CN207541801U - Marine diesel virtual reality operation is demonstrated and training testing stand - Google Patents
Marine diesel virtual reality operation is demonstrated and training testing stand Download PDFInfo
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- CN207541801U CN207541801U CN201720701289.9U CN201720701289U CN207541801U CN 207541801 U CN207541801 U CN 207541801U CN 201720701289 U CN201720701289 U CN 201720701289U CN 207541801 U CN207541801 U CN 207541801U
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Abstract
The utility model belongs to internal-combustion engine engineering technical field, the specifically demonstration of marine diesel virtual reality operation and training testing stand, including virtual diesel engine (1), sensor signal simulator (2), electric-control system peculiar to vessel (3), load simulating device (4), data acquisition unit (5), virtual reality unit (6), instruction operating platform (7) and cylinder pressure collecting unit (8).The utility model can make up some defects present in pure digi-tal emulation, improve the confidence level of entire analogue simulation system, a kind of marine diesel virtual reality operation demonstration is provided with training testing stand to meet marine engineering management and maintenance management technical staff, understand to system, intuitive and immersion the operation principle of the electric-control system of modern intelligent diesel engine, it is horizontal to improve maintenance management.
Description
Technical field
The utility model belongs to internal-combustion engine engineering technical field, and specifically marine diesel virtual reality operation is demonstrated
With training testing stand.
Background technology
Development of the domestic marine engine in terms of virtual simulation test, teaching and training relatively lags behind, this and hair peculiar to vessel
The features such as motivation own system is huge, complicated has larger relationship, and more representational artificial product includes face at present
Ship maneuvering simulator to deck officer and the Subsystem in Marine Engine Simulator towards Ship Power Equipment manipulation etc..
Marine main engine manufacturer of foreign countries and research and development institution have developed the emulation simulator of marine main engine electric-control system now, but
These are not the specific operation principle of emphasis simulation diesel engine and the course of work.It is automatically controlled that such emulation simulator is only applicable to host
System structure cognitive learning and control parameter modification training, are also deposited in main engine control real training and operation principle dynamic demonstration etc.
In deficiency, and such electric-control system emulation simulator is emulated using pure mathematics, related executing agency's material object is not wrapped, also not imitative
The action of executing agency is simulated in true simulator so that start-up does not have the feeling of immersion of holonomic system, reduces it
The validity and teaching result of operating experience.
Utility model content
The technical problem to be solved by the present invention is to make up some defects present in pure digi-tal emulation, improve whole
The confidence level of a analogue simulation system provides a kind of marine diesel virtual reality operation demonstration with training testing stand to meet wheel
Machine management and maintenance management technical staff understand to system, intuitive and immersion the electric-control system of modern intelligent diesel engine
It is horizontal to improve maintenance management for operation principle.
The demonstration of marine diesel virtual reality operation and training testing stand, special character involved by the utility model exist
In, including virtual diesel engine, sensor signal simulator, electric-control system peculiar to vessel, load simulating device, data acquisition unit,
Virtual reality unit, instruction operating platform and cylinder pressure collecting unit.
Further, the virtual use for diesel engine sends corresponding data to virtual in generation Real-Time Simulation of Diesel Engine model
Real unit and sensor signal simulator；The sensor signal simulator, for according to Real-Time Simulation of Diesel Engine mould
The corresponding data of the offer of type and virtual diesel engine generates corresponding physical signal and is respectively sent to electric-control system peculiar to vessel, cylinder pressure
Collecting unit and instruction operating platform；The electric-control system peculiar to vessel, for the correspondence mould for generating sensor signal simulator
Intend signal and carry out logical operation, load simulating device, and and instruction operating platform are output control signals to according to operation result
It communicates；The load simulating device, the control signal for electric-control system peculiar to vessel to be exported are converted to electric signal transmission
To data acquisition unit；The data acquisition unit, for acquire the electric signal of load simulating device and virtual diesel engine into
Row data interaction, and transmit signals to virtual reality unit.
Further, the virtual diesel engine includes：Rotating speed simulation algorithm model, for imitating diesel engine speed
It is true to calculate；Operation process simulation module is simulated for the course of work to diesel engine；Sensor Analog Relay System control module is used
In sending corresponding data to sensor signal simulator, so as to which sensor signal simulator signal be controlled to generate.
