Three-dimensional simulation model for ship

Abstract

The invention relates to the technical field of simulation models, and particularly discloses a three-dimensional simulation model for a ship, which comprises a ship simulation module, a collaborative ship simulation module, a target ship simulation module, a sea condition simulation system, a 3D GIS three-dimensional geographic simulation module and a cluster management system. Visual radar synchronization can be achieved, complex sea conditions can be reproduced, the training effect of tug related personnel is improved, and the safety and efficiency of offshore operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of simulation models, and more particularly to a three-dimensional simulation model for ships. Background Art

[0002] As ships become larger and larger, the berthing and unberthing operations of large ships, the towing of unpowered ships or floating objects, and the dynamic positioning of offshore platforms all require the assistance of tugboats. As an auxiliary means of operation, tugboats play a very important role in towing at sea, rescue at sea or in ice areas, salvage, supply of drilling platforms, and assisting large ships in berthing and unberthing. Tugboats themselves are small in tonnage, flexible, and have good maneuverability and large thrust or drag. For safety reasons, large ships or dangerous ships are generally assisted by tugboats when entering and leaving ports. Therefore, the role of tugboats in maritime transportation is indispensable.

[0003] At present, tugboats play an important role in the entry and exit of large ships, the berthing and departure of dangerous goods ships, and emergency rescue in strong winds and waves. They are an important guarantee and prerequisite for port safety production. Tugboat simulators are widely used in the skill training of tugboat drivers, pilots and ship operators. The main function of this type of simulator is to help trainees master the tugboat's operating skills, emergency fault handling capabilities, collaborative operations, etc. through simulation training to improve the safety and efficiency of actual operations. At present, tugboat simulators on the market are usually used to simulate the operation between tugboats and target ships. However, the vision and radar images between ships on the market are not dynamically synchronized, and the relative position and navigation status cannot be displayed in real time. The dynamic interaction between the tugboat and the towed ship cannot be displayed synchronously. At the same time, the existing technology cannot fully reproduce complex sea conditions. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a three-dimensional simulation model for ships, which is achieved by dynamically synchronizing the visual scenes and radar images between the ships. The dynamic towing interaction three-dimensional model can calculate the relative movement of the tugboat and the towed ship and realize safe and efficient interaction. The sea condition simulation system can establish a dynamic sea condition simulation model to reproduce complex sea conditions and improve the students' operational skills, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: A three-dimensional simulation model for ships, used for real-time interactive pushing and towing operations between tugboats and other ships, including own ship simulation module, cooperative ship simulation module, target ship simulation module, sea state simulation system, 3DGIS three-dimensional geographic simulation module and cluster management system; the sea state simulation system establishes a dynamic sea state simulation model to reproduce complex sea conditions, and the steps are as follows: Step Z1, using the directional spectrum function Based on the wind force and the wave energy distribution in the wind direction, the directional wave spectrum function is expressed as: ,in, is the frequency spectrum of the wave, describing the distribution of wave energy with frequency; is the directional distribution function, which represents the distribution of wave energy in different propagation directions; Step Z2, frequency spectrum of the wave Using the JONSWAP spectrum, the calculation formula is: ,in, is the spectral peak factor, which depends on the intensity and duration of the wind; is the acceleration due to gravity; is the wave frequency; is the peak frequency, corresponding to the frequency of maximum wave energy; is the wave crest enhancement factor, reflecting the nonlinear enhancement effect of waves; is the frequency distribution width parameter; the directional distribution function The calculation formula is: ,in, is the wave propagation direction, for wind direction; Step Z3, based on the directional wave spectrum, the dynamic sea condition simulation model generates a three-dimensional wave surface through the Fourier superposition method. The calculation formula is: ,in, For location In time The wave height; is the wave amplitude; is the wave number vector in Directional weight; is the wave number vector in Directional weight; is the angular frequency of the wave, calculated by the dispersion relation: , for water depth; is the random phase of the wave; is the number of segments of the wave frequency; is the number of segments of wave wind direction; Step Z4, in real-time simulation, the dynamic sea state simulation model dynamically updates the wave height , combined with wind speed and direction, to generate a dynamic three-dimensional wave field, and adjust the wave simulation parameters in real time to meet the needs of tugboat operations; when the tugboat and the towed ship enter an area with increased wind force, the dynamic sea condition simulation model will increase the wave crest enhancement factor , to enhance the nonlinear characteristics of waves; when the tidal velocity increases, the dynamic sea state simulation model will adjust the wave number and angular frequency to reflect the acceleration effect of wave propagation.

