Simulation system for operation and maintenance work of underwater oil extraction structure

Abstract

The invention relates to a simulation system for operation and maintenance work of an underwater oil extraction structure. The simulation system comprises a semi-physical interaction device, a control module and a visual simulation module, the semi-physical interaction device is used for a diver to install, operate and maintain an underwater Christmas tree, and collecting the body movement posture, the hand position and posture of the diver and the state data of the underwater Christmas tree in the operation process. The control module is used for carrying out control and data monitoring on the semi-physical interaction equipment and sending control and monitoring data to the visual simulation module; and the visual simulation module is used for simulating a three-dimensional scene according to all data. Based on a semi-physical interaction technology, interactive simulation of a diver using a virtual or semi-physical tool and an underwater production facility in a limited space is realized, and the technical problem of diver movement and virtual reality interactive simulation operation is solved. Therefore, the invention can be widely applied to the technical field of underwater operation.

Description

Technical Field

[0001] The invention relates to an underwater oil production structure operation and maintenance simulation system based on semi-physical interaction technology, belonging to the technical field of underwater operations. Background Art

[0002] Underwater operations have very high safety requirements for divers. Through simulation projects, a safe environment can be provided for divers to train and practice in simulated scenarios, improve their ability to cope with underwater environments, and reduce the occurrence of accidents. Actual underwater operations are costly, including equipment, manpower, time, etc.

[0003] Simulation projects can reduce the need for actual underwater operations to a certain extent and save costs. Moreover, simulation projects can simulate various underwater operation scenarios, allowing divers to train in different situations and improve their skills and reaction capabilities in dealing with complex environments. New technologies are constantly emerging in the field of underwater operations, and simulation projects can be used to test the effectiveness and applicability of these new technologies and provide reference and guidance for actual operations. However, existing virtual training systems still have shortcomings in terms of simulation level and interactivity. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide an underwater oil production structure operation and maintenance simulation system based on semi-physical interaction technology. Using the system of the present invention to conduct diver oil tree operation drills can not only verify the reliability of the design scheme, but also effectively reduce construction risks, improve operation efficiency, and improve divers' ability to operate oil tree equipment underwater.

[0005] To achieve the above object, the present invention adopts the following technical solutions: An underwater oil production structure operation and maintenance simulation system, comprising: Semi-physical interactive equipment, control modules and visual simulation modules; The semi-physical interactive device is used by divers to install, operate and maintain underwater oil trees, and collects diver's body movement posture, hand position and posture, and underwater oil tree status data during the operation; The control module is used to control and monitor data of the semi-physical interactive device, and send the control and monitoring data to the visual simulation module; The visual simulation module is used to simulate a three-dimensional scene based on all the data.

[0006] Further, the semi-physical interaction device includes a semi-physical device and a motion capture interaction device; The semi-physical equipment includes a Christmas tree panel, a semi-physical manual tool, and a lifting single-degree-of-freedom motion platform. The Christmas tree panel is used to simulate the control panel of the Christmas tree equipment; the semi-physical manual tool is used to simulate the manual tool operation of a diver working underwater; the lifting single-degree-of-freedom motion platform is used to simulate the hovering and heaving functions of a diver; The motion capture interaction device includes a VR head-mounted device, a full-body motion capture device, a data glove, a locator and a tracker; the VR head-mounted device is used to send a signal according to the visual simulation module to perform VR scene rendering; the full-body motion capture device is used to collect the diver's body movement posture, and send the collected data to the visual simulation module; the data glove is used to collect the diver's hand position and posture, and send the data to the visual simulation module to present the diver's basic hand movements; the locator and tracker are installed on the semi-physical manual machine, and are used to obtain the position and posture data information of the semi-physical manual machine, and send the position and posture data information to the control module.

[0007] Furthermore, the Christmas tree panel comprises a rectangular body, on which first to ninth T-shaped bases are sequentially arranged, and the first to ninth bases are located on step holes arranged on the rectangular body; The first to ninth T-shaped bases have the same structure, and all include a base body, a connecting shaft and an encoder. The base body adopts a bottom-sealed cylindrical structure, and a photoelectric sensor for recording the number of times the base is inserted is provided at the bottom of the cylindrical structure. The inner side of the cylindrical structure is provided with internal teeth for threaded connection with one end of the connecting shaft. The connecting shaft is covered with a bearing, and the other end of the connecting shaft is connected to the encoder, and a damper is covered on one end of the connecting shaft close to the encoder; The four corners of the rectangular body are respectively provided with supporting legs, and a connecting plate for fixing the Christmas tree panel is installed on each supporting leg.

