Operation scene simulation method and operation scene simulation system of underwater equipment
By creating simulation environment and models of underwater equipment on the simulation platform, the problem of difficult research and development of underwater equipment in the real environment is solved, efficient research and development and verification testing are achieved, and cost is reduced.
Patent Information
- Application Number
- CN202411178248.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-26
- Publication Date
- 2025-01-07
AI Technical Summary
During the research and development of underwater equipment, due to the limitations of the operating environment, it is difficult to perform functional development, verification testing and debugging in a real operating environment, resulting in high costs and high difficulties.
By creating a simulated water environment model and an underwater equipment simulation model on a preset simulation platform, a communication connection between the underwater equipment control system and the load component model is established to realize simulation motion and verification testing.
It improves the R&D efficiency of underwater equipment, reduces R&D costs, and can conduct verification and testing of complex operating scenarios in a simulation environment.
Smart Images
Figure CN119270673A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of underwater equipment, and in particular to an operation scene simulation method and an operation scene simulation system for underwater equipment. Background Art
[0002] Underwater equipment refers to devices or systems used for various underwater operations and observations. With the development of science and technology, the functions of underwater equipment are becoming more and more complex.
[0003] Underwater equipment such as autonomous underwater vehicles (UUVs) are unmanned underwater vehicles with autonomous control capabilities that can autonomously complete a variety of complex tasks. For example, autonomous underwater vehicles can autonomously complete underwater operations such as seabed surveys and research, underwater rescue and salvage, and oil and gas pipeline maintenance.
[0004] However, the inventors of the present application discovered that, during the research and development of underwater equipment, due to the limitations of the operating environment (underwater environment), the functional development and product verification testing of underwater equipment (such as UUV) in a real operating environment is costly and difficult, making it difficult to achieve functional development, verification testing and debugging of underwater equipment in a real operating environment. Summary of the invention
[0005] According to one aspect of the present application, the present application provides a method for simulating an operation scene of an underwater equipment, including: creating a simulated water environment model in a preset simulation platform; creating an underwater equipment simulation model of a target underwater equipment in the preset simulation platform; creating a simulated operation scene in the preset simulation platform; creating a load component model of the underwater equipment simulation model in the simulated operation scene; establishing a communication connection between a preset underwater equipment control system and the load component model to obtain parameter information of the load component model; based on the parameter information, controlling the simulated movement of the underwater equipment simulation model in the simulated operation scene through the preset underwater equipment control system.
[0006] According to some embodiments of the present application, the simulation method further includes: configuring buoyancy parameters of the underwater equipment simulation model so that the underwater equipment simulation model moves in the simulated water environment model.
[0007] According to some embodiments of the present application, the simulation method further includes: displaying observation data and status data of the underwater equipment simulation model through a preset interactive page of the underwater equipment control system.
[0008] According to some embodiments of the present application, the simulation method also includes: determining the simulation operation scene through a preset interactive page of the underwater equipment control system; and configuring scene parameters of the simulation operation scene through a preset interactive page of the underwater equipment control system.
[0009] According to some embodiments of the present application, based on parameter information, controlling the simulated movement of an underwater equipment simulation model in a simulated operation scene through a preset underwater equipment control system includes: based on an image target recognition algorithm, controlling the underwater equipment simulation model and the load component model of the underwater equipment simulation model through a preset underwater equipment control system to perform corresponding simulated movements.
[0010] According to another aspect of the present application, the present application also provides an underwater equipment operation scene simulation system, which includes a simulation creation module, a simulation communication module and a simulation control module. The simulation creation module creates a simulated water environment model in a preset simulation platform, creates an underwater equipment simulation model of a target underwater equipment in the preset simulation platform, creates a simulated operation scene in the preset simulation platform, and creates a load component model of the underwater equipment simulation model in the simulated operation scene; the simulation communication module establishes a communication connection between a preset underwater equipment control system and the load component model to obtain parameter information of the load component model; the simulation control module controls the simulated movement of the underwater equipment simulation model in the simulated operation scene through a preset underwater equipment control system based on the parameter information.
[0011] According to some embodiments of the present application, the simulation creation module configures the buoyancy parameters of the underwater equipment simulation model so that the underwater equipment simulation model moves in the simulated water environment model.
