基于Unity3D立管横焊机器人虚拟现实技术研究  

Research on Virtual Reality Technology of Unity3D-based Riser Horizontal Welding Robot

作　　者：罗雨[1] 马悦 郭聚智 高萌萌 王帅 王龙 周灿丰[1] LUO Yu;MA Yue;GUO Juzhi;GAO Mengmeng;WANG Shuai;WANG Long;ZHOU Canfeng(Advanced Connection Technology Research Center for Energy Engineering,Beijing Institute of Petrochemical Technology,Beijing 102627,China;China National Nuclear Corporation,Beijing 100193,China)

机构地区：[1]北京石油化工学院能源工程先进连接技术研究中心,北京102627 [2]中核能源科技有限公司,北京100193

出　　处：《机床与液压》2023年第12期171-175,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(51305037);国家自然科学基金面上项目(52175286)。

摘　　要：为提高深水立管横焊机器人在J型铺管复杂工况下的作业能力,提出一种基于虚拟现实技术的横焊机器人遥操作控制方案。以机器人三维建模、虚拟仿真、遥操作控制等技术为基础,综合运用UG和3DMAX建立横焊机器人三维模型。搭建基于Unity3D的软件开发平台,建立横焊机器人虚拟仿真模型及作业工作场景。采用图形用户界面系统设计横焊机器人遥操作人机交互界面。仿真结果表明:虚拟现实人机交互良好,能够精确捕捉立管横焊机器人的物理位姿和运行状态并进行动态调整,运动仿真和碰撞检测实时有效。To improve the working ability of deep-water riser horizontal welding robot under the complex working conditions of J-type pipe laying,a horizontal welding robot remote operation control scheme based on virtual reality technology was proposed.Based on the 3D modeling of robots,virtual simulation,remote operation control and other technologies,the 3D model of horizontal welding robot was established by comprehensively using UG and 3DMAX.A software development platform based on Unity3D was built,the virtual simulation model and homework scene of the robot were built.A horizontal welding robot remote operation human-machine interactive interface was designed using graphical user interface system.The simulation results show that the virtual reality human-computer interaction is good,it can accurately capture the physical posture and running state of the riser horizontal welding robot and dynamically adjust,motion simulation and collision detection are effective in real time.

关 键 词：立管横焊机器人 虚拟现实技术 遥操作控制 运动仿真 碰撞检测 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]