CN110379247A - A kind of multitask, polygonal color ROV coorinated training analogue system and method - Google Patents
A kind of multitask, polygonal color ROV coorinated training analogue system and method Download PDFInfo
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- CN110379247A CN110379247A CN201910656091.7A CN201910656091A CN110379247A CN 110379247 A CN110379247 A CN 110379247A CN 201910656091 A CN201910656091 A CN 201910656091A CN 110379247 A CN110379247 A CN 110379247A
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Abstract
The present invention provides the ROV coorinated training analogue system of a kind of multitask, polygonal color, server stores Various types of data packet, is arranged, is called, Various types of data general performance is come out in the form of dynamic simulation, the outpost display of real-time simulation scene and ROV state is provided for trainer, the instruction for persistently receiving trainer's input, handles instruction, is stored as new emulation data, it compares history and emulates data, provide real-time Optimum Operation instruction for trainer；Monitoring management end is monitored the operational process of entire training system, optimizes and manages to server；Console terminal trainer receives three-dimensional artificial scene and the real time status information of the ROV manipulated by combined display screen, and by rocker actuator, speed adjusting device and operation handle device to the ROV and its configuration tool progress manipulation of physical in virtual scene.The present invention can accurate evaluation training result, record training process, to each completions main points and cooperate main points reasonably assessed.
Description
Technical field
The invention belongs to operation on the sea training simulation systems, and in particular to a kind of multitask, the ROV coorinated training of polygonal color
Analogue system and method.
Background technique
21 century is the century of marine economy, and ocean has become the key areas of current scientific research.It is ever-increasing
The demand of underwater environment detection and underwater object salvaging, proposes more underwater detection equipment performance and equipment operator's ability
High requirement.Underwater robot (Remote Operated Vehicle) is also referred to as unmanned remotely controlled submersible vehicle, is that one kind works in water
Under limit operation robot.Underwater environment is badly dangerous, and the diving depth of people is limited, and ROV has safety coefficient height, efficiency
The high, technical advantages such as depth of implements is big, the activity duration is long, thus ROV be applied to more and more widely the explorations of Underwater resources with
Exploitation.
Operation on the sea situation is complicated and changeable, and the risk that operator manipulates ROV completion underwater operation is very high, right using material object
The cost that operator carries out training on operation is excessively high, and with the development of computer technology and imitation technology, ROV simulation is imitative
True technology has been increasingly becoming a key areas of countries in the world scientific research investment, and achieves great successes.Japanese east
Capital university has carried out many research and technology accumulation in ROV analog simulation field, successfully constructs the imitative of the ROV of different model
True system model, and in a simulated environment to having carried out debugging test.
It is excavated in work in some undersea searches, the working efficiency of single ROV is unable to satisfy needs, generally requires multidigit manipulation
Member manipulates more ROV and carries out work compound, gives training to more people, multi-machine collaborative work capacity very necessary.It carries out at present more
The more mature only combat exercise of the more ROV work compound training of people, but manpower, material resources and financial resources spent by combat exercise are quite huge,
Since participant is more, example tasks construction is more complex, task process is more difficult to control, the more difficult evaluation analysis of training result, nothing
Method reaches preferable training effect.
Summary of the invention
The technical problem to be solved by the present invention is provide a kind of multitask, polygonal color ROV coorinated training analogue system and
Method is able to record trained complete procedure, carries out accurate evaluation to training result.