[0012] According to some embodiments of the present application, the operation scene simulation system further includes a human-computer interaction module. The human-computer interaction module displays the observation data and status data of the underwater equipment simulation model through a preset interactive page of the underwater equipment control system.
[0013] According to some embodiments of the present application, the human-computer interaction module determines the simulation operation scene through the preset interaction page of the underwater equipment control system; and the human-computer interaction module configures the scene parameters of the simulation operation scene through the preset interaction page of the underwater equipment control system.
[0014] According to some embodiments of the present application, the simulation control module controls the underwater equipment simulation model and the load component model of the underwater equipment simulation model to perform corresponding simulation movements through a preset underwater equipment control system based on an image target recognition algorithm.
[0015] According to another aspect of the present application, the present application further provides an electronic device. The electronic device includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors can implement the simulation method described above.
[0016] According to another aspect of the present application, the present application further provides a non-volatile computer-readable storage medium, wherein a computer program is stored on the storage medium, and when the computer program is executed by a processor, the simulation method described above can be implemented.
[0017] The present application creates a simulated water environment model of underwater equipment on a preset simulation platform, configures the underwater equipment simulation model and related load component models, and through the communication connection between the underwater equipment control system and the load component model, can realize the underwater equipment control system controlling the complex simulated movement of the underwater equipment simulation model in various preset operation scenarios.
[0018] This application creates a simulation environment on a preset simulation platform and can collaborate with the control software of the underwater equipment control system to complete operation verification tests for complex operation scenarios, thereby improving the research and development efficiency of underwater equipment and reducing research and development costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0020] Figure 1 A flow chart showing a method for simulating a work scenario according to an embodiment of the present application is shown;
[0021] Figure 2 A schematic diagram showing a method for simulating a work scenario according to an embodiment of the present application;
[0022] Figure 3 Another flow chart showing the operation scene simulation method of the embodiment of the present application;
[0023] Figure 4 Another flow chart showing the operation scene simulation method of the embodiment of the present application;
[0024] Figure 5 Another flow chart showing the operation scene simulation method of the embodiment of the present application;
[0025] Figure 6 A schematic diagram of a work scenario simulation system according to an embodiment of the present application is shown.
[0026] Description of reference numerals:
[0027] Operation scene simulation system 1; simulation creation module 10; simulation communication module 20; simulation control module 30; human-computer interaction module 40. DETAILED DESCRIPTION
[0028] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.
[0029] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices, etc. may be adopted. In these cases, known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.
[0030] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.
[0031] The terms "first", "second" and the like in the specification and claims of this application and the above drawings are used to distinguish different objects rather than to describe a specific order.
[0032] The following is a clear and complete description of the technical solution of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.
[0033] Underwater robots are usually equipped with payload components such as sonar systems, cameras, lighting and robotic arms, which can replace or assist workers in completing underwater work tasks. Underwater equipment involves more complex joint operation scenarios when operating underwater.
[0034] Taking UUV as an example, in underwater rescue and salvage operation scenarios, after the UUV scans the target through sonar, it is necessary to conduct targeted progressive observation of the target object so as to control the robotic arm to perform corresponding operations; or, in the submarine pipeline tracking operation scenario, it is necessary to obtain feedback information through sonar images to control the UUV according to the feedback information to achieve better pipeline tracking effects; or, in the UUV cluster operation scenario, it is necessary to coordinate various UUV equipment or sites, and verify the formation and coordination capabilities of UUVs; or, it is necessary to verify the intelligent grasping algorithm based on image target recognition to ensure the precise operation of the robotic arm, etc.
[0035] In the above complex operation scenarios, UUVs need to have corresponding operation capabilities, so in the process of UUV function development, they need to be adequately verified and tested. Based on the limitations of the above real operation scenarios, first, multiple reports and approvals are required when using the site, and there is a high cost problem; second, some special verification tests cannot invest a lot of money to simulate the real environment, and there is a problem of difficulty, making it difficult to verify and test underwater equipment in a real operating environment.
[0036] Based on this, according to one aspect of the present application, the present application provides an operation scenario simulation method for underwater equipment, which can simulate the business verification of underwater equipment in a variety of real operation environments.