[0006] As a further solution of the present invention, the ship simulation module includes a three-dimensional vision unit, a tugboat maneuvering module and a training sea area database, including the following specific contents: the ship simulation module constructs a three-dimensional simulated hull, interacts with waves, cables and sea breeze, and receives left and right rudder control signals at the same time, and acts on the hull. The three-dimensional vision unit is composed of a 180-degree cylindrical screen, including computer imaging technology, virtual reality technology and seamless splicing wide-field angle ring screen projection technology, so that the simulator can present a realistic three-dimensional vision effect. The three-dimensional vision unit uses a high-performance microcomputer hardware platform and is equipped with a high-end three-dimensional graphics accelerator board to ensure the efficiency and stability of the calculation process. At the same time, the entire three-dimensional vision unit is based on the Windows 10 operating system, developed using C++ and a professional real-time vision management software platform to ensure smooth vision effects in a complex real-time computing environment. The vision effect can present the six-degree-of-freedom motion mathematical model of the ship and meet most navigation simulation requirements. Its image update rate is greater than 50 frames per second, ensuring the visual fluency during the simulation process, and most indicators are better than DNV standards.

[0007] The tugboat control module includes a tugboat control equipment unit, a comprehensive information display unit, an electronic chart unit and a simulated radar unit; the tugboat control equipment unit includes rudder control, car bell control, control of the ship's cable, control of the ship's anchor and control of the ship's navigation lights and sound signals; the rudder control includes three modes: manual steering, follow-up steering and automatic steering, and the control parameters of each mode can be adjusted to meet different operational requirements. The manual steering mode allows the operator to manually control the steering gear and adjust the ship's heading according to actual conditions; the follow-up steering mode automatically adjusts the rudder angle according to the current heading and speed of the ship to ensure the stability and smoothness of the ship during navigation; and in the automatic steering mode, the rudder angle will be automatically calculated and adjusted according to the preset channel and target point, so that the ship sails along the best path. The car bell control is used to adjust the propulsion operation of the tugboat. The control of the ship's cable is used to manage the cable operation between the tugboat and the towed ship, including the cable, untie and cable twisting operations of the main cable. The control of the anchor of the ship is carried out through the anchor operation panel to control the left and right anchors, and supports a variety of anchor operation functions, including anchoring, anchoring, releasing and braking, etc. It can dynamically display the length and tension of the anchor chain to ensure that the operator can monitor the state of the anchor chain in real time, thereby controlling the operation of the anchor. The control of the navigation lights and sound signals of the ship is operated through the control panel, supporting the setting of a variety of lights and signal types, and the control of the sound signal supports the manual sounding of the bow bell and the stern gong.

[0008] The functions of the comprehensive information display unit include the solution of the mathematical model of ship motion and the sound simulation. The comprehensive information display unit designs the mathematical models of motion of two types of ships: container ships and cargo ships, and covers models of different tonnage and load conditions. At the same time, the sound simulation function includes the simulation of the ship sound signal system (supporting foghorns, bells, gongs and automatic cycle settings), cabin noise, waves, whistles, car bells and other operating sound effects. The comprehensive information display unit also provides detailed ship dynamic information, including steering gear and propeller data, true wind direction and wind speed, compass heading, as well as basic parameters such as ship type, displacement, length, ship width, draft and loading status. In addition, the comprehensive information display unit has a fault alarm function, covering the failure of key components such as the main engine, steering, automatic pilot, radar, GPS, speedometer, as well as collision, grounding, stranding and dragging anchor and other alarm information.

[0009] The functions of the electronic chart unit include electronic chart display and dynamic display of ships based on ECDIS (Electronic Chart Display and Information System). The electronic chart display has multiple functions, including real-time chart information display, chart data update and modification, positioning and navigation, navigation information query, radar image overlay display and target tracking, route design and monitoring, track keeping, navigation record and risk avoidance. The dynamic display function based on ECDIS can present the dynamic position of the ship, target ship and tugboat in real time on the system interface, and automatically adjust the display ratio according to the tonnage of the ship. The simulated radar unit can simulate 10 cm and 3 cm band radar systems, and supports relative motion mode and true motion mode operation. The training sea area database covers charts and radar charts, as well as a three-dimensional visual database of training sea areas based on these two places.

