A simulation system for operation and maintenance of subsea oil production structures

Abstract

This invention relates to a simulation system for the operation and maintenance of underwater oil production structures, comprising: a semi-physical interaction device, a control module, and a visual simulation module. The semi-physical interaction device is used by divers to install, operate, and maintain underwater production trees, and collects data on the diver's body movements, hand positions and postures, and the status of the underwater production trees during the operation. The control module controls and monitors the semi-physical interaction device and sends the control and monitoring data to the visual simulation module. The visual simulation module simulates a three-dimensional scene based on all the data. This invention, based on semi-physical interaction technology, enables divers to interact with underwater production facilities in a confined space using virtual or semi-physical tools, solving the technical challenges of simulating diver movement and virtual reality interaction. Therefore, this invention can be widely applied in the field of underwater operations technology.

Description

Technical Field

[0001] This invention relates to a simulation system for the operation and maintenance of underwater oil production structures based on semi-physical interaction technology, belonging to the field of underwater operation technology. Background Technology

[0002] Underwater operations place extremely high safety requirements on divers. Simulation projects can provide a safe environment for divers to train and practice in simulated scenarios, improving their ability to cope with underwater environments and reducing the occurrence of accidents. Actual underwater operations are costly, including in terms of equipment, manpower, and time.

[0003] Simulation projects can reduce the need for actual underwater operations to some extent, saving costs. Furthermore, simulation projects can simulate various underwater operation scenarios, allowing divers to train under different conditions and improve their skills and responsiveness in complex environments. New technologies are constantly emerging in the underwater operations field, and simulation projects can be used to test the effectiveness and applicability of these new technologies, providing reference and guidance for actual operations. However, existing virtual training systems still have shortcomings in terms of simulation accuracy and interactivity. Summary of the Invention

[0004] To address the aforementioned problems, the purpose of this invention is to provide a simulation system for the operation and maintenance of underwater oil production structures based on semi-physical interaction technology. Using this system to conduct drills for divers operating oil production trees can not only verify the reliability of the design scheme, but also effectively reduce construction risks, improve operational efficiency, and enhance divers' ability to operate oil production tree equipment underwater.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A simulation system for operation and maintenance of subsea oil production structures includes:

[0007] Semi-physical interactive device, control module, and visual simulation module;

[0008] The semi-physical interaction device is used by divers to install, operate and maintain underwater oil production trees, and to collect data on the diver's body movement posture, hand position and posture, and the status of the underwater oil production tree during the operation.

[0009] The control module is used to control and monitor the data of the semi-physical interactive device, and to send the control and monitoring data to the visual simulation module;

[0010] The visual simulation module is used to simulate a three-dimensional scene based on all the data.

[0011] Furthermore, the semi-physical interaction device includes a semi-physical device and a motion capture interaction device;

[0012] The semi-physical equipment includes a treehouse panel, semi-physical manual tools, and a lifting single-degree-of-freedom motion platform. The treehouse panel is used to simulate the control panel of the treehouse equipment; the semi-physical manual tools are used to simulate the operation of underwater manual tools by divers; and the lifting single-degree-of-freedom motion platform is used to simulate the hovering and ascent / descent functions of divers.

[0013] The motion capture interaction device includes a VR headset, a full-body motion capture device, a data glove, a locator, and a tracker. The VR headset is used to render VR scenes based on signals sent by the visual simulation module. The full-body motion capture device is used to collect the diver's body movement posture and send the collected data to the visual simulation module. The data glove is used to collect the diver's hand position and posture and send the data to the visual simulation module to present the diver's basic hand movements. The locator and tracker are installed on the semi-physical manual tool and are used to acquire the position and posture data information of the semi-physical manual tool and send the position and posture data information to the control module.

[0014] Furthermore, the oil well panel includes a rectangular body, on which first to ninth T-shaped bases are sequentially arranged, and the first to ninth bases are located on stepped holes arranged on the rectangular body;

[0015] The first to ninth T-type bases have the same structure, each including a base body, a connecting shaft and an encoder. The base body adopts a bottom-sealed cylindrical structure, and the bottom of the cylindrical structure is provided with a photoelectric sensor for recording the number of times the base is inserted. The inner side of the cylindrical structure is provided with internal teeth for threaded connection with one end of the connecting shaft.