The technical solution taken by the invention to solve the above technical problem are as follows: a kind of multitask, the ROV collaboration of polygonal color
Training simulation system, it is characterised in that: this system is connected by server, monitoring management end and multiple console terminals by local area network
It connects；Wherein,
Server is comprehensive by Various types of data in the form of dynamic simulation for being stored, being arranged to Various types of data packet, called
Conjunction shows, and provides the outpost display of real-time simulation scene and ROV state for trainer, persistently receives trainer's input
Instruction, and instruction is handled, is stored as new emulation data, control history emulates data, provides reality for trainer
When Optimum Operation indicate；
Monitoring management end optimizes and manages to server for being monitored to the operational process of entire training system
Reason；
Console terminal receives three-dimensional artificial scene and the reality of the ROV manipulated by combined display screen for trainer
When status information, and by rocker actuator, speed adjusting device and operation handle device in virtual scene ROV and its configuration
Tool carries out manipulation of physical, input instruction；
The server includes:
Data packet, including basic data packet, preset task packet, historic task packet, basic data packet is for storing emulation ring
Border information and ROV parameter information, preset task packet for store different types of task case and task start after may spread out
Raw secondary task case, historic task packet is for storing history Simulation Training data；
Data conversion module, the data of other modules in each console terminal of integrated treatment and server are right as needed
Various types of data is converted and is transmitted；
Scenario building module for constructing three-dimensional artificial scene, including arranges flow rate of water flow, flow direction, temperature, pressure, bright
Degree and transparency；
Physical computing module, mechanically actuated for calculating simulation trainer is to being accordingly manipulated in virtual scene
The change of the physical state of ROV, movement velocity, the direction of motion, present position and manipulator form including simulated target ROV；
Data and scene synchronization module, for guarantee each trainer operation when virtual scene in various state changes to it
The consistency of his trainer is shown, realizes the Real-Time Sharing of the multidate information in multi-person synergy interactive process；
Task management module, for calling data packet, by secondary task case derived from task case and possibility with dynamic
The form of emulation shows, and provides task process information and operation instruction in real time for trainer, and safeguard trainer's
Statistical operational data；
Statistical appraisal module is commented according to the accuracy of the operational order of trainer in the training process referring to preset
Valence criterion, makes task result and objectively evaluates.
By above system, the console terminal includes:
Instruction input terminal, including command input device, instruction acquisition equipment, instruction resolution unit and instruction transmission are single
Member；Command input device is that progress information exchange or multiple trainers carry out letter between Support Training personnel and computer system
Ceasing the main device exchanged including the rocker actuator, speed adjusting device and operation handle device further includes keyboard, mouse
Mark, earphone and microphone, the rocker actuator and operation handle device be used to operate ROV carry out 6DOF movement and
Manipulate the manipulator of ROV equipment；The operation that instruction acquisition equipment is used to input trainer is number by sensor transformation
Signal；Instruction resolution unit is for being analyzed and processed digital signal, then by instructing transmission unit to be transferred to server；
Live display terminal is made of multiple electronic displays, for by training process three-dimensional virtual environment information,
Task process information and ROV status information show trainer in real time, and system programming count after training is surveyed
The evaluation result commented is shown.
By above system, data and scene synchronization module are specifically used for while guaranteeing the virtual scene of each console terminal
Timely responding to property and variation consistency, including event is consistent consistent with attribute, i.e., when virtual scene in a console terminal
Model attributes change or a certain event occur when, guarantee that same attribute occurs in the virtual scene of other terminals in time
Variation and event change, with guarantee the coordinative coherences of all terminals with cooperate with accuracy；
In order to guarantee the real-time synchronization of data and scene, using " event-attribute is hybrid " co-architecture, which is used
The mode of " state computation-upload-broadcast ", console terminal first in the execution logic of local computing user's operation signal, obtain
The attribute status value of each model, state value is uploaded onto the server in scene, is carried out processing integration by server and is then broadcasted
To each console terminal, then the state value obtained from server is acted on to by console terminal the target in local scene
Model, the model in each console terminal scene is exactly to change the same time as a result, guarantees each trainer same
Moment can perceive the operation and process of other console terminals.
The ROV coorinated training method realized using the ROV coorinated training analogue system of the multitask, polygonal color,
Be characterized in that: this method the following steps are included:
S1, initial setting up: according to actual needs, task case and ROV model are selected；The actual needs includes participating in
Trained number, the skillset for needing to strengthen and the matched simulated environment of difficulty；
S2, into teaching pattern: according to selected task case, goal task is divided into several subtasks by system,
And optimum operation process is shown to each trainer in the form of animation；
S3, into operation mode: complete instructional objective to all trainers, open training mission, carry out the phase in task
Between, each cooperating personnel carry out information interchange by voice system, and system will adjust operation according to real-time condition and guide,
It is shown in console terminal to each operator；
S4, into evaluation model: after the completion of all subtasks, the operation data of each operating side of system statistics, reference
Evaluation is made in preset interpretational criteria, the operation performance of rehearsal situation and each operating side to entire task, and evaluation is to divide
The form of value provides；
S5, evaluation model is exited, complete training process information is integrated, data packet is stored into.