[0008] Furthermore, the semi-physical handheld tool includes a hot-spur wrench or a T-type wrench.

[0009] Further, the hot spur wrench includes a wrench body, a handle, a guide seat, a positioner and a fastening assembly; The wrench body is in the shape of a round rod, a handle is provided at one end of the wrench body, a guide seat is provided at the end of the wrench body away from the handle, and the size of the guide seat is adapted to the size of the wrench body; The locator is arranged on the wrench body, and the size of the locator is adapted to the size of the wrench body, and is used to cooperate with the tracker arranged on the ceiling to collect the position and posture data information of the hot spur wrench; The fastening assembly is arranged on one side of the handle to ensure that the hot spur wrench is not easily separated from the diver's hand.

[0010] Further, the fastening assembly includes a fastening ring, a mounting block and an adjusting block; The mounting block is arranged on one side of the fastening ring, and comprises a mounting rod, a first support column, a first support plate and a clamping plate. The mounting rod is arranged on the fastening ring, and the lower end of the mounting rod is connected to the upper end of the first support plate through the first support column, and the lower end of the first support plate is provided with the semicircular clamping plate; The adjustment block includes an adjustment rod, a second support column, a second support plate, an adjustment plate and a compression spring. The upper end of the adjustment rod is connected to the lower end of the mounting rod through the compression spring. The lower end of the adjustment rod is connected to the lower end of the second support plate through the second support column. The upper end of the second support plate is provided with the semicircular adjustment plate, and the size of the semicircular adjustment plate and the semicircular clamping plate after closing matches the size of the handle.

[0011] Furthermore, the VR head-mounted device adopts a VR helmet, and the VR helmet is connected to a streaming box. The streaming box connects the virtual reality VR helmet to the visual simulation module, so that the motion information position, angle, and acceleration information of the VR helmet are transmitted to the visual simulation module in real time, and the calculation results of the visual simulation module are fed back to the VR helmet through the streaming box.

[0012] Furthermore, the lifting single-degree-of-freedom motion platform is provided with four hydraulic cylinders, a motion platform and a control signal receiver; wherein, the control signal receiver is used to receive the motion instructions sent by the control server in the control module in real time, thereby controlling the internal movement of the four hydraulic cylinders to realize the lifting movement of the lifting single-degree-of-freedom motion platform.

[0013] Further, the control module includes a control server, a panel control module, a manual tool control module and a lifting single-degree-of-freedom motion platform control module; The control server is used to send lifting, lowering and hovering control instructions to the lifting single-degree-of-freedom motion platform; The lifting single-degree-of-freedom motion platform control module, the panel control module and the manual tool control module are respectively used to monitor the working status of the lifting single-degree-of-freedom motion platform, the panel working status and the semi-physical manual tool motion information, and send the monitoring data to the visual simulation module.

[0014] Furthermore, the visual simulation module includes a three-dimensional model library module, a virtual reality display module, a semi-physical simulation tool interaction interface, an operation process simulation module, a collision interference module and an underwater special effects module; The three-dimensional model library module is used to realize the virtual reality three-dimensional scene; The virtual reality display module is used to dispatch the three-dimensional model library resources, realize the underwater environment scene display function, respond to the semi-physical simulation tool interaction interface data, and render underwater special effects visual effects; The semi-physical simulation interaction interface is used to receive interaction data from the panel control module, the T-wrench control module and the lifting single-degree-of-freedom motion platform control module, and send the data to the virtual reality display module; The operation process simulation module is divided into a logic layer and a business layer. The logic layer is used to determine the stage and steps of the simulation operation, and the business layer is used to complete the simulation operation process in combination with the semi-physical simulation tool interaction interface data; The collision interference module is used to provide interference between objects in the virtual reality scene, and interference between virtual divers and equipment, to achieve interference risk warning; The underwater special effects module is used to simulate underwater turbidity and underwater visibility effects for scheduling by the virtual reality display module.