[0016] The connecting shaft is fitted with a bearing, and the other end of the connecting shaft is connected to the encoder. A damper is fitted on the end of the connecting shaft near the encoder.

[0017] The rectangular body has legs at its four corners, and each leg is fitted with a connecting plate for fixing the oil well panel.

[0018] Furthermore, the semi-physical hand tools include hot-spin wrenches or T-wrenches.

[0019] Furthermore, the Hotspur wrench includes a wrench body, a handle, a guide seat, a positioner, and a fastening assembly;

[0020] The wrench body is round and rod-shaped. One end of the wrench body is provided with a handle. The end of the wrench body away from the handle is provided with a guide seat, and the size of the guide seat is adapted to the size of the wrench body.

[0021] The locator is mounted on the wrench body, and the size of the locator is adapted to the size of the wrench body. It is used to cooperate with the tracker mounted on the ceiling to collect the position and posture data of the Tottenham wrench.

[0022] The fastening component is located on one side of the handle to ensure that the Hot Sting wrench does not easily detach from the diver's hand.

[0023] Furthermore, the fastening assembly includes a fastening ring, a mounting block, and an adjusting block;

[0024] The mounting block is disposed on one side of the fastening ring and includes a mounting rod, a first support column, a first support plate and a clamping plate. The mounting rod is disposed on the fastening ring and the lower end of the mounting rod is connected to the upper end of the first support plate through the first support column. The lower end of the first support plate is provided with the semi-circular clamping plate.

[0025] The adjusting block includes an adjusting rod, a second support column, a second support plate, an adjusting plate, and a compression spring. The upper end of the adjusting rod is connected to the lower end of the mounting rod through the compression spring. The lower end of the adjusting rod is connected to the lower end of the second support plate through the second support column. The upper end of the second support plate is provided with the semi-circular adjusting plate, and the size of the semi-circular adjusting plate after closing with the semi-circular clamping plate matches the size of the handle.

[0026] Furthermore, the VR headset is a VR helmet, which is connected to a streaming box. The streaming box connects the virtual reality VR helmet to the visual simulation module, enabling the VR helmet's motion information (position, angle, and acceleration) to be transmitted to the visual simulation module in real time. The calculation results of the visual simulation module are then fed back to the VR helmet through the streaming box.

[0027] Furthermore, the lifting single-degree-of-freedom motion platform is equipped with four hydraulic cylinders, a motion platform, and a control signal receiver. The control signal receiver receives motion commands sent in real time from the control server in the control module, thereby controlling the internal movement of the four hydraulic cylinders to achieve the lifting motion of the lifting single-degree-of-freedom motion platform.

[0028] Furthermore, the control module includes a control server, a panel control module, a manual tool control module, and a lifting single-degree-of-freedom motion platform control module;

[0029] The control server is used to send lifting, lowering, and hovering control commands to the lifting single-degree-of-freedom motion platform.

[0030] The lifting single-degree-of-freedom motion platform control module, panel control module, and manual tool control module are respectively used to monitor the working status of the lifting single-degree-of-freedom motion platform, the working status of the panel, and the motion information of the semi-physical manual tool, and send the monitoring data to the visual simulation module.

[0031] Furthermore, the visual simulation module includes a 3D model library module, a virtual reality display module, a semi-physical simulation tool interaction interface, a work process simulation module, a collision interference module, and an underwater special effects module;

[0032] The 3D model library module is used to realize virtual reality 3D scenes;

[0033] The virtual reality display module is used to schedule 3D model library resources, realize underwater environment scene display function, respond to semi-physical simulation tool interaction interface data, and render underwater special effects visual effects.

[0034] The semi-physical simulation interaction interface is used to receive interaction data from the panel control module, the T-wrench control module, and the lifting single-degree-of-freedom motion platform control module, and send the data to the virtual reality display module.

[0035] The work process simulation module is divided into a logic layer and a business layer. The logic layer is used to determine the stage and steps of the simulation work, and the business layer is used to complete the simulation work process by combining the interaction interface data of the semi-physical simulation tools.