According to the above method, the task case is made of several completion main points: task case A=< task will point AP1,
Task will point AP2..., task will point APn>；
Task main points are one of following types: the detection of I underwater three dimensional terrain, the monitoring of II aquatic organism density, III water
The locating and tracking of lower biology, the capture of IV aquatic organism sample, the cutting of V underwater mineral products sample of material, VI underwater minerals sample
This salvaging, VII underwater traction rope tying-up；
The parameter setting of task main points is as follows:
The ROV simulator of initial time trainee i manipulation is at a distance from the destination of subtask with DiIt indicates, by DiSetting
For 1 to 9 integer, the more big then distance of numerical value is remoter；
Initial time trainee i manipulation ROV simulator goes to the environment of subtask destination to influence resistance with OiIt indicates,
The influence for comprehensively considering the environmental factors such as flow direction, flow velocity, brightness, transparency, by OiIt is set as 1 to 9 integer, numerical value is got over
It is bigger that big then environment influences resistance；
The matching degree for the skillset that ROV that trainee i is good at manipulation skillset and task to be done need with
AiIt indicates, by AiIt is set as 1 to 9 integer, the more big then matching degree of numerical value is higher；
The matching for the type of performance that the reinforcing type of performance for the ROV that trainee i is manipulated and task to be done need
Degree is with MiIt indicates, by MiIt is set as 1 to 9 integer, the more big then matching degree of numerical value is higher；
Since all kinds of parameters of task main points are not quite identical to the influence significance level for smoothly completing task main points, case
Editorial staff determines by analysis, the property that the reinforcing type of performance for the ROV that trainee i is manipulated and task to be done need
The matching degree M of energy typeiWeight be 0.4；The ROV manipulation skillset and task needs to be done that trainee i is good at
Skillset matching degree AiWeight be 0.4；The ROV simulator and subtask purpose of initial time trainee i manipulation
The distance D on groundiWeight be 0.1；Initial time trainee i manipulation ROV simulator goes to the environment shadow of subtask destination
Ring resistance OiWeight be 0.1.
According to the above method, determine that personnel depaly is as follows for each task main points:
According to the pre-set parameter of each task main points and each parameter to the weighing factor value of task process, wanted for each task
Point assesses the participation coefficient value of each trainee
According to coefficient value is participated in, the personnel depaly priority of each task main points is determined, realize that more people's interactive operations are intended to one
The management of cause property；
If trainee's number, which is less than task, to count, the guidance mesh of trainee is adjusted in real time according to task process situation
Mark；If trainee's number, which is greater than task, to count, according to coefficient value is participated in, carries out more wheel configurations and arrange.
According to the above method, degree-of-difficulty factor is set for the completion difficulty of each generic task main points:
HⅠ=2, HⅡ=2, HⅢ=6, HⅣ=6, HⅤ=5, HⅥ=3, HⅦ=4；
H is degree-of-difficulty factor, under be designated as the task main points of corresponding types；
It is directed to the personnel depaly that each task main points determine according to selected case and system, in conjunction with solid in task case
The completion sequence of some task main points, determines the fit system of trainee, fit system is divided into two kinds in parallel and serial, if
The target of two trainees will put task while carry out, then the fit system of the two is parallel connection, if the mesh of two trainees
Mark will put task and successively carry out, then the fit system of the two is series connection；
When the fit system between task main points is cooperation in parallel, the operation of each trainee of completion task main points is participated in
Quality base score value is identical, takes mean value；When the fit system between task main points is series connection cooperation, completion task main points are participated in
The operation quality base score value of each trainee is unaffected.
According to the above method, the S4 is specifically included:
4.1, it carries out simulated training and records data:
Each trainee carries out in-site modeling training, the task that trainee i is completed in training according to selected case A
Main points are respectively AP1-APk, the completion degree-of-difficulty factor of each task main points is respectivelyThe personnel complete each task and want
Point time be respectively
The trainee's sum for participating in case A is x, completes task case A to consume total duration to be t；
In system server preset task packet, the corresponding preset time of each task main points of case A is respectivelyIt is X that task case A, which presets participation number, and the default total duration that consumes of task case A is T；
4.2, individual operations are evaluated:
In the training that this chooses case A, the operation quality Result of trainee iiAre as follows:
In formula, n represent trainee i completion task will point APkWhen with the fit system of other n-1 trainee be
Parallel connection cooperation；
4.3, integrated operation is evaluated:
In formula, the integrated operation quality Result value of this group of trainer is bigger, then the mating capability of this group of trainer
It is stronger；Numerical value is smaller, then mating capability is weaker.