[0010] As a further solution of the present invention, the collaborative ship simulation module constructs a three-dimensional simulated hull, which interacts with waves, cables and sea breeze, and also has an audio simulation function, receiving rudder signals simulated by the left and right handles and acting on the hull.

[0011] As a further solution of the present invention, the types of ships in the target ship simulation module include container, bulk cargo and ro-ro passenger ships, which have an acoustic simulation function and are subjected to a tugboat to perform physical simulation.

[0012] As a further solution of the present invention, the vision and radar images between the ships are dynamically synchronized. When the tugboat and the towed ship are operating in their respective simulators, their relative positions and navigation status are displayed in real time. By establishing a dynamic towing interactive three-dimensional model, the relative motion between the tugboat and the towed ship is calculated and dynamically adjusted to achieve interaction between the tugboat and the towed ship. The steps of the dynamic towing interactive three-dimensional model are: Step S1, obtain the real-time status data of the tugboat and the towed ship, calculate the force of the cable, and the calculation formula of the cable force is: ,in, is the total force on the cable; is the elastic coefficient of the cable; is the dynamic expansion and contraction length of the cable, that is, the difference between the current cable length and the original length; is the damping coefficient of the cable, reflecting the damping effect of the cable during dynamic expansion and contraction; is the cable extension and retraction speed; The cable is deadweight; is the towing angle, i.e. the angle between the cable and the horizontal plane; is an external disturbance force, which includes wind, wave and current forces and underwater friction , the wind, wave and current force satisfy ,in, is the water density; is the drag coefficient of the cable; is the projected area of ​​the cable in the fluid; is the relative water flow velocity; the underwater friction satisfy ,in, is the friction coefficient between the cable and the water; is the normal force of the cable; Step S2, the force exerted by the tugboat on the towed ship is determined by the components of the cable tension in the horizontal direction and the vertical direction, and the force is expressed by the following decomposition formula: ,in, is the horizontal force exerted by the tugboat on the towed ship; It is the vertical force exerted by the tugboat on the towed ship; is the towing direction angle of the cable in the horizontal direction, that is, the angle between the cable and the moving direction of the tugboat; the interaction force between the tugboat and the towed ship is solved by the force balance formula, and the force balance equation of the tugboat is: ; The force balance equation of the towed ship is: ,in, is the horizontal component of the tugboat thrust, is the vertical component of the tugboat thrust, is the horizontal component of the external force on the towed ship, is the vertical component of the external force on the towed vessel, is the water resistance of the hull in the horizontal direction, is the water resistance of the hull in the vertical direction, is the mass of the tugboat, is the mass of the towed vessel, is the speed of the tugboat, is the speed of the towed vessel, is the acceleration of the tugboat, is the acceleration of the towed vessel; Step S3: Based on the above formula, the dynamic towing interactive 3D model uses a real-time feedback control mechanism to adjust the parameters of the cable and the hull. Exceeding the preset total force threshold of the safety cable When the propulsion force of the tugboat is reduced Or increase the heading angle of the towed vessel ; By adjusting the towing angle ,make sure and The component of is optimal in the target direction; using the ship speed difference Dynamically adjust the propulsion force of the tugboat to avoid over-pulling or loosening the cable. Through the above formula and adjustment strategy, the dynamic towing interaction three-dimensional model can not only calculate the relative motion during the towing process, but also cope with complex sea conditions and dynamic changes, and realize efficient and safe interaction between the tugboat and the towed ship.

[0013] As a further solution of the present invention, the 3DGIS three-dimensional geographic simulation module simulates the port area, terrain and buildings, has a unified coordinate management system, and establishes a spatial coordinate system and a geodetic coordinate system.

[0014] As a further solution of the present invention, the cluster management system manages all computer devices in a unified manner so that data and vision are synchronized.