[0036] The collision interference module is used to provide information on interference between objects in a virtual reality scene and interference between a virtual diver and equipment, thereby enabling interference risk warnings.

[0037] The underwater special effects module is used to simulate underwater turbidity and underwater visibility effects, and is scheduled by the virtual reality display module.

[0038] The present invention has the following advantages due to the adoption of the above technical solutions:

[0039] 1. This invention is based on semi-physical interaction technology, enabling divers to use virtual or semi-physical tools to interact with underwater production facilities in a confined space, thus solving the technical problem of diver movement and virtual reality interactive simulation operation.

[0040] 2. This invention provides trainees with a realistic working environment by constructing a three-dimensional model of underwater facilities, marine special effects environment, and collision interference inspection depth to recreate the underwater operation scenario of divers.

[0041] 3. This invention establishes a human dynamics model, develops a motion capture human-computer interaction interface, and uses multiple sets of positioning and tracking devices to control human movement in a virtual environment, realistically simulating installation and maintenance operations, and providing a feasible solution for underwater operation training for divers.

[0042] 4. The simulation system of this invention includes a generalized script module, which can be used for diving operation training in other sea areas in the future.

[0043] Therefore, this invention can be widely applied in the field of underwater operation technology. Attached Figure Description

[0044] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts. In the drawings:

[0045] Figure 1 A diagram illustrating the composition of a simulation system for operation and maintenance of underwater oil production structures provided in an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0047] Figure 3 This is a schematic diagram of the installation structure of the positioner and the vertical handle in this invention;

[0048] Figure 4 This is a schematic diagram of another structure of the present invention. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention are within the scope of protection of the present invention.

[0050] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0051] In some embodiments of the present invention, a simulation system for the operation and maintenance of underwater oil production structures is provided, including a hardware-in-the-loop (HIL) device, a control module, and a visual simulation module. The HIL device is used to train divers to install, operate, and maintain underwater production trees, and collects relevant data such as the diver's body posture, hand position and posture, and the status of the underwater production tree during the operation. The control module controls the HIL device and monitors the data, sending the control and monitoring data to the visual simulation module. The visual simulation module simulates a three-dimensional scene based on all the data. This invention, through three-dimensional digital modeling of underwater facilities and the development of supporting HIL device, enables simulated training of divers for the installation and maintenance of underwater production trees. Simultaneously, it can save on diver sea trial training costs, has positioning and guidance functions, can provide real-time spatial positioning and angles, and improves rotation accuracy.

[0052] Example 1

[0053] like Figure 1 As shown, this invention provides a simulation system for the operation and maintenance of underwater oil production structures, comprising: a hardware-in-the-loop (HIL) device, a control module, and a visual simulation module. The HIL device is used by divers to install, operate, and maintain underwater production trees, and collects relevant data such as the diver's body movement posture, hand position and posture, and the status of the underwater production tree during the operation. The control module controls the HIL device and monitors the data, sending the control and monitoring data to the visual simulation module. The visual simulation module simulates a three-dimensional scene based on all the data.

[0054] Furthermore, semi-physical interactive devices include semi-physical devices and motion capture interactive devices.

[0055] The semi-physical equipment includes a treehouse panel, semi-physical manual tools, and a lifting single-degree-of-freedom motion platform. The treehouse panel is used to simulate the control panel of the treehouse equipment; the semi-physical manual tools are used to simulate the operation of underwater hot-spitting wrench manual tools by divers; and the lifting single-degree-of-freedom motion platform is used to simulate the hovering and ascent / descent functions of divers.

[0056] The motion capture interactive device includes a VR headset, a full-body motion capture device, a data glove, a locator, and a tracker. The VR headset is used to render VR scenes based on signals sent by the visual simulation module. The full-body motion capture device is used to capture the diver's body movement posture and send the captured data to the visual simulation module. The data glove is used to capture the diver's hand position and posture and send the data to the visual simulation module to present the diver's basic hand movements (grasping, holding). The locator and tracker are installed on the semi-physical manual tool to acquire the position and posture data information of the semi-physical manual tool and send the position and posture data information to the control server.

