Simulation training method and system for underwater equipment operation, electronic equipment and storage medium
By creating an underwater equipment simulation system in a preset simulation platform, the problem of low interaction efficiency and insufficient effect of the underwater equipment operation simulation training system in the existing technology is solved, and efficient and accurate multi-scenario simulation training is achieved.
Patent Information
- Application Number
- CN202411174120.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-26
- Publication Date
- 2025-01-21
AI Technical Summary
The existing underwater equipment operation simulation training system has low interaction efficiency and insufficient simulation training effect, which cannot meet the needs of multiple simulation operation scenarios.
Create an underwater equipment simulation system in a preset simulation platform, including underwater equipment simulation models and execution component models. By obtaining interactive information and displaying it on the display, users can generate operating instructions to control the simulation model in various simulation operation scenarios. simulated movement.
It achieves low training cost and high training accuracy, and supports a variety of simulation operation training scenarios, improving the interactive efficiency and effect of simulation training.
Smart Images
Figure CN119339596A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of underwater equipment, and in particular to a simulation training method and system for underwater equipment operation, electronic equipment and storage medium. 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. It can perform a variety of complex tasks in underwater environments, such as seabed survey and research, underwater rescue and salvage, oil and gas pipeline maintenance, etc.
[0003] Due to the particularity of the operating environment, in order to ensure the operating efficiency and safety of underwater equipment, operators need to be pre-trained in underwater equipment operation to ensure their proficiency in underwater equipment operation.
[0004] However, the inventors of this application have found that the high cost of underwater equipment, high operating costs (the deployment and recovery of underwater equipment requires the assistance of cranes) and complex and changeable operating environments have limited the simulation training of operators in real environments. The current simulation training system for underwater equipment operations cannot meet the simulation training requirements for a variety of simulated operating scenarios, and has relatively poor interaction efficiency and insufficient simulation training effects. Summary of the invention
[0005] The present application provides a simulation training method and system, electronic equipment and storage medium for underwater equipment operation, which are used to solve the problems of relatively poor interaction efficiency and insufficient simulation training effect in the current simulation training system for underwater equipment operation.
[0006] According to one aspect of the present application, the present application provides a simulation training method for underwater equipment operation, including creating an underwater equipment simulation system in a preset simulation platform to simulate the simulated movement of the underwater equipment in a simulated operation scenario, the underwater equipment simulation system including an underwater equipment simulation model and an execution component model mounted on the underwater equipment simulation model; obtaining interactive information of the underwater equipment simulation model; displaying the interactive information on a display end; receiving a first operation instruction from a user through a first underwater equipment operating end, so that the underwater equipment simulation model responds to the first operation instruction to perform a corresponding simulated movement; receiving a second operation instruction from the user through a second underwater equipment operating end, so that the execution component model responds to the second operation instruction to perform a corresponding simulated movement; wherein the first operation instruction and the second operation instruction are generated based on the interactive information.
[0007] According to some embodiments of the present application, an underwater equipment simulation system is created in a preset simulation platform to simulate the simulated movement of underwater equipment in a simulated operation scenario, including: creating a simulated water environment model in the preset simulation platform; creating an underwater equipment simulation model of a target underwater equipment in the preset simulation platform; configuring the buoyancy parameters of the underwater equipment simulation model so that the underwater equipment simulation model moves in the simulated water environment model; creating a simulated operation scenario in the preset simulation platform; creating a load component model of the underwater equipment simulation model in the simulated operation scenario; 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; and based on the parameter information, controlling the simulated movement of the underwater equipment simulation model in the simulated operation scenario through the preset underwater equipment control system.
[0008] According to some embodiments of the present application, the simulation training method further includes: responding to a third operation instruction to determine simulation map information of the underwater equipment simulation model.
[0009] According to some embodiments of the present application, the simulation training method further includes: generating prompt information in a preset form based on preset operation rules.
