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

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.