[0015] The technical effects and advantages of a three-dimensional simulation model for ships of the present invention are as follows: the present invention presents realistic vision through a variety of advanced technologies, and the vision update rate is high. Its tugboat control module is rich in functions and covers a variety of control modes and operation functions. The comprehensive information display unit can solve the ship motion parameters, simulate the sound and provide detailed information and fault alarms, and the electronic chart unit is fully functional; the cooperative ship simulation module and the target ship simulation module can construct the three-dimensional simulation hull of the cooperative ship and the target ship; the vision and radar images between the ships are dynamically synchronized, and the dynamic towing interactive three-dimensional model can calculate the relative movement of the tugboat and the towed ship and realize safe and efficient interaction; the sea condition simulation system can establish a dynamic sea condition simulation model to reproduce complex sea conditions and improve the students' operation skills; the 3DGIS three-dimensional geographic simulation module can simulate the port area and establish a coordinate system; the cluster management system ensures data and vision synchronization. The present invention overcomes the problems of the visual radar being out of sync and unable to reproduce complex sea conditions in the prior art, effectively improves the training effect of tugboat-related personnel, and improves the safety and efficiency of marine operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a structural schematic diagram of a three-dimensional simulation model for ships.

[0017] Figure 2 It is a structural diagram of the tugboat operating module of the present invention.

[0018] Figure 3 It is a schematic diagram of the anchor operation panel of the anchor control of the present invention.

[0019] Figure 4 The present invention is a schematic diagram of a navigation light control panel for controlling the navigation lights and sound signals of a ship.

[0020] Figure 5 The figure is a schematic diagram of a signal control panel for controlling the navigation lights and sound signals of the ship according to the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Example 1 See also Figure 1 As shown in the structural schematic diagram, an embodiment of the present invention provides a three-dimensional simulation model for a ship, which includes a ship simulation module, a collaborative ship simulation module, a target ship simulation module, a sea condition simulation system, a 3DGIS three-dimensional geographic simulation module and a cluster management system.

[0023] Furthermore, the ship simulation module includes a three-dimensional vision unit, a tugboat maneuvering module and a training sea area database, including: the ship simulation module constructs a three-dimensional simulated hull, interacts with waves, cables and sea breeze, receives left and right rudder control signals, and acts on the hull. The three-dimensional vision unit is composed of a 180-degree cylindrical screen, including computer imaging technology, virtual reality technology and seamless splicing wide field of view ring screen projection technology, so that the simulator can present a realistic three-dimensional vision effect. The three-dimensional vision unit uses a high-performance microcomputer hardware platform and is equipped with a high-end three-dimensional graphics accelerator board to ensure the efficiency and stability of computing processing. At the same time, the entire three-dimensional vision unit is based on the Windows 10 operating system and is developed using C++ and a professional real-time vision management software platform to ensure smooth vision effects in a complex real-time computing environment. The vision effect can present the six-degree-of-freedom motion mathematical model of the ship and meet most navigation simulation requirements. Its image update rate is greater than 50 frames per second, ensuring visual smoothness during the simulation process, and most indicators are better than DNV standards.

[0024] See also Figure 2As shown in the structural diagram, the tugboat control module includes a tugboat control equipment unit, a comprehensive information display unit, an electronic chart unit and a simulated radar unit; the tugboat control equipment unit includes rudder control, car bell control, control of the ship's cable, control of the ship's anchor and control of the ship's navigation lights and sound signals; the rudder control includes three modes: manual steering, follow-up steering and automatic steering, and the control parameters of each mode can be adjusted to meet different operating requirements. The manual steering mode allows the operator to manually control the steering gear and adjust the ship's heading according to actual conditions; the follow-up steering mode automatically adjusts the rudder angle according to the current heading and speed of the ship to ensure the stability and smoothness of the ship during navigation; and in the automatic steering mode, the rudder angle will be automatically calculated and adjusted according to the preset channel and target point, so that the ship sails along the best path. The car bell control is used to adjust the propulsion operation of the tugboat, which can simulate the main engine preparation, completion, parking, slow forward, forward one, forward two, forward three, slow backward, backward one, backward two, and full speed backward. The control of the main cable is used to manage the cable operations between the tugboat and the towed vessel, including the cable laying, untying and winching operations of the main cable. Figure 3 As shown in the schematic diagram, the control of the anchor of this ship is carried out through the anchor operation panel to control the left and right anchors, supporting a variety of anchor operation functions, including anchoring, anchoring, releasing and braking, etc., and can dynamically display the length and tension of the anchor chain to ensure that the operator can monitor the state of the anchor chain in real time, thereby controlling the operation of the anchor. Figure 4 and Figure 5 As shown in the schematic diagram, the control of the ship's navigation lights and sound signals is operated through the control panel, and supports the setting of multiple lights and signal types. The navigation lights include forward and aft mast lights, left and right lights, stern lights, forward anchor lights and aft anchor lights; the all-round lights include three white lights and three red lights, and can also control the display of signal types in specific situations, including: when the ship is anchored, a black ball is displayed on the foremast; when the ship is stranded, three black balls are displayed on the mizzen mast; when the ship is out of control, two black balls are displayed on the mizzen mast; when the ship's maneuverability is limited, two black balls and a prism are displayed on the main mast; when the ship's draft is limited, a cylinder is displayed on the main mast; in the case of poor visibility, the fog signal can be sounded manually or automatically, and the automatic fog signal includes the following sounds: one long sound, two long sounds, one long and two short sounds, one long and three short sounds, one short, one long and one short, one long and four short sounds, and five short sounds; the control of the sound signal supports the manual sounding of the bow bell and the stern gong.