[0010] According to another aspect of the present application, the present application also provides a simulation training system for underwater equipment operation, including a simulation processing module, an information processing module and a simulation training module. The simulation processing module creates an underwater equipment simulation system in a preset simulation platform to simulate the simulated movement of the underwater equipment in the simulated operation scene, and the underwater equipment simulation system includes an underwater equipment simulation model and an execution component model mounted on the underwater equipment simulation model; the information processing module obtains the interactive information of the underwater equipment simulation model, and displays the interactive information on the display end; the simulation training module receives a first operation instruction from the user through the first underwater equipment operation end, so that the underwater equipment simulation model responds to the first operation instruction to perform a corresponding simulated movement, and receives a second operation instruction from the user through the second underwater equipment operation end, so that the execution component model responds to the second operation instruction to perform a corresponding simulated movement; wherein the first operation instruction and the second operation instruction are generated according to the interactive information.
[0011] According to some embodiments of the present application, the simulation processing module creates a simulated water environment model in a preset simulation platform; the simulation processing module creates an underwater equipment simulation model of a target underwater equipment in the preset simulation platform; the simulation processing 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; the simulation processing module creates a simulated operation scene in the preset simulation platform; the simulation processing module creates a load component model of the underwater equipment simulation model in the simulated operation scene; the simulation processing 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; based on the parameter information, the simulation processing module controls the simulated movement of the underwater equipment simulation model in the simulated operation scene through the preset underwater equipment control system.
[0012] According to some embodiments of the present application, the simulation training module responds to the third operation instruction to determine the simulation map information of the underwater equipment simulation model.
[0013] According to some embodiments of the present application, the simulation training module generates prompt information in a preset form based on preset operating rules.
[0014] According to another aspect of the present application, the present application also 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 training method described above.
[0015] According to another aspect of the present application, the present application further provides a non-volatile computer-readable storage medium having a computer program stored thereon, which can implement the simulation training method described above when executed by a processor.
[0016] The present application creates an underwater equipment simulation system in a preset simulation platform, and the underwater equipment simulation system includes an underwater equipment simulation model. The present application can obtain interactive information of the underwater equipment simulation model and display the interactive information on a display terminal to achieve information interaction with the user. The user generates a first operation instruction and a second operation instruction according to the interactive information. The present application can correspondingly control the simulated movement of the underwater equipment simulation model and the execution component model in a variety of simulated operation scenarios by responding to the first operation instruction and the second operation instruction, so as to achieve the operator's simulated training on the control of the underwater equipment and the execution component.
[0017] The simulation training method for underwater equipment operation provided in the present application has the characteristics of low training cost, high training accuracy and multiple simulation operation training scenarios. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] 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.
[0019] Figure 1 A flow chart showing a simulation training method according to an embodiment of the present application;
[0020] Figure 2 Another flow chart showing the simulation training method of the embodiment of the present application;
[0021] Figure 3 A schematic diagram showing a simulation training system according to an embodiment of the present application;
[0022] Figure 4 A schematic structural diagram of a simulation training system according to an embodiment of the present application is shown.
[0023] Description of reference numerals:
[0024] Display terminal A1; first underwater equipment operating terminal A2; second underwater equipment operating terminal A3.
[0025] Simulation training system 1; simulation processing module 10; information processing module 20; simulation training module 30. DETAILED DESCRIPTION
[0026] 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.
[0027] 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.
[0028] 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.
[0029] 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.
[0030] 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.
[0031] According to one aspect of the present application, the present application provides a simulation training method for underwater equipment operation, which is used to implement simulation training of underwater equipment operation in multiple simulation operation scenarios.
[0032] Figure 1 A flow chart of the simulation training method of the embodiment of the present application is shown. Figure 1 As shown, the simulation training method may include S100-S500. Exemplarily, the simulation training method may be executed by a simulation training system with computing capability.
[0033] 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.
[0034] According to an example embodiment, in S100, the simulation training system creates an underwater equipment simulation system in a preset simulation platform to simulate the simulated movement of the underwater equipment in a simulated operation scenario. The underwater equipment simulation system includes an underwater equipment simulation model and an execution component model mounted on the underwater equipment simulation model.