[0037] According to the example embodiments, the underwater equipment includes, but is not limited to, underwater robots such as autonomous underwater vehicles (UUV, Unmanned Underwater Vehicle), autonomous underwater robots (AUV, Autonomous Underwater Vehicle), cable remote-controlled underwater robots (ROV, Remotely Operated Vehicle) and autonomous / remote-controlled underwater robots (ARV, Autonomous Remote-controlled Vehicle), and may also be underwater detection equipment, underwater submarine equipment or other underwater operating equipment (such as buoys, etc.), which is not limited in the present application.
[0038] Figure 1 A flow chart showing a method for simulating a work scenario according to an embodiment of the present application is shown; Figure 2 A schematic diagram showing a method for simulating a work scenario according to an embodiment of the present application is shown.
[0039] According to an example embodiment, Figure 1 As shown, the operation scene simulation method includes steps S100-S600. Exemplarily, the operation scene simulation method can be executed by an operation scene simulation system with computing capabilities.
[0040] In step S100, the operation scene simulation system creates a simulated water environment model in a preset simulation platform.
[0041] For example, the preset simulation platform is a simulation platform selected according to user needs. Exemplarily, the preset simulation platform can be a simulation framework based on UE5 (Unreal Engine 5).
[0042] like Figure 2 As shown, the operation scene simulation system responds to the user's creation instruction and creates a simulated water environment model in the simulation environment provided by the preset simulation platform. The simulated water environment model has collision mechanics calculations in water, so that the simulated water environment model can have a real water environment state, providing simulation environment support for the simulation of underwater equipment.
[0043] In step S200, the operation scenario simulation system creates an underwater equipment simulation model of the target underwater equipment in a preset simulation platform.
[0044] For example, each underwater device has different configuration parameters. Taking UUV as an example, the deployment position and force of the propeller of each UUV are different, so each UUV needs to be simulated and modeled accordingly.
[0045] Exemplarily, the operation scenario simulation system responds to the user's creation instruction, generates a model file (such as obj format) based on the UUV three-dimensional image imported by UE5 (such as a three-dimensional image based on solidworks), and installs the position of the simulated thrust assembly according to the actual position of the thruster to generate a UUV simulation model.
[0046] In step S300, the operation scene simulation system creates a simulated operation scene in a preset simulation platform.
[0047] For example, Figure 2 As shown, the operation scenario simulation system responds to the user's creation instruction and creates a simulated operation scenario in a preset simulation platform.
[0048] For example, the simulation operation scene is designed according to the actual operation scene of the underwater equipment, such as the submarine pipeline patrol scene, submarine construction scene, submarine obstacle avoidance scene, underwater equipment cluster scene, underwater search and salvage scene, etc., which are not limited in this application.
[0049] In step S400, the operation scene simulation system creates a load component model of the underwater equipment simulation model in the simulated operation scene.
[0050] For example, Figure 2As shown, the operation scene simulation system responds to the user's creation instruction and creates a load component model of the underwater equipment simulation model in the simulated operation scene. The load component refers to the component carried on the underwater equipment. Exemplarily, the load component model may include a detection component model, such as a camera component and a sonar component, etc.; the load component model may also include an execution component model, such as a mechanical arm, a thruster, and a light, etc.
[0051] The load component model can obtain detection information in the simulated water environment model (such as image information obtained by the sonar component and the sonar component) and export the detection information; and the load component model can also perform corresponding simulation movements in the simulated water environment model, such as controlling the execution component to perform the target action.
[0052] In step S500, the operation scenario simulation system establishes a communication connection between a preset underwater equipment control system and a load component model to obtain parameter information of the load component model.
[0053] For example, the preset underwater equipment control system is an underwater equipment control system (such as a UUV control system) set according to user needs, which is used to control the simulated water environment model, underwater equipment simulation model and load component model in the simulation environment accordingly.
[0054] For example, Figure 2 As shown, the preset underwater equipment control system may include a communication module, a control module, an image processing module, a human-computer interaction module, a task processing module and a monitoring module, etc., and this application does not impose any restrictions on this.