[0015] The present invention adopts the above technical solution, which has the following advantages: 1. The present invention is based on semi-physical interaction technology to achieve interactive simulation between divers and underwater production facilities using virtual or semi-physical tools in confined spaces, solving the technical problem of interactive simulation operations between divers' movements and virtual reality.

[0016] 2. The present invention restores the underwater operation scene of divers by constructing a three-dimensional model of underwater facilities, an ocean special effects environment, and a collision interference inspection depth, thereby providing a real operation environment for trainees.

[0017] 3. The present invention establishes a human body dynamics model, develops a motion capture human-computer interaction interface, uses multiple sets of positioning and tracking equipment to control human body movements in a virtual environment, and realistically simulates installation and maintenance operations, providing a feasible solution for diver underwater operation training.

[0018] 4. The simulation system of the present invention includes a universal script module, which can be used for diving operation training in other sea areas in the future.

[0019] Therefore, the present invention can be widely applied to the field of underwater operation technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Throughout the accompanying drawings, the same reference numerals are used to represent the same components. In the accompanying drawings: Figure 1A composition diagram of an underwater oil production structure operation and maintenance simulation system provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of Embodiment 1 of the present invention; Figure 3 It is a schematic diagram of the installation structure of the positioner and the vertical handle in the present invention; Figure 4 Another structural schematic diagram of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0022] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0023] In some embodiments of the present invention, there is provided an underwater oil production structure operation and maintenance simulation system, including a semi-physical interactive device, a control module, and a visual simulation module. The semi-physical interactive device is used to train divers to install, operate, and maintain underwater oil production trees, and collect relevant data such as diver's body movement posture, hand position and posture, and underwater oil production tree status during the operation; the control module is used to control and monitor the semi-physical interactive device, and send the control and monitoring data to the visual simulation module; the visual simulation module is used to simulate a three-dimensional scene based on all the data. The present invention realizes the simulation drill of underwater oil production tree installation and maintenance operations by divers through the development of three-dimensional digital modeling of underwater facilities and supporting semi-physical simulation interactive equipment. At the same time, it can save the cost of diver sea trial training, has positioning and guidance functions, can provide real-time spatial positioning and angles, and improves rotation accuracy.

[0024] Example 1 like Figure 1As shown, the present invention provides an underwater oil production structure operation and maintenance simulation system, which includes: a semi-physical interactive device, a control module and a visual simulation module. The semi-physical interactive device is used by divers to install, operate and repair underwater oil production trees, and collects relevant data such as diver's body movement posture, hand position and posture, and underwater oil production tree status during the operation; the control module is used to control and monitor the semi-physical interactive device and send the control and monitoring data to the visual simulation module; the visual simulation module is used to simulate a three-dimensional scene based on all the data.

[0025] Furthermore, the semi-physical interaction device includes a semi-physical device and a motion capture interaction device.

[0026] Among them, the semi-physical equipment includes the Christmas tree panel, semi-physical manual tools and lifting single-degree-of-freedom motion platform. Among them, the Christmas tree panel is used to simulate the control panel of the Christmas tree equipment; the semi-physical manual tools are used to simulate the operation of the manual tools by divers working underwater; the lifting single-degree-of-freedom motion platform is used to simulate the hovering and heaving functions of divers; The motion capture interaction equipment includes VR head-mounted devices, full-body motion capture devices, data gloves, locators and trackers. Among them, the VR head-mounted devices are used to send signals according to the visual simulation module to render the VR scene; the full-body motion capture device is used to collect the diver's body movement posture, and send the collected data to the visual simulation module; the data gloves are used to collect the diver's hand position and posture, and send the data to the visual simulation module to present the diver's basic hand movements (grasping, holding); the locator and tracker are installed on the semi-physical manual machine to obtain the position and posture data information of the semi-physical manual machine, and send the position and posture data information to the control server.