Still further, the virtual reality unit includes virtual reality emulation module and virtual reality display module；Institute
Virtual reality emulation module is stated to include：Communication data handles submodule, for receiving virtual diesel engine and data acquisition unit hair
The corresponding data sent is handled；Three-dimension modeling submodule, for carrying out the three-dimension modeling of diesel engine；3-D graphic
Submodule is rendered, for the three-dimensional graphics renderer of diesel engine；Virtual Environment Modeling submodule is built for the virtual environment of diesel engine
Mould；For carrying out graphical interaction with virtual reality emulation module, carrier is shown so as to be used as the virtual reality display module,
Including LED virtual displays, 3D glasses, 3D transmitters and related wire rod attachment.
Also further, the instruction operating platform includes monitoring module, machine side operation module, remote control module and ginseng
Number control module；The monitoring module, for the correspondence physical signal of receiving sensor signal imitation device transmission, including to religion
The teaching platform that operating platform is managed manages submodule, the state parameter of display parameters control module state parameter is shown
Submodule and the alarm indication submodule that alarm indication is carried out to the parameter of mistake；The remote control module, for respectively with
Electric-control system and parameter control module peculiar to vessel communicate, and complete remote control；Operation module by the machine, for parameter control
Molding block communicates, and completes to manipulate by machine.
Further, the sensor signal simulator includes fuel oil module, servo oil module, starts air mode
Block, crank angle module and cylinder pressing mold intend signaling module；The fuel oil module, starts air module and bent axle at servo oil module
Corner module output corresponds to physical signal to electric-control system peculiar to vessel；The crank angle module also exports physical signal and passes through load
Simulator is converted to electric signal and is sent to data acquisition unit；The cylinder pressing mold intends signaling module and exports physical signal to cylinder
Press collecting unit.
Preferably, the load simulating device includes Injection Control solenoid valve, fuel pump adjustment module, gas exhaust inspecting electromagnetism
Valve exhaust control solenoid valve, starts air module and public starting module at servo oil pump adjustment module.
Preferably, the electric signal difference corresponding conversion that the data acquisition unit exports load simulating device is voltage
Signal, current signal and digital quantity signal carry out data interaction with virtual diesel engine.
Preferably, the cylinder pressure collecting unit includes：Signal acquisition module, parameter display module and cylinder pressure sensor；Institute
Acquisition module is stated, for receiving the physical signal that cylinder pressing mold intends signaling module output；The parameter display module, for showing bavin
The operating status of oil machine.
In the above-mentioned technical solutions, the operation training system further includes the parts of executing agency, for providing structure
Cognition and dismounting training function.
The utility model can be by the electronic control unit containing complex control logic, by reasonable using hardware in loop simulation technique
Interface and exterior operator carry out integrated emulation, make up some defects present in pure digi-tal emulation, improve entire emulation
The confidence level of simulation system to meet marine engineering management and maintenance management technical staff, understands the modern times to system, intuitive and immersion
It is horizontal to improve maintenance management for the operation principle of the electric-control system of intelligent diesel engine.
The utility model is beneficial in that：
1. the utility model can intuitively reflect marine diesel electric-control system composition and structure, marine diesel is embodied
Typical structural characteristics and technical characterstic；
2. the utility model can simulate the course of work of true diesel oil, start-up can complete main engine starting, operation and
The related training of the operating contents such as parking；
3. the utility model can visually demonstrate marine diesel electric-control system operation principle and the work of intelligent diesel engine
When each stroke state；
4. the utility model can carry out the setting of marine diesel electric-control system key control parameter, while can visually demonstrate
Go out the corresponding feedback action of diesel engine；
The variation of cylinder pressure, cylinder can be carried out using the system when 5. the utility model can simulate diesel engine operating
Press the training on operation of measuring system；
6. the key components and parts structure cognition that the utility model can carry out marine diesel is trained with dismounting.
Description of the drawings
Below in conjunction with accompanying drawings and embodiments, the utility model is described in further detail, in attached drawing：
Fig. 1 is the structure diagram of the utility model embodiment；
Fig. 2 is the structure diagram of the utility model embodiment；
Fig. 3 is the signal flow diagram of virtual diesel engine in the utility model embodiment；
Fig. 4 is the signal input and output schematic diagram of virtual diesel engine in the utility model embodiment；
Fig. 5 is the signal flow diagram of sensor signal simulator in the utility model embodiment；
Fig. 6 is the signal flow diagram of data acquisition unit in the utility model embodiment；
Fig. 7 is the signal flow diagram of virtual reality unit in the utility model embodiment.