[0025] The functions of the comprehensive information display unit include the calculation and sound simulation of the mathematical model of ship motion. The comprehensive information display unit designs the mathematical model of motion of two types of ships: container ships and cargo ships, and covers models of different tonnage and load conditions. The mathematical model of ship motion takes into account many influencing factors, such as vehicles, rudders, anchors, cables, wind, currents, tugboats, quayside effects, inter-ship effects and shallow water effects, etc. By solving these operations and environmental data (such as wind speed, water flow, tide) in real time, the motion parameters such as ship position, heading, speed, heading change rate and acceleration are dynamically calculated and output. At the same time, the sound simulation function includes the simulation of the ship sound signal system (supporting foghorns, bells, gongs and automatic cycle settings), cabin noise, sea waves, whistles, car bells and other operating sound effects. The comprehensive information display unit also provides detailed ship dynamic information, including steering gear and propeller data, true wind direction and wind speed, compass heading, as well as basic parameters such as ship type, displacement, length, ship width, draft and loading status. In addition, the comprehensive information display unit has a fault alarm function, covering faults of key components such as the main engine, steering, autopilot, radar, GPS, odometer, as well as alarm information such as collision, grounding, stranding and dragging anchor.

[0026] The functions of the electronic chart unit include electronic chart display and dynamic display of ships based on ECDIS (Electronic Chart Display and Information System). The electronic chart display has multiple functions, including real-time chart information display, chart data update and modification, positioning and navigation, navigation information query, radar image overlay display and target tracking, route design and monitoring, track keeping, navigation record and risk avoidance. The dynamic display function based on ECDIS can present the dynamic position of the ship, target ship and tugboat in real time on the system interface, and automatically adjust the display ratio according to the tonnage of the ship. The simulated radar unit can simulate 10 cm and 3 cm band radar systems, and supports relative motion mode and true motion mode operation. The training sea area database covers charts and radar charts, as well as a three-dimensional visual database of training sea areas based on these two places.

[0027] The radar simulation of the simulated radar unit meets the requirements of IMO specifications, the display system is consistent with the actual ship equipment, it can simulate 10 cm and 3 cm radar systems, and can select relative motion mode and true motion mode for operation. Its main performance indicators include the following: 1. Radar image, showing the echo of the target ship, the shape of the echo will change according to the size, distance and relative azimuth of the target ship; it can simulate rain, snow clutter and sea clutter, and ensure that it conforms to the actual situation. 2. Radar function: The radar uses the popular radar model on the current ship for simulation, and the main functions include: automatic and manual target acquisition, capable of tracking at least 20 targets, covering a range of 0.3 nautical miles to 32 nautical miles; target ship data display, including target ship number, distance, azimuth, true heading, true speed.

[0028] Furthermore, the collaborative ship simulation module constructs a three-dimensional simulated hull, interacts with waves, cables and sea breeze, and has an acoustic simulation function, receiving the rudder signals simulated by the left and right handles and acting on the hull. The types of ships in the target ship simulation module include container, bulk cargo and passenger ro-ro ships, which have an acoustic simulation function and are acted upon by tugboats for physical simulation.