[0027] Furthermore, the Christmas tree panel includes a rectangular body, on which the first to ninth T-shaped bases are sequentially arranged, and the first to ninth bases are located on the stepped holes arranged on the rectangular body. The first to ninth T-shaped bases have the same structure, and all include a base body, a connecting shaft and an encoder, wherein the base body adopts a cylindrical structure with a bottom seal, and a photoelectric sensor for recording the number of times the base is inserted is arranged at the bottom of the cylindrical structure, and an inner tooth for threaded connection with one end of the connecting shaft is arranged on the inner side of the cylindrical structure; a bearing is arranged on the outer sleeve of the connecting shaft, and the other end of the connecting shaft is connected to the encoder, and a damper is arranged on the end of the connecting shaft close to the encoder; legs are arranged at the four corners of the rectangular body, and a connecting plate for fixing the Christmas tree panel is installed on each leg.

[0028] Further, the semi-physical handheld tool includes a hot-spur wrench or a T-type wrench.

[0029] Further, if Figure 2 to Figure 4As shown, the hot spur wrench includes a wrench body 1, a handle 2, a guide seat 3, a locator 4 and a fastening assembly. The wrench body 1 is in the shape of a round rod, and a handle 2 is provided at one end of the wrench body 1. A guide seat 3 is provided at the end of the wrench body 1 away from the handle 2, and the size of the guide seat 3 is adapted to the size of the wrench body 1; the locator 4 is arranged on the wrench body 1, and the size of the locator 4 is adapted to the size of the wrench body 1, and is used to cooperate with the tracker arranged on the ceiling to collect the position and posture data information of the hot spur wrench; the fastening assembly is arranged on one side of the handle 2 to ensure that the hot spur wrench is not easily separated from the diver's hand.

[0030] Further, if Figure 3 As shown, the fastening assembly includes a fastening ring 5, a mounting block and an adjusting block. The mounting block is arranged on one side of the fastening ring 5, and includes a mounting rod 8, a first support column 10, a first support plate 11 and a clamping plate 6, wherein the mounting rod 8 is arranged on the fastening ring 5, and the lower end of the mounting rod 8 is connected to the upper end of the first support plate 11 through the first support column 10, and the lower end of the first support plate 11 is provided with a semicircular clamping plate 6; the adjusting block includes an adjusting rod 7, a second support column 12, a second support plate 13, an adjusting plate 14 and a compression spring 9, wherein the upper end of the adjusting rod 7 is connected to the lower end of the mounting rod 8 through the compression spring 9, and the lower end of the adjusting rod 7 is connected to the lower end of the second support plate 13 through the second support column 12, and the upper end of the second support plate 13 is provided with a semicircular adjusting plate 14, and the size of the semicircular adjusting plate 14 and the semicircular clamping plate 6 after closing matches the size of the handle 2.

[0031] When in use, the staff connects the hand with the fastening ring 5, and then pulls the adjusting plate 14 to align the clamping plate 6 and the adjusting plate 14 with the handle 2, and then through the deformation of the compression spring 9, the clamping plate 6 and the adjusting plate 14 clamp the handle 2, and then guide it through the guide seat 3, and then the corresponding operation can be carried out.

[0032] Furthermore, the control module includes a control server, a panel control module, a manual tool control module and a lifting single-degree-of-freedom motion platform control module. Among them, the control server is used to send control instructions such as lifting, lowering, and hovering to the lifting single-degree-of-freedom motion platform; the lifting single-degree-of-freedom motion platform control module, the panel control module and the manual tool control module are used to monitor the working status of the lifting single-degree-of-freedom motion platform, the panel working status and the manual tool movement information, and send the monitoring data to the visual simulation module.

[0033] Furthermore, the visual simulation module includes a three-dimensional model library module, a virtual reality display module, a semi-physical simulation tool interaction interface, an operation process simulation module, a collision interference module and an underwater special effects module. Among them, the three-dimensional model library module is a schedulable software resource for realizing virtual reality three-dimensional scenes, which includes a number of three-dimensional model resources of underwater production facility structures and is stored in the computer hard disk; the virtual reality display module is a software that can schedule three-dimensional model library resources, and has the functions of underwater environment scene display, response to semi-physical simulation tool interaction interface data, rendering underwater special effects visual effects, etc.; the semi-physical simulation interaction interface can receive the interaction data of the panel control module, T-wrench control module and lifting single-degree-of-freedom motion platform control module, and send the data to the virtual reality display module; the operation process simulation module is divided into a logic layer and a business layer. The logic layer can determine the simulation operation stage and operation steps, and the business layer can complete the simulation operation process in combination with the semi-physical simulation tool interaction interface data; the collision interference module is used to provide interference between objects in the virtual reality scene, and interference between virtual divers and equipment, to realize interference risk warning; the underwater special effects module is a visual effect software module that can simulate underwater turbidity and underwater visibility effects, and can be scheduled by the virtual reality display module.