[0035] For example, taking ROV as an example, the simulation training system responds to the user's creation instruction and creates an ROV simulation system in a preset simulation platform. The ROV simulation system includes an ROV simulation model corresponding to the real ROV.
[0036] The ROV simulation system may also include a detection component model and an execution component model mounted on the ROV simulation model. The detection component model is used for information detection of the ROV simulation model, such as a camera component and a sonar component, etc.; the execution component model is used for the execution output of the ROV simulation model, such as a mechanical arm, a thruster, and a light.
[0037] Exemplarily, the ROV simulation model is equipped with thrusters, cameras, sonar equipment, etc., which are used to collect status information of the ROV simulation model in the simulation operation scene.
[0038] 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.
[0039] Figure 2 Another flow chart of the simulation training method according to an embodiment of the present application is shown.
[0040] Alternatively, if Figure 2 As shown, S100 may also include S110 - S170 .
[0041] In S110, the simulation training system creates a simulated water environment model in a preset simulation platform.
[0042] 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).
[0043] The simulation training 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.
[0044] In S120, the simulation training system creates an underwater equipment simulation model of the target underwater equipment in a preset simulation platform.
[0045] For example, each underwater device has different configuration parameters. Taking ROV as an example, the deployment position and force of the thrusters of each ROV are different, so each ROV needs to be simulated and modeled accordingly.
[0046] Exemplarily, the simulation training system responds to the user's creation instruction, generates a model file (such as obj format) based on the ROV 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 an ROV simulation model.
[0047] In S130, the simulation training 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.
[0048] For example, the simulation training 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.
[0049] In S140, the simulation training system creates a simulation operation scenario in a preset simulation platform.
[0050] In S150, the simulation training system creates a load component model of the underwater equipment simulation model in the simulation operation scene.
[0051] For example, the simulation training system responds to the user's creation instruction and creates a load component model of the underwater equipment simulation model in the simulation operation scenario. The load component refers to the component mounted on the underwater equipment.
[0052] 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.
[0053] In S160, the simulation training system 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.
[0054] For example, the preset underwater equipment control system is an underwater equipment control system (such as an ROV 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.
[0055] 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.
[0056] In S170, the simulation training 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] 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.
[0058] In S200, the simulation training system obtains interaction information of the underwater equipment simulation model.
[0059] For example, the interaction information of the underwater equipment simulation model includes parameter information of the load component model.
[0060] According to an example embodiment, the simulation training 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.
[0061] In S300, the simulation training system displays the interactive information on the display terminal.
[0062] Figure 3 A schematic diagram of a simulation training system according to an embodiment of the present application is shown.
[0063] like Figure 3 As shown, the simulation training system includes a display terminal A1, a first underwater equipment operating terminal A2 and a second underwater equipment operating terminal A3.
[0064] According to an exemplary embodiment, after the simulation training system obtains the interaction information, the interaction information is displayed on the display terminal A1. Figure 3 As shown, the interactive information includes but is not limited to:
[0065] 1. Display information of simulated water environment model and underwater equipment simulation model.
[0066] 2. Status display information of underwater equipment simulation model.
[0067] 3. The driving interface displays information for simulation training.
[0068] 4. Front view video display information of underwater equipment simulation model.
[0069] 5.Sonar image display information.
[0070] 6. Video display information on the robotic arm.
[0071] 7. Map display information.
[0072] Optionally, in addition to displaying interactive information on the display terminal, the simulation training system can also interact with the user in other ways (such as voice broadcast, sending to the user terminal based on wireless communication, etc.), and this application does not impose any restrictions on this.
[0073] In S400, the simulation training system receives a first operation instruction from a user through a first underwater equipment operating terminal, so that the underwater equipment simulation model performs a corresponding simulation movement in response to the first operation instruction.
[0074] In S500, the simulation training system receives a second operation instruction from the user through the second underwater equipment operating terminal, so that the execution component model responds to the second operation instruction and performs a corresponding simulation movement.