In figure：Virtual diesel engine 1, sensor signal simulator 2, electric-control system peculiar to vessel 3, load simulating device 4, data
Collecting unit 5, virtual reality unit 6 are (wherein：Virtual reality emulation module 6.1, virtual reality display module 6.2), teaching behaviour
Make platform 7 (operation module 7.2, remote operation module 7.3, parameter control module 7.4 by monitoring module module 7.1, machine), cylinder pressure
Collecting unit 8, executing agency's parts 9.
Specific embodiment
For a clearer understanding of the technical features, objectives and effects of the utility model, now control attached drawing is detailed
Illustrate specific embodiment of the present utility model.
As shown in Figures 1 to 7, a kind of marine diesel virtual reality operation demonstration described in the utility model is tried with training
Platform is tested, including virtual diesel engine 1, sensor signal simulator 2, electric-control system peculiar to vessel 3, load simulating device 4, data acquisition
Unit 5, virtual reality unit 6, instruction operating platform 7, cylinder pressure collecting unit 8 and the parts 9 of executing agency.
Virtual diesel engine 1 sends corresponding data to virtual reality unit 6 and biography for generating Real-Time Simulation of Diesel Engine model
Sensor signal simulator 2.Wherein, the effect of virtual diesel engine 1 is to simulate the practical work process of marine diesel.
Virtual diesel engine 1 includes：Rotating speed simulation algorithm model, for carrying out simulation calculation to diesel engine speed；It is worked
Journey analog module is simulated for the course of work to diesel engine；Sensor Analog Relay System control module, for sending corresponding data
To sensor signal simulator 2, so as to which 2 signal of sensor signal simulator be controlled to generate.
As shown in fig. 7, the input signal of Real-Time Simulation of Diesel Engine unit 1 includes：The displacement of amount oily piston, air starting valve are opened
Open signal, fuel oil injection commencing signal, fuel oil signal stop signal, exhaust valve opening signal, exhaust valve closure signal and bent axle
Corner.The output signal of Real-Time Simulation of Diesel Engine unit 1 includes：The current rotating speed of diesel engine, each analog signal open and close angle, each mould
Intend signal amplitude parameter and VR operating status characteristic parameters.
Sensor signal simulator 2, for the phase of the offer according to Real-Time Simulation of Diesel Engine model and virtual diesel engine 1
Data are answered, corresponding physical signal is generated and is respectively sent to electric-control system 3 peculiar to vessel, cylinder pressure collecting unit 8 and instruction operating platform
7。
Sensor signal simulator 2 includes fuel oil module, servo oil module, starts air module, crank angle module
Intend signaling module with cylinder pressing mold；Fuel oil module, servo oil module start air module and the corresponding physics of crank angle module output
Signal is to electric-control system 3 peculiar to vessel；Crank angle module also exports physical signal and is converted to electric signal by load simulating device 4
It is sent to data acquisition unit 5；Cylinder pressing mold intends signaling module and exports physical signal to cylinder pressure collecting unit 8.
Electric-control system 3 peculiar to vessel, the correspondence analog signal for sensor signal simulator 2 to be generated carry out logic fortune
It calculates, load simulating device 4 is output control signals to, and communicate with instruction operating platform 7 according to operation result.
Load simulating device 4, the control signal for electric-control system 3 peculiar to vessel to be exported are converted to electric signal and are sent to number
According to collecting unit 5.The load simulating device 4 includes Injection Control solenoid valve, fuel pump adjustment module, gas exhaust inspecting solenoid valve
Gas exhaust inspecting solenoid valve, starts air module and public starting module at servo oil pump adjustment module.
Data acquisition unit 5 carries out data friendship for acquiring the electric signal of load simulating device 4 with virtual diesel engine 1
Mutually, and virtual reality unit 6 is transmitted signals to.The electric signal that data acquisition unit 5 exports load simulating device 4 is distinguished
Corresponding conversion carries out data interaction for voltage signal, current signal and digital quantity signal and virtual diesel engine 1.