[0055] The operation scene simulation system establishes a communication connection with the load component model through a network link (such as TCP network transmission protocol) to obtain parameter information of the load component model in real time. The parameter information of the load component model includes but is not limited to the acquisition data of the sonar component, the video data of the camera component, the status data of the underwater equipment simulation model (such as the position, posture, depth and height of the underwater equipment simulation model in the simulated water environment model) and the control data of the execution component model.
[0056] In step S600, the operation scene simulation system controls the simulated movement of the underwater equipment simulation model in the simulated operation scene through a preset underwater equipment control system based on the parameter information.
[0057] For example, the operation scene simulation system uses the acquired parameter information to control the behavior, action, and motion path of the UUV simulation model in the simulated water environment model according to the preset motion strategy, so as to complete the target operation in the corresponding simulated operation scene.
[0058] Exemplarily, the operation scenario simulation system can control the UUV to perform full-stance movement according to a preset control strategy, or can control the movement of a robotic arm (such as a two-degree-of-freedom manipulator or a five-degree-of-freedom manipulator, etc.) to perform simulated grasping of a target object.
[0059] Through the above embodiments, the present application creates a simulated water environment model of the underwater equipment on a preset simulation platform, configures the underwater equipment simulation model and related load component models, and through the communication connection between the underwater equipment control system and the load component model, can realize the underwater equipment control system controlling the complex simulated movement of the underwater equipment simulation model in various preset operation scenarios.
[0060] This application creates a simulation environment on a preset simulation platform and can collaborate with the control software of the underwater equipment control system to complete operation verification tests for complex operation scenarios, thereby improving the research and development efficiency of underwater equipment and reducing research and development costs.
[0061] Figure 3 Another flow chart of the operation scenario simulation method according to an embodiment of the present application is shown.
[0062] Alternatively, if Figure 3 As shown, the operation scenario simulation method may further include step S700.
[0063] In step S700, the operation scene simulation system configures the buoyancy parameters of the underwater equipment simulation model so that the underwater equipment simulation model moves in the simulated water environment model.
[0064] For example, the operation scene simulation system responds to the user's configuration instructions to configure the simulated water density parameters in the simulated water environment model and the simulated quality parameters of the underwater equipment simulation model. This configuration can enable the underwater equipment simulation model to have a simulated buoyancy effect corresponding to the buoyancy of the real underwater environment in the simulated water environment model, so that the underwater equipment simulation model can meet the test requirements in the simulated water environment model, and ensure the authenticity and accuracy of the simulation effect.
[0065] Figure 4 Another flow chart showing the operation scene simulation method of the embodiment of the present application; Figure 5 Another flow chart showing the operation scene simulation method of the embodiment of the present application;
[0066] Alternatively, if Figure 4 As shown, the operation scenario simulation method may further include step S800.
[0067] In step S800, the operation scenario simulation system displays the observation data and status data of the underwater equipment simulation model through the preset interactive page of the underwater equipment control system.
[0068] For example, the operation scenario simulation system can graphically display and monitor in real time the observation data and status data of the underwater equipment simulation model through the interactive page of the UUV control system.
[0069] Exemplarily, the observation data and status data of the underwater equipment simulation model can also be used as input data of the image target recognition algorithm to complete the strategy design of the image target recognition algorithm based on the observation data and status data.
[0070] Alternatively, if Figure 5 As shown, the operation scenario simulation method may further include steps S900-S1000.
[0071] In step S900, the operation scenario simulation system determines the simulation operation scenario by presetting the interactive page of the underwater equipment control system.
[0072] In step S1000, the operation scene simulation system configures the scene parameters of the simulated operation scene by presetting the interactive page of the underwater equipment control system.
[0073] For example, the operation scene simulation system can select the operation scene to be simulated and tested through the interactive page of the UUV control system, and can configure the scene parameters of the simulated operation scene through the interactive page of the UUV control system. The scene parameters can be customized according to user needs, such as the scene parameters can be scene restriction parameters such as the presence or absence of submarine undercurrents, the flow rate of submarine undercurrents, and the direction of submarine undercurrents, which are not limited in this application.
[0074] Through the above embodiments, the present application can realize human-computer interaction of the underwater equipment simulation model through the preset interactive page of the underwater equipment control system, so as to complete motion control and task planning of the underwater equipment simulation model in the corresponding simulation operation scenario.
