基于虚拟现实技术的ROV收放操作仿真  

Simulation of ROV retractable operation based on virtual reality technology

作　　者：梁民仓 尹勇[2] 刘虎 董洪仓 LIANG Min-cang;YIN Yong;LIU Hu;DONG Hong-cang(School of Port and Transportation Engineering,Zhejiang Ocean University,Zhoushan 316022, China;Key Laboratory of Marine Dynamic Simulation & Control for Ministry of Communications , Dalian Maritime University, Dalian 116026,China)

机构地区：[1]浙江海洋大学港航与交通运输工程学院,浙江舟山316022 [2]大连海事大学航海动态仿真和控制交通行业重点实验室,辽宁大连116026

出　　处：《大连海事大学学报》2018年第4期49-54,共6页Journal of Dalian Maritime University

基　　金：海洋公益性行业科研专项(201505017-4);大连海事大学航海动态仿真和控制交通行业重点实验室开放研究基金资助项目(DMU-MSCKLT2017002)

摘　　要：针对现有ROV(Remote Operated Vehicle)收放操作培训中采用实船培训风险大、成本高、培训周期长,并且缺乏完善的深潜器收放操作培训系统的问题,提出基于反向运动学原理的角色IK控制方法,结合关键帧动画实现虚拟人操作行为的仿真;提出脐带缆机和ROV门吊联动运动数学模型,实现了缆绳伸缩和门吊转动的同步控制;利用视角切换、操作提示和GUI界面等技术,增强了系统交互性.仿真结果验证了模型的有效性,研究成果已应用于载人深潜器收放操作仿真系统中.Aiming at the problems of high risk, high cost and long training cycle for real ship training existing in remote operated vehicle (ROV) retractable operation, while lacking of perfect training and operation system for deep submersible, a character IK control method based on inverse kinematics was proposed, and the simulation of virtual human operation behavior was realized by key frame animation. A mathematical model of the joint motion of umbilical cord cable crane and ROV gantry crane was proposed to realize the synchronous control of cable expansion and gantry crane rotation. The system interaction was enhanced by using the technologies of view switch, operation hint and GUI interface. Simulation results verify the validity of the model, and the research results have been applied to the simulation system of manned deep submersible retrieving and releasing operation.

关 键 词：遥控无人潜水器(ROV) 反向运动学 虚拟现实技术 联动运动数学模型 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]