Virtual reality unit 6 includes virtual reality emulation module 6.1 and virtual reality display module 6.2；Virtual reality is imitated
True module 6.1 includes：Communication data handles submodule, for receiving the correspondence that virtual diesel engine 1 and data acquisition unit 5 are sent
Data are handled；Three-dimension modeling submodule, for carrying out the three-dimension modeling of diesel engine；Three-dimensional graphics renderer submodule
Block, for the three-dimensional graphics renderer of diesel engine；Virtual Environment Modeling submodule, for the virtual Environment Modeling of diesel engine；Virtually
For carrying out graphical interaction with virtual reality emulation module 6.1, carrier is shown so as to be used as real display module 6.2, including
LED virtual displays, 3D glasses, 3D transmitters and related wire rod attachment.
Instruction operating platform 7 includes monitoring module 7.1, machine side operation module 7.2, remote control module 7.3 and parameter control
Molding block 7.4；Monitoring module 7.1, for the correspondence physical signal that receiving sensor signal imitation device 2 transmits, including to religion
Learn the state parameter that the teaching platform that operating platform 7 is managed manages submodule, 7.4 state parameter of display parameters control module
Display sub-module and the alarm indication submodule that alarm indication is carried out to the parameter of mistake；Remote control module 7.3, for respectively
It communicates with electric-control system 3 peculiar to vessel and parameter control module 7.4, completes remote control；Operation module 7.2 by machine, for
Parameter control module 7.4 communicates, and completes to manipulate by machine.
Monitoring module 7.1 obtains the operating status of equipment in training system, and by key parameter real-time display, when certain fortune
It can also alarm when row parameter is abnormal.Parameter control module 7.4 real-time display parameter can become in monitoring module 7.1
Change, and virtual reality unit 6 can also make corresponding variation to the working condition of diesel engine, trainer can be shown by virtual reality
Show that module 6.2 observes the variation of diesel engine correlation performance parameters.
Cylinder pressure collecting unit 8 includes：Signal acquisition module, parameter display module and cylinder pressure sensor；The acquisition module,
For receiving the physical signal that cylinder pressing mold intends signaling module output；The parameter display module, for showing the operation of diesel engine
State.
The parts 9 of executing agency for providing structure cognition and dismounting training function, contain fuel oil and servo oil system
It unites relevant crucial executing agency's parts.
Virtual diesel engine 1 is communicated by Ethernet with virtual reality emulation module 6.1.Sensor signal simulator
2 and monitoring module 7.1 communicated by Ethernet, for detecting the operating of presently described system.Electric-control system 3 peculiar to vessel passes through
CAN/Modbus communications/physical signal communicates with remote control module 7.3.
After virtual diesel engine 1 obtains the data that data acquisition unit 5 is sent, rising for diesel engine is simulated by simulation calculation
The processes such as dynamic, operating and parking, make the training system have navigability.The virtual simulation of diesel engine 1 is calculated under different operating modes
Diesel engine speed provides corner signal for its unit in the training system or module, to ensure the synchronism of control.It is empty
Intend diesel engine 1 according to current diesel engine operating condition, send corresponding control command to sensor signal simulator 2, Perceived control
The signal generation of device signal imitation device 2.Current operating conditions are sent to by virtual diesel engine 1 using the mode of ethernet communication
Virtual reality unit 6 is used for the modeling of 3D what comes into a driver's.
Load simulating device 4 receives and receives the control signal from electric-control system 3 peculiar to vessel, eliminates patrolling for its internal processes
Collect mistake.Because the control object of electric-control system 3 peculiar to vessel is mainly the solenoid valve in executing agency, load simulating device 4 passes through
Homemade circuit board simulates the electrical characteristic of solenoid valve using components such as resistance and inductance.
Data acquisition unit 5, executing agency's action signal needed for virtual diesel engine 1, i.e. load simulating device 4 are sent out
Electric signal after being improved and being converted, sends the data to virtual diesel engine 1, for bavin with the mode that data/address bus communicates
The real-time simulated animation of oil machine working condition；Also transmit a signal to virtual reality unit 6 simultaneously.
