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首页> 外文会议>IEEE Conference on Virtual Reality and 3D User Interfaces >Underwater Manipulation Training Simulation System for Manned DeepSubmarine Vehicle
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Underwater Manipulation Training Simulation System for Manned DeepSubmarine Vehicle

机译：有人潜艇水下操纵训练仿真系统

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摘要

In order to solve the problems of high safety risk and low training efficiency in underwater operation of deep submersible vehicle. Taking China's first manned deep submarine vehicle “jiaolong” as the simulation prototype, an underwater training platform is developed, which is not limited by time and place. Using three-dimensional modeling technology to build the three-dimensional model of “jiaolong” A mathematical model of the motion of a manipulator is established to simulate the associated motion between the joints of the manipulator. The collision detection technique is used to determine whether there is interaction between the manipulator and the operated object, between the object and the sampling basket, and between the equipment and the scene. The system is based on 3D development engine, which includes cobalt-rich crust mining area, polymetallic sulphide area, shallow sea area and cold spring area and so on. With this system the operator can train the underwater operation process. The system uses virtual reality helmet as the final visual display mode and the line of sight collision detection based on helmet instead of mouse click to simulate the whole process of underwater operation of deep submersible.
机译：为了解决深潜潜水器水下作业中安全隐患高，训练效率低的问题。以中国第一辆载人深潜艇“交龙”为模拟原型，开发了水下训练平台，不受时间和地点的限制。使用三维建模技术来构建“角龙”三维模型。建立了机械手运动的数学模型，以模拟机械手关节之间的关联运动。碰撞检测技术用于确定机械手与被操作物体之间，物体与采样篮之间以及设备与场景之间是否存在相互作用。该系统基于3D开发引擎，包括富钴结壳开采区域，多金属硫化物区域，浅海区域和冷泉区域等。使用此系统，操作员可以训练水下操作过程。该系统使用虚拟现实头盔作为最终的视觉显示模式，并基于头盔而不是单击鼠标进行视线碰撞检测，以模拟深潜器水下操作的全过程。

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