[0075] According to an exemplary embodiment, the first underwater equipment operating terminal A2 may be an underwater equipment control console, and the second underwater equipment operating terminal A3 may be an execution component control console (such as a robot arm control console).
[0076] The first operation instruction and the second operation instruction are generated according to the interaction information. The first operation instruction is used to control the simulated movement of the underwater equipment simulation model, and the second operation instruction is used to control the simulated movement of the execution component model (such as a mechanical arm).
[0077] For example, after the user receives the interactive information from the display terminal A1, he determines the first operation instruction according to the actual simulation training needs, and simulates the driving of the ROV simulation model by controlling the underwater equipment control console (such as the ROV control console), so that the ROV simulation model can perform simulated movements in any posture and any position, so that the operator can simulate the underwater control of the ROV simulation model.
[0078] After the user receives the interactive information from the display terminal A1, he determines the second operation instruction according to the actual simulation training needs, and controls the operating console (such as the robotic arm control operating console) through the control execution component to simulate the control of the robotic arm (such as two robotic arms with two degrees of freedom and five degrees of freedom), so that the operator can simulate the underwater control of the robotic arm.
[0079] Through the above embodiments, the present application creates an underwater equipment simulation system in a preset simulation platform, and the underwater equipment simulation system includes an underwater equipment simulation model. The present application can obtain interactive information of the underwater equipment simulation model, and display the interactive information on the display terminal to realize information interaction with the user. And the user generates a first operation instruction and a second operation instruction according to the interactive information. The present application can correspondingly control the simulated movement of the underwater equipment simulation model and the execution component model in a variety of simulated operation scenarios by responding to the first operation instruction and the second operation instruction, so as to realize the operator's simulated training of underwater equipment control and execution component control.
[0080] The simulation training method for underwater equipment operation provided in the present application has the characteristics of low training cost, high training accuracy and multiple simulation operation training scenarios.
[0081] Optionally, the simulation training system also responds to the third operation instruction to determine the simulation map information of the underwater equipment simulation model.
[0082] For example, the user further determines a third operation instruction according to actual simulation training requirements, and the third operation instruction is used for map path planning of the underwater equipment simulation model in the simulation operation scene. The simulation training system also presets the motion trajectory of the underwater equipment simulation model in response to the third operation instruction.
[0083] Such an arrangement enables the operator to complete simulation training of path preset and driving action setting of the underwater equipment simulation model.
[0084] Optionally, the simulation training system also generates prompt information in a preset form based on preset operating rules.
[0085] For example, during the simulation training of underwater equipment operations, the simulation training system provides prompt information to the user through pop-up prompts, voice broadcast prompts or video demonstrations based on preset operation rules at different stages of the simulation training.
[0086] For example, in the self-check simulation training stage of underwater equipment operation, the simulation training system can generate a prompt message such as "Please perform motion simulation test on thrusters, gimbals, lights and other actuators in deck mode"; for another example, in the calibration simulation training stage of underwater equipment operation, the simulation training system can generate a prompt message such as "Make sure that the underwater equipment completes calibration in a relatively static state"; for another example, in the deployment and recovery simulation training stage of underwater equipment operation, the simulation training system can generate a prompt message such as "Make sure that the acoustic device is turned on or off to avoid using the acoustic device in the air"; for another example, in the operation stage of underwater equipment operation, the simulation training system can generate responsive operation prompts according to different operation types, and some more complex operations can also be demonstrated through video demonstrations.
[0087] With this arrangement, when the operator simulates the control of an underwater equipment simulation model or the underwater control of a robotic arm, the operator can reasonably operate the corresponding equipment under the prompt of the simulation training system to complete the simulation training of the underwater operation task.
[0088] Optionally, the simulation training system can also record the operator's operation process during the simulation training of underwater equipment operation, and judge the correctness of the operator's operation behavior at different simulation training stages to improve the operator's operation correctness.