[0075] Optionally, in step S600, the operation scene simulation system controls the underwater equipment simulation model and the load component model of the underwater equipment simulation model to perform corresponding simulation movements through a preset underwater equipment control system based on an image target recognition algorithm.
[0076] For example, the operation scene simulation system can guide and control the UUV simulation model and load component model to complete the simulation movement through the image target recognition algorithm.
[0077] Example Embodiments
[0078] Taking underwater search and salvage scenarios as an example, the functional capabilities that can be verified and tested through UUV operation scenario simulation may include:
[0079] 1. Verify and test the manual motion control and path planning capabilities of the UUV;
[0080] 2. Verify and test the UUV’s flow resistance and position keeping capabilities;
[0081] 3. Verify the motion capabilities of the two-degree-of-freedom manipulator and the five-degree-of-freedom manipulator of the UUV;
[0082] 4. Verify and test the full attitude holding capability of the UUV (the attitude holding of the UUV is required during the salvage process);
[0083] 5. Verify the observation capabilities of the UUV's sonar and camera components, and verify the functions of the gimbal and lights;
[0084] 6. Verify and test the image target recognition and auxiliary control capabilities of the UUV's sonar components and optical components;
[0085] 7. Verify and test the UUV’s deployment and recovery capabilities, etc.
[0086] According to another aspect of the present application, the present application also provides an operation scene simulation system for underwater equipment. Figure 6 A schematic diagram of the operation scene simulation system of the embodiment of the present application is shown. Figure 6 As shown, the operation scene simulation system 1 includes a simulation creation module 10 , a simulation communication module 20 and a simulation control module 30 .
[0087] According to an example embodiment, the simulation creation module 10 creates a simulated water environment model in a preset simulation platform.
[0088] For example, the preset simulation platform is a simulation platform selected according to user needs. Exemplarily, the preset simulation platform can be a simulation framework based on UE5 (Unreal Engine 5).
[0089] The simulation creation module 10 responds to the creation instruction of the user and creates a simulated water environment model in the simulation environment provided by the preset simulation platform. The simulated water environment model has collision mechanics calculation in water, so that the simulated water environment model can have a real water environment state, so as to provide simulation environment support for the simulation of underwater equipment.
[0090] The simulation creation module 10 creates an underwater equipment simulation model of the target underwater equipment in a preset simulation platform.
[0091] For example, each underwater device has different configuration parameters. Taking UUV as an example, the deployment position and force of the propeller of each UUV are different, so each UUV needs to be simulated and modeled accordingly.
[0092] Exemplarily, the simulation creation module 10 responds to the user's creation instruction, generates a model file (such as an obj format) based on the UUV three-dimensional image (such as a three-dimensional image based on solidworks) imported by UE5, and installs the position of the simulated thrust assembly according to the actual position of the thruster to generate a UUV simulation model.
[0093] Optionally, the simulation creation module 10 configures the buoyancy parameters of the underwater equipment simulation model so that the underwater equipment simulation model moves in the simulated water environment model.
[0094] For example, the simulation creation module 10 responds to the configuration instruction of the user to configure the simulated water density parameters in the simulated water environment model and the simulation quality parameters of the underwater equipment simulation model. In this way, the underwater equipment simulation model can have a simulated buoyancy effect corresponding to the buoyancy of the real underwater environment in the simulated water environment model, so that the underwater equipment simulation model can meet the test requirements in the simulated water environment model, and ensure the authenticity and accuracy of the simulation effect.
[0095] The simulation creation module 10 creates a simulation operation scene in a preset simulation platform.
[0096] For example, the simulation creation module 10 responds to the user's creation instruction and creates a simulation operation scene in a preset simulation platform.
[0097] For example, the simulation operation scene is designed according to the actual operation scene of the underwater equipment, such as the submarine pipeline patrol scene, submarine construction scene, submarine obstacle avoidance scene, underwater equipment cluster scene, underwater search and salvage scene, etc., which are not limited in this application.
[0098] The simulation creation module 10 creates a load component model of the underwater equipment simulation model in the simulation operation scene.