[0029] Furthermore, the vision and radar images between the ships are dynamically synchronized. When the tugboat and the towed ship are operating in their respective simulators, their relative positions and navigation status are displayed in real time. By establishing a dynamic towing interactive 3D model, the relative motion between the tugboat and the towed ship is calculated and dynamically adjusted to achieve interaction between the tugboat and the towed ship. The steps of the dynamic towing interactive 3D model are: Step S1, obtain the real-time status data of the tugboat and the towed ship, calculate the force of the cable, and the calculation formula of the cable force is: ,in, is the total force on the cable; is the elastic coefficient of the cable; is the dynamic expansion and contraction length of the cable, that is, the difference between the current cable length and the original length; is the damping coefficient of the cable, reflecting the damping effect of the cable during dynamic expansion and contraction; is the cable extension and retraction speed; The cable is deadweight; is the towing angle, i.e. the angle between the cable and the horizontal plane; is an external disturbance force, which includes wind, wave and current forces and underwater friction , the wind, wave and current force satisfy ,in, is the water density; is the drag coefficient of the cable; is the projected area of ​​the cable in the fluid; is the relative water flow velocity; the underwater friction satisfy ,in, is the friction coefficient between the cable and the water; is the normal force of the cable; Step S2, the force exerted by the tugboat on the towed ship is determined by the components of the cable tension in the horizontal direction and the vertical direction, and the force is expressed by the following decomposition formula: ,in, is the horizontal force exerted by the tugboat on the towed ship; It is the vertical force exerted by the tugboat on the towed ship; is the towing direction angle of the cable in the horizontal direction, that is, the angle between the cable and the moving direction of the tugboat; the interaction force between the tugboat and the towed ship is solved by the force balance formula, and the force balance equation of the tugboat is: ; The force balance equation of the towed ship is: ,in, is the horizontal component of the tugboat thrust, is the component of the tugboat thrust in the vertical direction, is the horizontal component of the external force on the towed ship, is the vertical component of the external force on the towed ship, is the water resistance of the hull in the horizontal direction, is the water resistance of the hull in the vertical direction, is the mass of the tugboat, is the mass of the towed vessel, is the speed of the tugboat, is the speed of the towed vessel, is the acceleration of the tugboat, is the acceleration of the towed vessel; Step S3: Based on the above formula, the dynamic towing interactive 3D model uses a real-time feedback control mechanism to adjust the parameters of the cable and the hull. Exceeding the preset total force threshold of the safety cable When the propulsion force of the tugboat is reduced Or increase the heading angle of the towed vessel ; By adjusting the towing angle ,make sure and The component of is optimal in the target direction; using the ship speed difference Dynamically adjust the propulsion force of the tugboat to avoid over-pulling or loosening the cable. Through the above formula and adjustment strategy, the dynamic towing interaction three-dimensional model can not only calculate the relative motion during the towing process, but also cope with complex sea conditions and dynamic changes, and realize efficient and safe interaction between the tugboat and the towed ship.

[0030] Furthermore, the sea condition simulation system comprehensively considers the wave height, wave period, wave direction, wind force and wind direction physical parameters to establish a dynamic sea condition simulation model for reproducing complex sea conditions to simulate the real ocean environment in ship towing operations. The specific steps of the dynamic sea condition simulation model are: Step Z1, using the directional spectrum function Based on the wind force and the wave energy distribution in the wind direction, the directional wave spectrum function is expressed as: ,in, is the frequency spectrum of the wave, describing the distribution of wave energy with frequency; is the directional distribution function, which represents the distribution of wave energy in different propagation directions; Step Z2, frequency spectrum of the wave Using the JONSWAP spectrum, the calculation formula is: ,in, is the spectral peak factor, which depends on the intensity and duration of the wind; is the acceleration due to gravity; is the wave frequency; is the peak frequency, corresponding to the frequency of maximum wave energy; is the wave crest enhancement factor, reflecting the nonlinear enhancement effect of waves; is the frequency distribution width parameter; the directional distribution function The calculation formula is: ,in, is the wave propagation direction, for wind direction; Step Z3, based on the directional wave spectrum, the dynamic sea condition simulation model generates a three-dimensional wave surface through the Fourier superposition method. The calculation formula is: ,in, For location In time The wave height; is the wave amplitude; is the wave number vector in Directional weight; is the wave number vector in Directional weight; is the angular frequency of the wave, calculated by the dispersion relation: , for water depth; is the random phase of the wave; is the number of segments of the wave frequency; is the number of segments of wave wind direction; Step Z4, in real-time simulation, the dynamic sea state simulation model dynamically updates the wave height , combined with wind speed and direction, to generate a dynamic three-dimensional wave field, and adjust the wave simulation parameters in real time to meet the needs of tugboat operations; when the tugboat and the towed ship enter an area with increased wind force, the dynamic sea condition simulation model will increase the wave crest enhancement factor , to enhance the nonlinear characteristics of waves; when the tidal flow rate increases, the dynamic sea state simulation model will adjust the wave number and angular frequency to reflect the acceleration effect of wave propagation. By updating the wave height, the dynamic sea state simulation model can ensure a high degree of consistency between the simulated sea conditions and the actual environment. Finally, the three-dimensional wave field generated by the dynamic sea state simulation model is integrated into the tugboat vision system. Trainees can clearly observe the impact of waves on tugboats and cables during training. Through the three-dimensional simulation of the dynamic sea state simulation model, trainees can master tugboat operations and towing operation skills in a variety of complex sea conditions, improving the safety and efficiency of offshore operations.