[0057] Furthermore, the wellhead panel includes a rectangular body, on which first to ninth T-shaped bases are sequentially arranged, and the first to ninth bases are located on stepped holes in the rectangular body. The first to ninth T-shaped bases have the same structure, each including a base body, a connecting shaft, and an encoder. The base body adopts a bottom-sealed cylindrical structure, and the bottom of the cylindrical structure is equipped with a photoelectric sensor for recording the number of times a semi-physical handheld tool is inserted into the base. The inner side of the cylindrical structure is provided with internal teeth for threaded connection with one end of the connecting shaft. The connecting shaft is sleeved with a bearing, and the other end of the connecting shaft is connected to the encoder. A damper is sleeved on the end of the connecting shaft near the encoder. Support legs are respectively provided at the four corners of the rectangular body, and a connecting plate for fixing the wellhead panel is installed on each support leg.

[0058] Furthermore, semi-physical hand tools include the Hotspur wrench.

[0059] Furthermore, such as Figures 2-4 As shown, the Tottenham Hotspur wrench includes a wrench body 1, a handle 2, a guide seat 3, a locator 4, and a fastening assembly. The wrench body 1 is a cylindrical rod with a handle 2 at one end and a guide seat 3 at the end away from the handle 2, the guide seat 3 being sized to fit the wrench body 1. The locator 4 is mounted on the wrench body 1, and its size is also matched to the wrench body 1. It is used to cooperate with a tracker mounted on the ceiling to collect the position and attitude data of the Tottenham Hotspur wrench. The fastening assembly is located on one side of the handle 2 to ensure that the Tottenham Hotspur wrench does not easily detach from the diver's hand.

[0060] Furthermore, such as Figure 3 As shown, the fastening assembly includes a fastening ring 5, a mounting block, and an adjusting block. The mounting block, located on one side of the fastening ring 5, includes a mounting rod 8, a first support column 10, a first support plate 11, and a clamping plate 6. The mounting rod 8 is mounted on the fastening ring 5, and its lower end is connected to the upper end of the first support plate 11 via the first support column 10. A semi-circular clamping plate 6 is located at the lower end of the first support plate 11. The adjusting block includes an adjusting rod 7, a second support column 12, a second support plate 13, an adjusting plate 14, and a compression spring 9. The upper end of the adjusting rod 7 is connected to the lower end of the mounting rod 8 via the compression spring 9, and its lower end is connected to the lower end of the second support plate 13 via the second support column 12. A semi-circular adjusting plate 14 is located at the upper end of the second support plate 13, and the dimensions of the semi-circular adjusting plate 14 and the semi-circular clamping plate 6 when closed match the dimensions of the handle 2.

[0061] In use, the operator connects their hand to the fastening ring 5, and then pulls the adjusting plate 14 to align the clamping plate 6 and the adjusting plate 14 with the handle 2. Then, through the deformation of the compression spring 9, the clamping plate 6 and the adjusting plate 14 clamp the handle 2. Then, the handle is guided by the guide seat 3, and then the corresponding operation can be carried out.

[0062] Furthermore, the control module includes a control server, a panel control module, a manual tool control module, and a lifting single-degree-of-freedom motion platform control module. The control server sends control commands such as raising, lowering, and hovering to the lifting single-degree-of-freedom motion platform. The lifting single-degree-of-freedom motion platform control module, the panel control module, and the manual tool control module are respectively used to monitor the working status of the lifting single-degree-of-freedom motion platform, the panel working status, and the motion information of the manual tool, and send the monitoring data to the visual simulation module.