Monitoring module 7.1 obtains the operating status of equipment in operation training system by way of data communication, and will close
Bond parameter carries out real-time display, and when certain operating parameters are abnormal, monitoring module 7.1 can carry out alarm, supervise management
Personnel carry out malfunction elimination.Monitoring module 7.1 can on-line coordination control other units or module, before training system operation
System self-test, in virtual diesel engine 1 in the online modification of certain parameters and virtual reality unit 6 visual angle change
Deng.Operation module 7.2 and remote control module 7.3 can complete " control parameter setting " " operating parameter modification ", the training by machine
The related display parameters meeting real-time change of exercising system, and the working condition of diesel engine can also make phase in virtual reality unit 6
The change answered, trainer observe the variation of diesel engine correlated performance or parameter.But this function is only applicable to train, it is impossible to practical
Change the inner parameter of electric-control system peculiar to vessel.
Cylinder pressure collecting unit 8 receives the cylinder pressure signal of each operating mode in sensor signal simulator 2, makes start-up
It is clear that the running state parameter of each cylinder in virtual diesel engine 1, such as：It is whether idle, whether pinking etc..
The parts 9 of executing agency, comprising real machine key executing agency, wherein remaining the phase of fuel oil and servo oil system
Close executing agency's parts.By these parts, make start-up for above-mentioned component there are one the cognition of intuitive structure and
Dismounting training improves the validity of start-up's experience.
The embodiment of the utility model is described above in conjunction with attached drawing, but the utility model is not limited to
The specific embodiment stated, above-mentioned specific embodiment is only schematical rather than restricted, this field it is common
Technical staff is not departing from the utility model aims and scope of the claimed protection situation under the enlightenment of the utility model
Under, many forms can be also made, these are belonged within the protection of the utility model.
Claims (9)
1. a kind of marine diesel virtual reality operation demonstration and training testing stand, which is characterized in that including virtual diesel engine
（1）, sensor signal simulator（2）, electric-control system peculiar to vessel（3）, load simulating device（4）, data acquisition unit（5）, it is empty
Intend real unit（6）, instruction operating platform（7）Collecting unit is pressed with cylinder（8）, the virtual diesel engine（1）For generating diesel oil
Machine Real-Time Model sends corresponding data to virtual reality unit（6）With sensor signal simulator（2）；
The sensor signal simulator（2）, for according to Real-Time Simulation of Diesel Engine model and virtual diesel engine（1）Offer
Corresponding data, generate corresponding physical signal and be respectively sent to electric-control system peculiar to vessel（3）, cylinder pressure collecting unit（8）And teaching
Operating platform（7）；
The electric-control system peculiar to vessel（3）, for by sensor signal simulator（2）The correspondence analog signal of generation carries out logic
Operation outputs control signals to load simulating device according to operation result（4）, and and instruction operating platform（7）It communicates；
The load simulating device（4）, for by electric-control system peculiar to vessel（3）The control signal of output is converted to electric signal transmission
To data acquisition unit（5）；
The data acquisition unit（5）, for acquiring load simulating device（4）Electric signal and virtual diesel engine（1）It carries out
Data interaction, and transmit signals to virtual reality unit（6）.
2. marine diesel virtual reality operation demonstration according to claim 1 and training testing stand, which is characterized in that institute
State virtual diesel engine（1）Including：
Rotating speed simulation algorithm model, for carrying out simulation calculation to diesel engine speed；
Operation process simulation module is simulated for the course of work to diesel engine；
Sensor Analog Relay System control module, for sending corresponding data to sensor signal simulator（2）, so as to control sensor
Signal imitation device（2）Signal generates.
3. marine diesel virtual reality operation demonstration according to claim 2 and training testing stand, which is characterized in that institute
State virtual reality unit（6）Including virtual reality emulation module（6.1）With virtual reality display module（6.2）；
The virtual reality emulation module（6.1）Including：
Communication data handles submodule, for receiving virtual diesel engine（1）And data acquisition unit（5）The corresponding data of transmission into
Row processing；
Three-dimension modeling submodule, for carrying out the three-dimension modeling of diesel engine；
Three-dimensional graphics renderer submodule, for the three-dimensional graphics renderer of diesel engine；
Virtual Environment Modeling submodule, for the virtual Environment Modeling of diesel engine；
The virtual reality display module（6.2）, for virtual reality emulation module（6.1）Graphical interaction is carried out, so as to make
To show carrier, including LED virtual displays, 3D glasses, 3D transmitters and related wire rod attachment.