[0034] Furthermore, the lifting single-degree-of-freedom motion platform is provided with four hydraulic cylinders, a motion platform and a control signal receiver, wherein the control signal receiver is used to receive the motion instructions sent by the control server in the control module in real time, thereby controlling the internal motion of the four hydraulic cylinders to realize the lifting motion of the lifting single-degree-of-freedom motion platform.

[0035] Furthermore, the VR head-mounted device uses a VR helmet, which is connected to a streaming box. The streaming box connects the virtual reality VR helmet to the visual simulation module, so that the motion information position, angle, and acceleration information of the VR helmet are transmitted to the visual simulation module in real time. The calculation results of the visual simulation module are fed back to the VR helmet through the streaming box.

[0036] Furthermore, in this embodiment, the subsea Christmas tree is installed, operated and maintained, mainly including valve operations such as flat valves, throttle valves, check valves, mud valves, etc.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An underwater oil production structure operation and maintenance simulation system, characterized in that: include: Semi-physical interactive equipment, control modules and visual simulation modules; The semi-physical interactive device is used by divers to install, operate and maintain underwater oil trees, and collects diver's body movement posture, hand position and posture, and underwater oil tree status data during the operation; The control module is used to control and monitor data of the semi-physical interactive device, and send the control and monitoring data to the visual simulation module; The visual simulation module is used to simulate a three-dimensional scene based on all the data.

2. The underwater oil production structure operation and maintenance simulation system according to claim 1, characterized in that: The semi-physical interaction device includes a semi-physical device and a motion capture interaction device; The semi-physical equipment includes a Christmas tree panel, a semi-physical manual tool, and a lifting single-degree-of-freedom motion platform. The Christmas tree panel is used to simulate the control panel of the Christmas tree equipment; the semi-physical manual tool is used to simulate the manual tool operation of a diver working underwater; the lifting single-degree-of-freedom motion platform is used to simulate the hovering and heaving functions of a diver; The motion capture interaction device includes a VR head-mounted device, a full-body motion capture device, a data glove, a locator and a tracker; the VR head-mounted device is used to send a signal to the visual simulation module to render the VR scene; the full-body motion capture device is used to collect the diver's body movement posture and send the collected data to the visual simulation module; The data glove is used to collect the position and posture of the diver's hand, and send the data to the visual simulation module to present the basic movements of the diver's hand; the locator and tracker are installed on the semi-physical manual machine to obtain the position and posture data information of the semi-physical manual machine, and send the position and posture data information to the control module.

3. The underwater oil production structure operation and maintenance simulation system according to claim 2, characterized in that: The Christmas tree panel comprises a rectangular body, on which first to ninth T-shaped bases are arranged in sequence, and the first to ninth bases are located on step holes arranged on the rectangular body; The first to ninth T-shaped bases have the same structure, and all include a base body, a connecting shaft and an encoder. The base body adopts a bottom-sealed cylindrical structure, and a photoelectric sensor for recording the number of times the base is inserted is provided at the bottom of the cylindrical structure. The inner side of the cylindrical structure is provided with internal teeth for threaded connection with one end of the connecting shaft. The connecting shaft is covered with a bearing, and the other end of the connecting shaft is connected to the encoder, and a damper is covered on one end of the connecting shaft close to the encoder; The four corners of the rectangular body are respectively provided with supporting legs, and a connecting plate for fixing the Christmas tree panel is installed on each supporting leg.

4. The underwater oil production structure operation and maintenance simulation system according to claim 2, characterized in that: The semi-physical handheld tool comprises a hot-spur wrench or a T-type wrench.