[0063] Furthermore, the visual simulation module includes a 3D model library module, a virtual reality display module, a semi-physical simulation tool interaction interface, a work process simulation module, a collision interference module, and an underwater special effects module. The system comprises several modules: a 3D model library module, a schedulable software resource for realizing virtual reality 3D scenes, containing 3D model resources of several underwater production facility structures stored on the computer hard drive; a virtual reality display module, software capable of scheduling 3D model library resources, with functions such as underwater environment scene display, responding to semi-physical simulation tool interaction interface data, and rendering underwater special effects; a semi-physical simulation interaction interface, capable of receiving interaction data from the panel control module, T-wrench control module, and lifting single-degree-of-freedom motion platform control module, and sending the data to the virtual reality display module; a work process simulation module, divided into a logic layer and a business layer, where the logic layer determines the stage and steps of the simulation operation, and the business layer combines the semi-physical simulation tool interaction interface data to complete the simulation operation process; a collision interference module, used to provide information on interference between objects in the virtual reality scene and interference between virtual divers and equipment, enabling interference risk warnings; and an underwater special effects module, a visual effects software module capable of simulating underwater turbidity and visibility effects, which can be scheduled by the virtual reality display module.

[0064] Furthermore, the lifting single-degree-of-freedom motion platform is equipped with four hydraulic cylinders, a motion platform, and a control signal receiver. The control signal receiver receives motion commands from the control server in the control module in real time, thereby controlling the internal movement of the four hydraulic cylinders to achieve the lifting motion of the lifting single-degree-of-freedom motion platform.

[0065] Furthermore, the VR head-mounted device uses a VR helmet, which is connected to a streaming box. The streaming box connects the virtual reality VR helmet to the visual simulation module, enabling the VR helmet's motion information, such as position, angle, and acceleration information, to be transmitted to the visual simulation module in real time. The calculation results of the visual simulation module are then fed back to the VR helmet through the streaming box.

[0066] Furthermore, in this embodiment, the installation, operation, and maintenance of the subsea production tree mainly include the operation of valves such as flat valves, throttle valves, check valves, and mud valves.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A simulation system for operation and maintenance of underwater oil production structures, characterized in that, include: Semi-physical interactive device, control module, and visual simulation module; The semi-physical interaction device is used by divers to install, operate and maintain underwater oil production trees, and to collect data on the diver's body movement posture, hand position and posture, and the status of the underwater oil production tree during the operation. The control module is used to control and monitor the data of the semi-physical interactive device, and to send the control and monitoring data to the visual simulation module; The visual simulation module is used to simulate a three-dimensional scene based on all the data; The semi-physical interactive device includes a semi-physical device and a motion capture interactive device; The semi-physical equipment includes a treehouse panel, semi-physical manual tools, and a lifting single-degree-of-freedom motion platform. The treehouse panel is used to simulate the control panel of the treehouse equipment; the semi-physical manual tools are used to simulate the operation of underwater manual tools by divers; the lifting single-degree-of-freedom motion platform is used to simulate the hovering and ascent / descent functions of divers; the semi-physical manual tools include a Hotspur wrench. The oil well panel includes a rectangular body, on which first to ninth T-shaped bases are sequentially arranged, and the first to ninth bases are located on stepped holes arranged on the rectangular body; The first to ninth T-type bases have the same structure, each including a base body, a connecting shaft and an encoder. The base body adopts a bottom-sealed cylindrical structure, and the bottom of the cylindrical structure is provided with a photoelectric sensor for recording the number of times a semi-physical manual tool is inserted into the base. The inner side of the cylindrical structure is provided with internal teeth for threaded connection with one end of the connecting shaft. The connecting shaft is fitted with a bearing, and the other end of the connecting shaft is connected to the encoder. A damper is fitted on the end of the connecting shaft near the encoder. The Hotspur wrench includes a wrench body, a handle, a guide seat, a positioner, and a fastening assembly; The wrench body is round and rod-shaped. One end of the wrench body is provided with a handle. The end of the wrench body away from the handle is provided with a guide seat, and the size of the guide seat is adapted to the size of the wrench body. The locator is mounted on the wrench body, and the size of the locator is adapted to the size of the wrench body. It is used to cooperate with the tracker mounted on the ceiling to collect the position and posture data of the Tottenham wrench. The fastening component is located on one side of the handle to ensure that the Hot Sting wrench does not easily detach from the diver's hand.