4. marine diesel virtual reality operation demonstration according to claim 1 and training testing stand, which is characterized in that institute
State instruction operating platform（7）Including monitoring module（7.1）, operation module by machine（7.2）, remote control module（7.3）And parameter
Control module（7.4）；
The monitoring module（7.1）, for receiving sensor signal imitation device（2）The correspondence physical signal of transmission, including right
Instruction operating platform（7）The teaching platform being managed manages submodule, display parameters control module（7.4）The shape of state parameter
State parameter display sub-module and the alarm indication submodule that alarm indication is carried out to the parameter of mistake；
The remote control module（7.3）, for respectively with electric-control system peculiar to vessel（3）And parameter control module（7.4）Led to
Letter completes remote control；
Operation module by the machine（7.2）, it is used for and parameter control module（7.4）It communicates, completes to manipulate by machine.
5. marine diesel virtual reality operation demonstration according to claim 4 and training testing stand, which is characterized in that institute
State sensor signal simulator（2）Including fuel oil module, servo oil module, start air module, crank angle module and cylinder
Pressing mold intends signaling module；
The fuel oil module, servo oil module start air module and the corresponding physical signal of crank angle module output to peculiar to vessel
Electric-control system（3）；
The crank angle module also exports physical signal and passes through load simulating device（4）It is converted to electric signal and is sent to data
Collecting unit（5）；
The cylinder pressing mold intends signaling module and exports physical signal to cylinder pressure collecting unit（8）.
6. marine diesel virtual reality operation demonstration according to claim 5 and training testing stand, which is characterized in that institute
State load simulating device（4）Including Injection Control solenoid valve, fuel pump adjustment module, gas exhaust inspecting solenoid valve vents control electromagnetism
Valve, starts air module and public starting module at servo oil pump adjustment module.
7. marine diesel virtual reality operation demonstration according to claim 6 and training testing stand, which is characterized in that institute
State data acquisition unit（5）By load simulating device（4）The electric signal difference corresponding conversion of output is voltage signal, electric current is believed
Number and digital quantity signal and virtual diesel engine（1）Carry out data interaction.
8. marine diesel virtual reality operation demonstration according to claim 7 and training testing stand, which is characterized in that institute
State cylinder pressure collecting unit（8）Including：Signal acquisition module, parameter display module and cylinder pressure sensor；The acquisition module, is used for
Receive the physical signal that cylinder pressing mold intends signaling module output；The parameter display module, for showing the operating status of diesel engine.
9. marine diesel virtual reality operation demonstration according to any one of claim 1 to 8 and training testing stand,
It is characterized in that, the operation demonstration further includes the parts of executing agency with training testing stand（9）, for provide structure cognition and
Dismounting training function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201720701289.9U CN207541801U (en) | 2017-06-14 | 2017-06-14 | Marine diesel virtual reality operation is demonstrated and training testing stand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720701289.9U CN207541801U (en) | 2017-06-14 | 2017-06-14 | Marine diesel virtual reality operation is demonstrated and training testing stand |
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| CN207541801U true CN207541801U (en) | 2018-06-26 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045817A (en) * | 2017-06-14 | 2017-08-15 | 武汉理工大学 | Marine diesel virtual reality operation is demonstrated and training testing stand |
| CN109979301A (en) * | 2019-03-21 | 2019-07-05 | 北京邦曼科技有限公司 | A kind of method and apparatus for simulating internal combustion engine in-cylinder pressure |
| CN110853453A (en) * | 2019-12-18 | 2020-02-28 | 武汉理工大学 | Navigation simulator system based on cloud platform |
-
2017
- 2017-06-14 CN CN201720701289.9U patent/CN207541801U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045817A (en) * | 2017-06-14 | 2017-08-15 | 武汉理工大学 | Marine diesel virtual reality operation is demonstrated and training testing stand |
| CN109979301A (en) * | 2019-03-21 | 2019-07-05 | 北京邦曼科技有限公司 | A kind of method and apparatus for simulating internal combustion engine in-cylinder pressure |
| CN110853453A (en) * | 2019-12-18 | 2020-02-28 | 武汉理工大学 | Navigation simulator system based on cloud platform |
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