[0099] For example, the simulation creation module 10 responds to the creation instruction of the user and creates a load component model of the underwater equipment simulation model in the simulation operation scene, where the load component refers to the component carried on the underwater equipment. Exemplarily, the load component model may include a detection component model, such as a camera component and a sonar component, etc.; the load component model may also include an execution component model, such as a mechanical arm, a thruster, and a light, etc.
[0100] The load component model can obtain detection information in the simulated water environment model (such as image information obtained from the statue component and the sonar component) and export the detection information; and the load component model can also perform corresponding simulation movements in the simulated water environment model, such as controlling the execution component to perform the target action.
[0101] According to an exemplary embodiment, the simulation communication module 20 establishes a communication connection between a preset underwater equipment control system and a load component model to obtain parameter information of the load component model.
[0102] For example, the preset underwater equipment control system is an underwater equipment control system (such as a UUV control system) set according to user needs, which is used to control the simulated water environment model, underwater equipment simulation model and load component model in the simulation environment accordingly.
[0103] Exemplarily, the preset underwater equipment control system may include a communication module, a control module, an image processing module, a human-computer interaction module, a task processing module and a monitoring module, etc., which is not limited in the present application.
[0104] The simulation communication module 20 establishes a communication connection with the load component model through a network link (such as TCP network transmission protocol) to obtain parameter information of the load component model in real time. The parameter information of the load component model includes but is not limited to the acquisition data of the sonar component, the video data of the camera component, the status data of the underwater equipment simulation model (such as the position, posture, depth and height of the underwater equipment simulation model in the simulated water environment model) and the control data of the execution component model.
[0105] The simulation control module 30 controls the simulated movement of the underwater equipment simulation model in the simulated operation scene through a preset underwater equipment control system based on the parameter information.
[0106] For example, the simulation control module 30 controls the behavior, action and motion path of the UUV simulation model in the simulated water environment model according to the preset motion strategy through the acquired parameter information, so as to complete the target operation in the corresponding simulation operation scenario.
[0107] Exemplarily, the simulation control module 30 can control the UUV to perform full-stance motion according to a preset control strategy, or can control the motion of a robotic arm (such as a two-degree-of-freedom manipulator or a five-degree-of-freedom manipulator, etc.) to perform simulated grasping of a target object.
[0108] Through the above embodiments, the present application creates a simulated water environment model of the underwater equipment on a preset simulation platform, configures the underwater equipment simulation model and related load component models, and through the communication connection between the underwater equipment control system and the load component model, can realize the underwater equipment control system controlling the complex simulated movement of the underwater equipment simulation model in various preset operation scenarios.
[0109] This application creates a simulation environment on a preset simulation platform and can collaborate with the control software of the underwater equipment control system to complete operation verification tests for complex operation scenarios, thereby improving the research and development efficiency of underwater equipment and reducing research and development costs.
[0110] Alternatively, if Figure 6 As shown, the operation scene simulation system 1 may further include a human-computer interaction module 40. The human-computer interaction module 40 displays the observation data and status data of the underwater equipment simulation model through a preset interactive page of the underwater equipment control system.
[0111] For example, the human-computer interaction module 40 can display in a graphical manner and monitor in real time the observation data and status data of the underwater equipment simulation model through the interactive page of the UUV control system.
[0112] Exemplarily, the observation data and status data of the underwater equipment simulation model can also be used as input data of the image target recognition algorithm to complete the strategy design of the image target recognition algorithm based on the observation data and status data.
[0113] Optionally, the human-computer interaction module 40 determines the simulation operation scene through the preset interaction page of the underwater equipment control system; and the human-computer interaction module 40 configures the scene parameters of the simulation operation scene through the preset interaction page of the underwater equipment control system.
[0114] For example, the human-computer interaction module 40 can select the operation scene to be simulated and tested through the interactive page of the UUV control system, and can configure the scene parameters of the simulated operation scene through the interactive page of the UUV control system. The scene parameters can be customized according to user needs, such as the scene parameters can be scene restriction parameters such as the presence or absence of submarine undercurrents, the flow rate of submarine undercurrents, and the direction of submarine undercurrents, which are not limited in this application.