[0089] According to another aspect of the present application, the present application provides a simulation training system for underwater equipment operation, which is used to implement simulation training of underwater equipment operation in various simulation operation scenarios.
[0090] Figure 4 The structure diagram of the simulation training system of the embodiment of the present application is shown. Figure 4 As shown, the simulation training system 1 includes a simulation processing module 10 , an information processing module 20 and a simulation training module 30 .
[0091] According to an example embodiment, the simulation processing module 10 creates an underwater equipment simulation system in a preset simulation platform to simulate the simulated movement of the underwater equipment in a simulated operation scenario. The underwater equipment simulation system includes an underwater equipment simulation model and an execution component model mounted on the underwater equipment simulation model.
[0092] For example, taking ROV as an example, the simulation processing module 10 responds to the user's creation instruction and creates an ROV simulation system in a preset simulation platform. The ROV simulation system includes an ROV simulation model corresponding to the real ROV.
[0093] The ROV simulation system may also include a detection component model and an execution component model mounted on the ROV simulation model. The detection component model is used for information detection of the ROV simulation model, such as a camera component and a sonar component, etc.; the execution component model is used for the execution output of the ROV simulation model, such as a mechanical arm, a thruster, and a light.
[0094] Exemplarily, the ROV simulation model is equipped with thrusters, cameras, sonar equipment, etc., which are used to collect status information of the ROV simulation model in the simulation operation scene.
[0095] 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.
[0096] Optionally, the simulation processing module 10 creates a simulated water environment model in a preset simulation platform.
[0097] 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).
[0098] The simulation processing 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.
[0099] The simulation processing module 10 creates an underwater equipment simulation model of the target underwater equipment in a preset simulation platform.
[0100] For example, each underwater device has different configuration parameters. Taking ROV as an example, the deployment position and force of the thrusters of each ROV are different, so each ROV needs to be simulated and modeled accordingly.
[0101] Exemplarily, the simulation processing module 10 responds to the user's creation instruction, generates a model file (such as obj format) based on the ROV 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 an ROV simulation model.
[0102] The simulation processing 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.
[0103] For example, the simulation processing module 10 responds to the configuration instruction of the user to configure the simulated water density parameter in the simulated water environment model and the simulated quality parameter 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.
[0104] The simulation processing module 10 creates a simulation operation scene in a preset simulation platform.
[0105] The simulation processing module 10 creates a load component model of the underwater equipment simulation model in the simulation operation scene.
[0106] For example, the simulation processing module 10 responds to the user's creation instruction and creates a load component model of the underwater equipment simulation model in the simulation operation scene, where the load component refers to a component mounted on the underwater equipment.
[0107] 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.
[0108] The simulation processing module 10 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.
[0109] For example, the preset underwater equipment control system is an underwater equipment control system (such as an ROV 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.
[0110] 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.
[0111] The simulation processing module 10 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.
[0112] 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.
[0113] According to an example embodiment, the information processing module 20 obtains interaction information of the underwater equipment simulation model.
[0114] For example, the interaction information of the underwater equipment simulation model includes parameter information of the load component model.
[0115] The information processing 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.
[0116] According to an exemplary embodiment, the information processing module 20 displays the interactive information on a display terminal.
[0117] like Figure 3As shown, the simulation training system 1 may include a display terminal A1, a first underwater equipment operating terminal A2 and a second underwater equipment operating terminal A3.
[0118] According to an exemplary embodiment, after the information processing module 20 obtains the interaction information, the interaction information is displayed on the display terminal A1. Figure 3 As shown, the interactive information includes but is not limited to:
[0119] 1. Display information of simulated water environment model and underwater equipment simulation model.
[0120] 2. Status display information of underwater equipment simulation model.
[0121] 3. The driving interface displays information for simulation training.
[0122] 4. Front view video display information of underwater equipment simulation model.
[0123] 5.Sonar image display information.
[0124] 6. Video display information on the robotic arm.
[0125] 7. Map display information.
