水下机器人视景仿真研究  

Research on view simulation of underwater robot

作　　者：张瑞杰[1] 李兆祥 吴振铭 安建琦 任福深[1] ZHANG Ruijie;LI Zhaoxiang;WU Zhenming;AN Jianqi;REN Fushen(School of Mechanical Science and Engineering,Northeast Petroleum University,Daqing 163318;The First Oil Production Plant of Daqing Oilfield Co.,Ltd.,Daqing 163453)

机构地区：[1]东北石油大学机械科学与工程学院,黑龙江大庆163318 [2]大庆油田有限责任公司第一采油厂,黑龙江大庆163453

出　　处：《机械设计》2024年第5期170-176,共7页Journal of Machine Design

基　　金：中国石油天然气集团公司科学研究与技术开发基金(2019A-1013)。

摘　　要：为解决水下机器人操作困难和学习成本高等问题,开发了水下机器人视景仿真系统。运用虚幻引擎平台构建海底环境仿真,建立水下机器人虚拟模型与运动数学模型实现水下机器人在虚拟环境中的运动,建立水下机器人运动控制模式与虚拟模型进行交互,通过机器人运动模拟与视觉仿真试验验证仿真系统的可行性。试验结果表明:模拟运动路径与实际运动路径基本相符,海底环境模拟逼真度高。该系统可对水下机器人进行工作性能测试,为操作者提供培训平台且带来较强的视觉冲击,具有可行性。In order to solve the issues of difficult operation and high learning cost of underwater robots,an underwater robot view simulation system had been developed.The unreal engine was used to establish undersea environment simulation.The virtual model and motion mathematical model of the robot were established to realize the movement in a virtual environment.The motion control mode of underwater robot was established to interact with the virtual model.The feasibility of the simulation system was verified through robot motion simulation and visual simulation experiments.The results showed that the simulated motion paths were basically consistent with the actual motion paths,and the undersea environment was simulated with high fidelity.This system could perform working performance test for underwater robot,bring strong visual impact to operators.The system was feasible.

关 键 词：虚拟现实技术 水下机器人视景仿真系统 虚幻引擎 海底环境 水下机器人 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]