment adjustment unit 310 adjusts the virtual test environment according to the environment data difference to make the environment data of the virtual test environment converge with the environment data of the test site; in addition, environmental data monitoring equipment can be arranged in a test field for a long time, long-term records of environmental data such as ocean current directions, wind directions, wave heights, visibility and the like in the test field are obtained to perfect a virtual test environment, the simulation degree of the virtual test environment is improved, so that virtual tests finished in the virtual test environment are more and more accurate, and virtual test results are also provided with stronger persuasion.
It can be seen that, by implementing the unmanned ship test system based on virtual reality described in fig. 4, original design data of the unmanned ship is improved based on a virtual test result, and then the physical unmanned ship is built for actual test, so that the major defects existing in the design stage can be prevented from being reserved to the actual test stage, and capital and time losses can be avoided; the virtual test environment is improved and perfected continuously based on the environmental data of the test site, so that the simulation degree of the virtual test environment is higher and higher, and a more convincing virtual test result can be obtained through virtual test.
EXAMPLE five
Referring to fig. 5, fig. 5 is a schematic structural diagram of another unmanned ship test system based on virtual reality according to an embodiment of the present disclosure. As shown in fig. 5, the virtual reality-based unmanned ship test system may include:
a memory 501 in which executable program code is stored;
a processor 502 coupled to a memory 501;
the processor 502 calls the executable program code stored in the memory 501 to execute a part of the steps of any one of the unmanned ship test methods based on virtual reality shown in fig. 1-2.
The embodiment of the invention discloses a computer-readable storage medium which stores a computer program, wherein the computer program enables a computer to execute all or part of the steps of any one of the unmanned ship test methods based on virtual reality shown in figures 1-2.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The unmanned ship test method and system based on virtual reality disclosed by the embodiment of the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A test method of an unmanned ship based on virtual reality is characterized by comprising the following steps:
constructing a virtual unmanned ship according to original design data of the unmanned ship;
making a virtual test item aiming at the virtual unmanned ship;
constructing a virtual test environment matched with a test site and the virtual test items;
and performing virtual test on the virtual unmanned ship in the virtual test environment according to the virtual test items to obtain a virtual test result.
2. The method of claim 1, wherein said formulating a virtual test item for said virtual unmanned ship comprises:
setting a plurality of test cases of the virtual unmanned ship according to a preset performance index of the unmanned ship;
setting a plurality of test index limit values corresponding to each test case;
and synthesizing the plurality of test cases and a plurality of test index limit values corresponding to the plurality of test cases to formulate a virtual test project of the virtual unmanned ship.
3. The method of claim 1, wherein after said virtually testing said virtual drone in said virtual test environment according to said virtual test items, resulting in a virtual test result, said method further comprises:
improving the original design data according to the virtual test result to obtain second design data;
building a physical unmanned ship according to the second design data;
making actual test items for the entity unmanned ship;
and carrying out actual test on the entity unmanned ship in the test field according to the actual test items to obtain an actual test result.
4. The method of claim 3, wherein after said actual testing of said virtual unmanned ship in said test site according to said actual test items, resulting in an actual test result, said method further comprises:
detecting whether the actual test result reaches a performance index preset by the entity unmanned ship;
if the performance index preset by the entity unmanned ship is not reached, improving the second design data according to the actual test result to obtain third design data;
retrofitting the physical unmanned vessel according to the third design data;
and carrying out actual test on the improved entity unmanned ship in the test field according to the actual test items to obtain a rechecking test result.
5. The method according to any one of claims 1 to 4, further comprising:
analyzing and comparing the virtual test result, the actual test result and the rechecking test result to determine an environment data difference value of the virtual test environment relative to the test site;
and adjusting the virtual test environment according to the environment data difference value, and perfecting the virtual test environment.
6. An unmanned ship test system based on virtual reality, comprising:
the ship body construction unit is used for constructing the virtual unmanned ship according to the original design data of the unmanned ship;
the project making unit is used for making a virtual test project aiming at the virtual unmanned ship;
the environment construction unit is used for constructing a virtual test environment matched with a test site and the virtual test item;
and the virtual test unit is used for performing virtual test on the virtual unmanned ship in the virtual test environment according to the virtual test items to obtain a virtual test result.
7. The system according to claim 6, wherein said item formulating unit comprises:
the case setting subunit is used for setting a plurality of test cases of the virtual unmanned ship according to the preset performance indexes of the unmanned ship;
a limit setting subunit, configured to set a plurality of test index limits corresponding to each test case;
and the project formulating subunit is used for integrating the plurality of test cases and a plurality of test index limit values corresponding to the plurality of test cases to formulate a virtual test project of the virtual unmanned ship.
8. The system of claim 6, further comprising:
the design improvement unit is used for improving the original design data according to the virtual test result to obtain second design data after the virtual test unit performs virtual test on the virtual unmanned ship in the virtual test environment according to the virtual test items to obtain a virtual test result;
a hull construction unit for constructing a physical unmanned ship according to the second design data;
the project making unit is also used for making actual test projects aiming at the entity unmanned ship;
and the actual test unit is used for actually testing the entity unmanned ship in the test field according to the actual test items to obtain an actual test result.
9. The system of claim 8, further comprising:
the performance detection unit is used for performing actual test on the virtual unmanned ship in the test field according to the actual test items by the actual test unit to obtain an actual test result, and then detecting whether the actual test result reaches a performance index preset by the entity unmanned ship;
the design improvement unit is further used for improving the second design data according to the actual test result to obtain third design data when the performance detection unit detects that the entity unmanned ship does not reach a preset performance index;
the hull building unit further configured to retrofit the solid unmanned vessel according to the third design data;
and the actual test unit is also used for actually testing the improved entity unmanned ship in the test field according to the actual test items to obtain a rechecking test result.
10. The system according to any one of claims 6 to 9, further comprising:
a difference comparison unit, configured to analyze and compare the virtual test result, the actual test result, and the rechecking test result, and determine an environmental data difference of the virtual test environment with respect to the test site;
and the environment adjusting unit is used for adjusting the virtual test environment according to the environment data difference value so as to perfect the virtual test environment.
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