[0126] Optionally, in addition to displaying interactive information on the display end, the information processing module 20 can also interact with the user in other ways (such as voice broadcast, sending to the user end based on wireless communication, etc.), and this application does not impose any restrictions on this.
[0127] According to an exemplary embodiment, the simulation training module 30 receives a first operation instruction from a user through a first underwater equipment operating terminal, so that the underwater equipment simulation model performs a corresponding simulation movement in response to the first operation instruction.
[0128] The simulation training module 30 receives a second operation instruction from the user through the second underwater equipment operating terminal, so that the execution component model responds to the second operation instruction and performs a corresponding simulation movement.
[0129] According to an exemplary embodiment, the first underwater equipment operating terminal A2 may be an underwater equipment control console, and the second underwater equipment operating terminal A3 may be an execution component control console (such as a robot arm control console).
[0130] The first operation instruction and the second operation instruction are generated according to the interaction information. The first operation instruction is used to control the simulated movement of the underwater equipment simulation model, and the second operation instruction is used to control the simulated movement of the execution component model (such as a mechanical arm).
[0131] For example, after the user receives the interactive information from the display terminal A1, he determines the first operation instruction according to the actual simulation training needs, and simulates the driving of the ROV simulation model by controlling the underwater equipment control console (such as the ROV control console), so that the ROV simulation model can perform simulated movements in any posture and any position, so that the operator can simulate the underwater control of the ROV simulation model.
[0132] After the user receives the interactive information from the display terminal A1, he determines the second operation instruction according to the actual simulation training needs, and controls the operating console (such as the robotic arm control operating console) through the control execution component to simulate the control of the robotic arm (such as two robotic arms with two degrees of freedom and five degrees of freedom), so that the operator can simulate the underwater control of the robotic arm.
[0133] Through the above embodiments, the present application creates an underwater equipment simulation system in a preset simulation platform, and the underwater equipment simulation system includes an underwater equipment simulation model. The present application can obtain interactive information of the underwater equipment simulation model, and display the interactive information on the display terminal to realize information interaction with the user. And the user generates a first operation instruction and a second operation instruction according to the interactive information. The present application can correspondingly control the simulated movement of the underwater equipment simulation model and the execution component model in a variety of simulated operation scenarios by responding to the first operation instruction and the second operation instruction, so as to realize the operator's simulated training of underwater equipment control and execution component control.
[0134] The simulation training method for underwater equipment operation provided in the present application has the characteristics of low training cost, high training accuracy and multiple simulation operation training scenarios.
[0135] Optionally, the simulation training module 30 further responds to the third operation instruction to determine the simulation map information of the underwater equipment simulation model.
[0136] For example, the user further determines a third operation instruction according to actual simulation training requirements, and the third operation instruction is used for map path planning of the underwater equipment simulation model in the simulation operation scene. The simulation training module 30 also presets the motion trajectory of the underwater equipment simulation model in response to the third operation instruction.
[0137] Such an arrangement enables the operator to complete simulation training of path preset and driving action setting of the underwater equipment simulation model.
[0138] Optionally, the simulation training module 30 also generates prompt information in a preset form based on preset operation rules.
[0139] For example, during the simulation training of underwater equipment operation, the simulation training module 30 provides prompt information to the user through pop-up prompts, voice broadcast prompts or video demonstrations based on preset operation rules at different simulation training stages.
[0140] For example, in the self-check simulation training stage of underwater equipment operation, the simulation training module 30 can generate a prompt message of "Please perform motion simulation test on the thrusters, gimbals, lights and other actuators in deck mode (i.e., the underwater equipment is not in the water)"; for another example, in the calibration simulation training stage of underwater equipment operation, the simulation training module 30 can generate a prompt message of "Make sure that the underwater equipment completes calibration in a relatively static state"; for another example, in the deployment and recovery simulation training stage of underwater equipment operation, the simulation training module 30 can generate a prompt message of "Make sure that the acoustic device is turned on or off to avoid using the acoustic device in the air"; for another example, in the operation stage of underwater equipment operation, the simulation training module 30 can generate corresponding operation prompts according to different operation types, and some more complex operations can also be demonstrated through video demonstrations.