[0031] Furthermore, the 3DGIS three-dimensional geographic simulation module simulates the port area, terrain and buildings, has a unified coordinate management system, and establishes a spatial coordinate system and a geodetic coordinate system. The cluster management system manages all computer devices in a unified manner, so that data and vision are synchronized.

[0032] The present invention presents realistic vision through a variety of advanced technologies, with a high vision update rate. Its tugboat control module is rich in functions and covers a variety of control modes and operating functions. The comprehensive information display unit can solve the ship's motion parameters, simulate sound and provide detailed information and fault alarms. The electronic chart unit is fully functional; the collaborative ship simulation module and the target ship simulation module can build a three-dimensional simulated hull of the collaborative ship and the target ship; the vision and radar images between the ships are dynamically synchronized, and the dynamic towing interactive three-dimensional model can calculate the relative motion of the tugboat and the towed ship and realize safe and efficient interaction; the sea condition simulation system can establish a dynamic sea condition simulation model to reproduce complex sea conditions and improve the students' operational skills; the 3DGIS three-dimensional geographic simulation module can simulate the port area and establish a coordinate system; the cluster management system ensures data and vision synchronization. The present invention overcomes the problems of the visual radar being out of sync and unable to reproduce complex sea conditions in the prior art, effectively improving the training effect of tugboat-related personnel and improving the safety and efficiency of marine operations.

[0033] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0034] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-dimensional simulation model for ships, used for real-time interactive pushing and towing operations between tugboats and other ships, characterized in that: It includes own ship simulation module, cooperative ship simulation module, target ship simulation module, sea condition simulation system, 3DGIS three-dimensional geographic simulation module and cluster management system; the sea condition simulation system is used to establish a dynamic sea condition simulation model and reproduce complex sea conditions. The steps are as follows: Step Z1, using the directional spectrum function Based on the wind force and the wave energy distribution in the wind direction, the directional wave spectrum function is expressed as: ,in, is the frequency spectrum of the wave; is the direction distribution function; Step Z2, frequency spectrum of waves Using the JONSWAP spectrum, the calculation formula is: ,in, is the peak factor, is the acceleration due to gravity, is the wave frequency, is the peak frequency, is the peak enhancement factor, is the frequency distribution width parameter; directional distribution function The calculation formula is: ,in, is the wave propagation direction, for wind direction; Step Z3, based on the directional wave spectrum, the dynamic sea condition simulation model generates a three-dimensional wave surface through the Fourier superposition method. The calculation formula is: ,in, For location In time The wave height; is the wave amplitude; is the wave number vector in Directional weight; is the wave number vector in Directional weight; is the angular frequency of the wave, calculated by the dispersion relation: , for water depth; is the random phase of the wave; is the number of segments of the wave frequency; is the number of segments of wave wind direction.

