| 摘要: |
| 目标实现取决于水下作业时水动力学真实图景的可靠呈现。基于虚拟现实的深水水下应急维修仿真系统由物理的操作系统(吊机/水下机器人/绞车/单人潜器等的操作系统)及虚拟的船、工机具与水下生产系统和海洋环境构成。提出数据转换技术和实时处理系统架构,将有限元计算与虚拟现实实时运动仿真有机结合。结果表明:此仿真系统很好处理了大型系统的多人协同实时人机交互、海洋环境下船-缆-体的动力耦合作用及可视化实现、不同数据通讯接口技术等关键问题。整个系统具有强烈的立体感、真实感和身临其境的沉浸感以及良好的可扩展性。通过第三方验证,系统仿真精度控制在9.7％以内。可为指挥员和无经验的工程人员提供丰富的间接经验,使之在低成本前提下极大提高对实际事故快速处置的能力与维修操作的精度,降低作业风险。 |
| 关键词: 深水水下应急维修 虚拟现实 水动力 分布式半物理仿真 |
| DOI：10.3969/j.issn.1673-5005.2019.01.015 |
| 分类号::TP 391 |
| 文献标识码:A |
| 基金项目:国家重点研发计划(2017YFC0805805);国家重大科技专项(2011ZX05027-005-001) |
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| Under-deepwater emergency maintenance simulation system based on virtual reality and hydrodynamics |
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MAO Dongfeng1, YU Yang1, SUN Chenggong1, ZUO Xin1, ZHANG Laibin1, LI Zhigang2
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(1.SAWS Key Laboratory for Oil-gas Safety Engineering Center in China University of Petroleum(Beijing), Beijing 102249, China;2.Offshore Oil Engineering Company Limited, Tianjin 300451, China)
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| Abstract: |
| In order to effectively achieve training goal of under-deepwater emergency maintenance simulation system based on virtual reality, it is crucial to reliably express hydrodynamics as realistic graphics. In the system the operation sets for ROV, crane, winch and ADS 's robotic arm are replicas, and ship, tools and equipment, underwater production system and ocean environment are virtual. A series of data conversion techniques and real-time processing framework were proposed that combines finite element calculation with real-time motion simulation in virtual reality. The results show that the research is well handled some key techniques such as multiple persons operating and real-time Human-computer interaction for a large open system, the dynamic coupling of ship-cable-body under marine environment and precise calculation of motion of lowering object in water, coordination of the real-time and accuracy, visualization, different data communication interface technique and so on. The whole system has a strong sense of three-dimensional, realistic and immersive and good scalability. System simulation accuracy is verified within 9.7% by the third party validation. It could provide the inexperienced operators or commanders with wide-ranging second-hand experience so that they can make prompt decisions and quick and precise responses and repairing operations in actual accident situations at low cost aiming to reduce the operational risk. |
| Key words: under-deepwater emergency maintenance virtual reality hydrodynamics distributed semi-physic simulation |