[0141] With such a configuration, when the operator simulates the control of the underwater equipment simulation model or the underwater control of the robotic arm, the operator can reasonably operate the corresponding equipment under the prompt of the simulation training module 30 to complete the simulation training of the underwater operation task.
[0142] Optionally, the simulation training module 30 can also record the operator's operation process during the simulation training of underwater equipment operation, and judge the correctness of the operator's operation behavior at different simulation training stages to improve the operator's operation correctness.
[0143] According to another aspect of the present application, an electronic device is provided, which includes: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors can implement the simulation training method described above.
[0144] According to another aspect of the present application, a non-volatile computer-readable storage medium is provided, wherein a computer program is stored on the storage medium, and when the computer program is executed by a processor, the simulation training method described above can be implemented.
[0145] 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 simulation training method for underwater equipment operation, characterized in that: include: Creating an underwater equipment simulation system in a preset simulation platform to simulate the simulated movement of underwater equipment in a simulated operation scene, wherein the underwater equipment simulation system includes an underwater equipment simulation model and an execution component model mounted on the underwater equipment simulation model; Acquiring interactive information of the underwater equipment simulation model; Displaying the interaction information on a display terminal; Receiving a first operation instruction from a user through a first underwater equipment operation terminal, so that the underwater equipment simulation model performs a corresponding simulated movement in response to the first operation instruction; Receiving a second operation instruction from a user through a second underwater equipment operation terminal, so that the execution component model performs a corresponding simulated movement in response to the second operation instruction; The first operation instruction and the second operation instruction are generated according to the interaction information.
2. The simulation training method according to claim 1, characterized in that: The step of creating an underwater equipment simulation system in a preset simulation platform to simulate the simulated motion of the underwater equipment in a simulated operation scene includes: 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; Configuring buoyancy parameters of the underwater equipment simulation model so that the underwater equipment simulation model moves in the simulated water environment model; 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.
3. The simulation training method according to claim 1, characterized in that: The simulation training method also includes: Respond to the third operation instruction to determine the simulation map information of the underwater equipment simulation model.
4. The simulation training method according to claim 1, characterized in that: The simulation training method also includes: Generate prompt information in a preset form based on preset operation rules.
5. A simulation training system for underwater equipment operation, characterized in that: include: A simulation processing module is used to create an underwater equipment simulation system in a preset simulation platform to simulate the simulated movement of the underwater equipment in a simulated operation scene. The underwater equipment simulation system includes an underwater equipment simulation model and an execution component model mounted on the underwater equipment simulation model. An information processing module, which obtains the interactive information of the underwater equipment simulation model and displays the interactive information on a display terminal; A simulation training module receives a first operation instruction from a user through a first underwater equipment operation terminal, so that the underwater equipment simulation model performs a corresponding simulated movement in response to the first operation instruction, and receives a second operation instruction from the user through a second underwater equipment operation terminal, so that the execution component model performs a corresponding simulated movement in response to the second operation instruction; The first operation instruction and the second operation instruction are generated according to the interaction information.
6. The simulation training system according to claim 5, characterized in that: The simulation processing module creates a simulated water environment model in a preset simulation platform; The simulation processing module creates an underwater equipment simulation model of the target underwater equipment in the preset simulation platform; The simulation processing 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; The simulation processing module creates a simulation operation scene in the preset simulation platform; The simulation processing module creates a load component model of the underwater equipment simulation model in the simulation operation scene; The simulation processing 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 processing 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 simulation training system according to claim 5, characterized in that: The simulation training module responds to the third operation instruction to determine the simulation map information of the underwater equipment simulation model.
8. The simulation training system according to claim 5, characterized in that: The simulation training module generates prompt information in a preset form based on preset operation rules.
9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the simulation training method as described in any one of claims 1-4.
10. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the simulation training method as described in any one of claims 1 to 4 is implemented.