2. The simulation system for operation and maintenance of underwater oil production structures as described in claim 1, characterized in that, The motion capture interactive device includes a VR headset, a full-body motion capture device, a data glove, a locator, and a tracker; the VR headset is used to render VR scenes based on signals sent by the visual simulation module; the full-body motion capture device is used to collect the diver's body movement postures and send the collected data to the visual simulation module. The data glove is used to collect the position and posture of the diver's hands and send the data to the visual simulation module to present the basic hand movements of the diver; the locator and tracker are installed on the semi-physical manual tool to obtain the position and posture data information of the semi-physical manual tool and send the position and posture data information to the control module.

3. The simulation system for operation and maintenance of underwater oil production structures as described in claim 2, characterized in that, The rectangular body has legs at its four corners, and each leg is fitted with a connecting plate for fixing the oil well panel.

4. The simulation system for operation and maintenance of underwater oil production structures as described in claim 1, characterized in that, The fastening assembly includes a fastening ring, a mounting block, and an adjusting block; The mounting block is disposed on one side of the fastening ring and includes a mounting rod, a first support column, a first support plate and a semi-circular clamping plate. The mounting rod is disposed on the fastening ring and the lower end of the mounting rod is connected to the upper end of the first support plate through the first support column. The semi-circular clamping plate is disposed at the lower end of the first support plate. The adjusting block includes an adjusting rod, a second support column, a second support plate, a semi-circular adjusting plate, and a compression spring. The upper end of the adjusting rod is connected to the lower end of the mounting rod through the compression spring. The lower end of the adjusting rod is connected to the lower end of the second support plate through the second support column. The semi-circular adjusting plate is provided on the upper end of the second support plate, and the size of the semi-circular adjusting plate and the semi-circular clamping plate after closing matches the size of the handle.

5. The simulation system for operation and maintenance of underwater oil production structures as described in claim 2, characterized in that, The VR headset is a VR helmet, which is connected to a streaming box. The streaming box connects the virtual reality VR helmet to the visual simulation module, so that the VR helmet's motion information, position, angle, and acceleration information are transmitted to the visual simulation module in real time. The calculation results of the visual simulation module are fed back to the VR helmet through the streaming box.

6. The simulation system for operation and maintenance of underwater oil production structures as described in claim 1, characterized in that, The lifting single-degree-of-freedom motion platform is equipped with four hydraulic cylinders, a motion platform, and a control signal receiver. The control signal receiver is used to receive motion commands sent by the control server in the control module in real time, thereby controlling the internal movement of the four hydraulic cylinders and realizing the lifting single-degree-of-freedom motion platform.

7. The simulation system for operation and maintenance of underwater oil production structures as described in claim 1, characterized in that, The control module includes a control server, a panel control module, a manual tool control module, and a lifting single-degree-of-freedom motion platform control module; The control server is used to send lifting, lowering, and hovering control commands to the lifting single-degree-of-freedom motion platform. The lifting single-degree-of-freedom motion platform control module, panel control module, and manual tool control module are respectively used to monitor the working status of the lifting single-degree-of-freedom motion platform, the working status of the panel, and the motion information of the semi-physical manual tool, and send the monitoring data to the visual simulation module.

8. The simulation system for operation and maintenance of underwater oil production structures as described in claim 7, characterized in that, The visual simulation module includes a 3D model library module, a virtual reality display module, a semi-physical simulation tool interaction interface, a work process simulation module, a collision interference module, and an underwater special effects module. The 3D model library module is used to realize virtual reality 3D scenes; The virtual reality display module is used to schedule 3D model library resources, realize underwater environment scene display function, respond to semi-physical simulation tool interaction interface data, and render underwater special effects visual effects. The semi-physical simulation interaction interface is used to receive interactive data from the panel control module, the manual tool control module, and the lifting single-degree-of-freedom motion platform control module, and send the data to the virtual reality display module. The work process simulation module is divided into a logic layer and a business layer. The logic layer is used to determine the stage and steps of the simulation work, and the business layer is used to complete the simulation work process by combining the interaction interface data of the semi-physical simulation tools. The collision interference module is used to provide information on interference between objects in a virtual reality scene and interference between a virtual diver and equipment, thereby enabling interference risk warnings. The underwater special effects module is used to simulate underwater turbidity and underwater visibility effects, and is scheduled by the virtual reality display module.

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