2. A three-dimensional simulation model for a ship according to claim 1, characterized in that The vision and radar images between the ships are dynamically synchronized. A dynamic towing interactive three-dimensional model is established to calculate the relative motion between the tugboat and the towed ship, and dynamically adjust to achieve the interaction between the tugboat and the towed ship. The steps of the dynamic towing interactive three-dimensional model are as follows: Step S1, obtain the real-time status data of the tugboat and the towed ship, calculate the force of the cable, and the calculation formula of the cable force is: ,in, is the total force on the cable, is the elastic modulus of the cable, is the dynamic expansion and contraction length of the cable, is the damping coefficient of the cable, is the cable extension and retraction speed; The cable is deadweight; is the towing angle, is an external disturbance force, which includes wind, wave and current forces and underwater friction , the wind, wave and current force satisfy ,in, is the water density; is the drag coefficient of the cable; is the projected area of ​​the cable in the fluid; is the relative water flow velocity; the underwater friction satisfy ,in, is the friction coefficient between the cable and the water; is the normal force of the cable; Step S2, the force exerted by the tugboat on the towed ship is determined by the components of the cable tension in the horizontal direction and the vertical direction, and the force is expressed by the following decomposition formula: ,in, is the horizontal force exerted by the tugboat on the towed ship, is the vertical force exerted by the tugboat on the towed ship, is the towing direction angle of the cable in the horizontal direction. The interaction force between the tugboat and the towed ship is solved by the force balance formula. The force balance equation of the tugboat is: ; The force balance equation of the towed ship is: ,in, is the horizontal component of the tugboat thrust, is the component of the tugboat thrust in the vertical direction, is the horizontal component of the external force on the towed vessel, is the vertical component of the external force on the towed ship, is the water resistance of the hull in the horizontal direction, is the water resistance of the hull in the vertical direction, is the mass of the tugboat, is the mass of the towed vessel, is the speed of the tugboat, is the speed of the towed vessel, is the acceleration of the tugboat, is the acceleration of the towed vessel; Step S3: Based on the above formula, the dynamic towing interactive 3D model uses a real-time feedback control mechanism to adjust the parameters of the cable and the hull. Exceeding the preset total force threshold of the safety cable When the propulsion force of the tugboat is reduced Or increase the heading angle of the towed vessel ; Use the speed difference of the ship Dynamically adjust the tugboat's propulsion.

3. A three-dimensional simulation model for a ship according to claim 1, characterized in that The ship simulation module includes a three-dimensional vision unit, a tugboat maneuvering module and a training sea area database. The three-dimensional vision unit consists of a 180-degree cylindrical screen. It is based on the Windows 10 operating system and is developed using C++ and a professional real-time vision management software platform. The image update rate is greater than 50 frames per second, presenting a mathematical model of the ship's six-degree-of-freedom motion.

4. A three-dimensional simulation model for a ship according to claim 3, characterized in that: The tugboat control module includes a tugboat control equipment unit, a comprehensive information display unit, an electronic chart unit and a simulated radar unit. The tugboat control equipment unit includes rudder control, clock control, control of the ship's cable, control of the ship's anchor, and control of the ship's navigation lights and sound signals.

5. A three-dimensional simulation model for a ship according to claim 4, characterized in that The rudder control includes three modes: manual steering, follow-up steering and automatic steering, and the control parameters of each mode can be adjusted. In the manual steering mode, the servo is manually controlled to adjust the heading. The follow-up steering mode automatically adjusts the rudder angle according to the heading and speed. The automatic steering mode automatically calculates and adjusts the rudder angle according to the preset course and target point.

6. A three-dimensional simulation model for a ship according to claim 4, characterized in that The clock control is used to adjust the tugboat propulsion operation and simulate the main engine operation status. The ship's cable control is used to manage the cable operation between the tugboat and the towed ship. The ship's anchor control supports the anchor operation function and dynamically displays the length and tension of the anchor chain. The ship's navigation lights and sound signal control supports the setting of light signal types and manual sounding of sound signals.

7. A three-dimensional simulation model for a ship according to claim 4, characterized in that The electronic chart unit has the functions of electronic chart display and ECDIS-based ship dynamic display. The electronic chart display functions include real-time chart information display, chart data update and modification, positioning and navigation, navigation information query, radar image overlay display and target tracking, route design and monitoring, track keeping, navigation record and risk avoidance. The dynamic display function based on ECDIS presents the dynamic positions of the ship, target ship and tugboat in real time and automatically adjusts the display ratio.

8. A three-dimensional simulation model for a ship according to claim 4, characterized in that The simulated radar unit can simulate 10 cm and 3 cm band radar systems, support relative motion mode and true motion mode operations, and the training sea area database covers nautical charts, radar charts and training sea area three-dimensional visual database.

9. A three-dimensional simulation model for a ship according to claim 1, characterized in that The collaborative ship simulation module constructs a three-dimensional simulated hull, interacts with waves, cables and sea breeze, has an acoustic simulation function, and receives the left and right handles to simulate the rudder signal to act on the hull; the target ship simulation module can construct a three-dimensional simulated hull of the target ship. The ship types in the target ship simulation module include container, bulk cargo and passenger and vehicle ferries, and have an acoustic simulation function.

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