5. The underwater oil production structure operation and maintenance simulation system according to claim 4, characterized in that: The hot spur wrench includes a wrench body, a handle, a guide seat, a positioner and a fastening assembly; The wrench body is in the shape of a round rod, a handle is provided at one end of the wrench body, a guide seat is provided at the end of the wrench body away from the handle, and the size of the guide seat is adapted to the size of the wrench body; The locator is arranged on the wrench body, and the size of the locator is adapted to the size of the wrench body, and is used to cooperate with the tracker arranged on the ceiling to collect the position and posture data information of the hot spur wrench; The fastening assembly is arranged on one side of the handle to ensure that the hot spur wrench is not easily separated from the diver's hand.

6. The underwater oil production structure operation and maintenance simulation system according to claim 5, characterized in that: The fastening assembly includes a fastening ring, a mounting block and an adjusting block; The mounting block is arranged on one side of the fastening ring, and comprises a mounting rod, a first support column, a first support plate and a clamping plate. The mounting rod is arranged on the fastening ring, and the lower end of the mounting rod is connected to the upper end of the first support plate through the first support column, and the lower end of the first support plate is provided with the semicircular clamping plate; The adjustment block includes an adjustment rod, a second support column, a second support plate, an adjustment plate and a compression spring. The upper end of the adjustment rod is connected to the lower end of the mounting rod through the compression spring. The lower end of the adjustment rod is connected to the lower end of the second support plate through the second support column. The upper end of the second support plate is provided with the semicircular adjustment plate, and the size of the semicircular adjustment plate and the semicircular clamping plate after closing matches the size of the handle.

7. The underwater oil production structure operation and maintenance simulation system according to claim 2, characterized in that: The VR head-mounted device adopts a VR helmet, and the VR helmet is connected to a streaming box. The streaming box connects the virtual reality VR helmet to the visual simulation module, so that the motion information position, angle, and acceleration information of the VR helmet are transmitted to the visual simulation module in real time, and the calculation results of the visual simulation module are fed back to the VR helmet through the streaming box.

8. The underwater oil production structure operation and maintenance simulation system according to claim 2, characterized in that: The lifting single-degree-of-freedom motion platform is provided with four hydraulic cylinders, a motion platform and a control signal receiver; wherein the control signal receiver is used to receive the motion instructions sent by the control server in the control module in real time, thereby controlling the internal movement of the four hydraulic cylinders to realize the lifting movement of the lifting single-degree-of-freedom motion platform.

9. The underwater oil production structure operation and maintenance simulation system according to claim 2, characterized in that: The control module includes a control server, a panel control module, a manual tool control module and a lifting single-degree-of-freedom motion platform control module; The control server is used to send lifting, lowering and hovering control instructions to the lifting single-degree-of-freedom motion platform; The lifting single-degree-of-freedom motion platform control module, the panel control module and the manual tool control module are respectively used to monitor the working status of the lifting single-degree-of-freedom motion platform, the panel working status and the semi-physical manual tool motion information, and send the monitoring data to the visual simulation module.

10. The underwater oil production structure operation and maintenance simulation system according to claim 9, characterized in that: The visual simulation module includes a three-dimensional model library module, a virtual reality display module, a semi-physical simulation tool interaction interface, an operation process simulation module, a collision interference module and an underwater special effect module; The three-dimensional model library module is used to realize the virtual reality three-dimensional scene; The virtual reality display module is used to dispatch the three-dimensional model library resources, realize the underwater environment scene display function, respond to the semi-physical simulation tool interaction interface data, and render underwater special effects visual effects; The semi-physical simulation interaction interface is used to receive interaction data from the panel control module, the T-wrench control module and the lifting single-degree-of-freedom motion platform control module, and send the data to the virtual reality display module; The operation process simulation module is divided into a logic layer and a business layer. The logic layer is used to determine the stage and steps of the simulation operation, and the business layer is used to complete the simulation operation process in combination with the semi-physical simulation tool interaction interface data; The collision interference module is used to provide interference between objects in the virtual reality scene, and interference between virtual divers and equipment, so as to realize interference risk warning; The underwater special effects module is used to simulate underwater turbidity and underwater visibility effects for scheduling by the virtual reality display module.

Images