[0115] Through the above embodiments, the present application can realize human-computer interaction of the underwater equipment simulation model through the preset interactive page of the underwater equipment control system, so as to complete motion control and task planning of the underwater equipment simulation model in the corresponding simulation operation scenario.
[0116] Optionally, the simulation control module 30 controls the underwater equipment simulation model and the load component model of the underwater equipment simulation model to perform corresponding simulation movements through a preset underwater equipment control system based on an image target recognition algorithm.
[0117] For example, the simulation control module 30 can guide and control the UUV simulation model and the load component model to complete the simulation movement through the image target recognition algorithm.
[0118] According to another aspect of the present application, the present application further provides an electronic device. The electronic device includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors can implement the simulation method described above.
[0119] According to another aspect of the present application, the present application further provides a non-volatile computer-readable storage medium, wherein a computer program is stored on the storage medium, and when the computer program is executed by a processor, the simulation method described above can be implemented.
[0120] Finally, it should be noted that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions of the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.
Claims
1. A method for simulating an operation scene of an underwater device, characterized in that: include: Create a simulated water environment model in the preset simulation platform; Creating an underwater equipment simulation model of the target underwater equipment in the preset simulation platform; Creating a simulation operation scenario in the preset simulation platform; Creating a load component model of the underwater equipment simulation model in the simulation operation scene; Establishing a communication connection between a preset underwater equipment control system and the load component model to obtain parameter information of the load component model; Based on the parameter information, the simulated movement of the underwater equipment simulation model in the simulated operation scene is controlled by the preset underwater equipment control system.
2. The simulation method according to claim 1, characterized in that: The simulation method further comprises: The buoyancy parameters of the underwater equipment simulation model are configured so that the underwater equipment simulation model moves in the simulated water environment model.
3. The simulation method according to claim 1, characterized in that: The simulation method further comprises: The observation data and status data of the underwater equipment simulation model are displayed through the interactive page of the preset underwater equipment control system.
4. The simulation method according to claim 3, characterized in that: The simulation method further comprises: Determining the simulation operation scenario through the interactive page of the preset underwater equipment control system; The scene parameters of the simulated operation scene are configured through the interactive page of the preset underwater equipment control system.
5. The simulation method according to claim 1, characterized in that: The controlling the simulated movement of the underwater equipment simulation model in the simulated operation scene by the preset underwater equipment control system based on the parameter information includes: Based on the image target recognition algorithm, the underwater equipment simulation model and the load component model of the underwater equipment simulation model are controlled by the preset underwater equipment control system to perform corresponding simulation movements.
6. An underwater equipment operation scene simulation system, characterized in that: The operation scene simulation system is used to execute the simulation method according to any one of claims 1 to 5, and the operation scene simulation system includes: A simulation creation module, which creates a simulated water environment model in a preset simulation platform, creates an underwater equipment simulation model of a target underwater equipment in the preset simulation platform, creates a simulated operation scene in the preset simulation platform, and creates a load component model of the underwater equipment simulation model in the simulated operation scene; A simulation communication module is used to establish a communication connection between a preset underwater equipment control system and the load component model to obtain parameter information of the load component model; The simulation control module controls the simulated movement of the underwater equipment simulation model in the simulated operation scene through the preset underwater equipment control system based on the parameter information.
7. The operation scene simulation system according to claim 6, characterized in that: The simulation creation module configures the buoyancy parameters of the underwater equipment simulation model so that the underwater equipment simulation model moves in the simulated water environment model.
8. The operation scene simulation system according to claim 6, characterized in that: The operation scene simulation system also includes: The human-computer interaction module displays the observation data and status data of the underwater equipment simulation model through the interactive page of the preset underwater equipment control system.
9. The operation scene simulation system according to claim 8, characterized in that: The human-computer interaction module determines the simulation operation scene through the interactive page of the preset underwater equipment control system; and The human-computer interaction module configures the scene parameters of the simulation operation scene through the interactive page of the preset underwater equipment control system.
10. The operation scene simulation system according to claim 6, characterized in that: The simulation control module controls the underwater equipment simulation model and the load component model of the underwater equipment simulation model to perform corresponding simulation movements through the preset underwater equipment control system based on the image target recognition algorithm.