The invention has the benefit that establishing the multitask based on virtual reality technology and three-dimensional vision technology, polygonal color
ROV coorinated training analogue system, by scenario building module and task management module build emulation undersea detection salvage ring
Border simultaneously arranges reasonable cotasking for each member of trained group, to promote the ROV operative skill and coordinated of related personnel
Ability；Accurate evaluation is able to carry out for trained result, is able to record trained process, for each completion main points and cooperation
Main points are reasonably assessed.
Detailed description of the invention
Fig. 1 is the structure chart and personnel depaly figure of one embodiment of the invention.
Fig. 2 is the logical framework figure of one embodiment of the invention.
Fig. 3 is the synergistic data flow diagram of one embodiment of the invention.
Specific embodiment
Below with reference to specific example and attached drawing, the present invention will be further described.
Fig. 1 is the structure and personnel depaly figure of one embodiment of the invention, and Fig. 2 is the logical framework of one embodiment of the invention
Figure, Fig. 3 are the synergistic data flow diagram of one embodiment of the invention, a kind of multitask, the ROV coorinated training of polygonal color emulation system
System, is formed by server, monitoring management end and multiple console terminals by LAN connection；Wherein
Server is comprehensive by Various types of data in the form of dynamic simulation for being stored, being arranged to Various types of data packet, called
Conjunction shows, and provides the outpost display of real-time simulation scene and ROV state for trainer, persistently receives trainer's input
Instruction, and director data is handled, is stored as new emulation data, control history emulates data, mentions for trainer
It is indicated for real-time Optimum Operation；
Monitoring management end optimizes and manages to server for being monitored to the operational process of entire training system
Reason；
Console terminal receives three-dimensional artificial scene and the reality of the ROV manipulated by combined display screen for trainer
When status information, and by rocker actuator, speed adjusting device and operation handle device in virtual scene ROV and its configuration
Tool carries out manipulation of physical.
The server includes:
Data packet, including basic data packet, preset task packet, historic task packet, basic data packet is for storing emulation ring
Border information and ROV parameter information, preset task packet for store different types of task case and task start after may spread out
Raw secondary task case, historic task packet store history Simulation Training data；
Data conversion module, the data of integrated treatment each terminal operation device and each server module, as needed to all kinds of
Data are converted and are transmitted；
Scenario building module for constructing three-dimensional artificial scene, including arranges flow rate of water flow, flow direction, temperature, pressure, bright
The information such as degree, transparency；
Physical computing module, mechanically actuated for calculating simulation trainer is to being accordingly manipulated in virtual scene
The change of the physical state of ROV, movement velocity, the direction of motion, present position, manipulator form including simulated target ROV etc.
Physics dynamic；
Data and scene synchronization module, for guarantee each trainer operation when virtual scene in various state changes to it
The consistency of his trainer is shown, realizes the Real-Time Sharing of the multidate information in multi-person synergy interactive process, helps training of human
Member understands mutual task performance, promotes to promote the efficiency to cooperate；
Task management module, for calling data packet, by secondary task case derived from task case and possibility with dynamic
The form of emulation shows, and provides task process information and operation instruction in real time for trainer, and safeguard trainer's
Statistical operational data；
Statistical appraisal module is commented according to the accuracy of the operational order of trainer in the training process referring to certain
Valence criterion, makes task result and objectively evaluates.
The console terminal includes:
Instruction input terminal, including command input device, instruction acquisition equipment, instruction resolution unit and instruction transmission are single
Member；
Command input device is that information exchange or multiple trainers are carried out between Support Training personnel and computer system
Carry out the main device of information interchange, comprising:
Keyboard, mouse are entering the system dummy run phase for training mission parameter to be arranged；
Rocking bar, handle, for having the movement of the manipulator of specific function on manipulating the movement and ROV of ROV；
Earphone, microphone, for guaranteeing the Communication of each trainee；
The operation (such as to the operation of rocking bar, handle) that instruction acquisition module is used to input trainer is become by sensor
It is changed to digital signal, instruction resolution unit is then single by instruction transmission for being analyzed and processed to the information of all kinds of forms
Member is transferred to server；
Live display terminal is made of multiple electronic displays, for by training process three-dimensional virtual environment information,
Task process information and ROV status information show trainer in real time, and system programming count after training is surveyed
The evaluation result commented is shown.
Participate in coorinated training user can not only independent operation control ROV carry out the movement of 6DOF, and can manipulate
The manipulator of ROV equipment completes all kinds of assigned tasks.
Multitask, polygonal color ROV coorinated training analogue system in, ROV emulation three-dimensional space moving target be
Realize three attitude angles and three translation displacements, i.e. pitching, rolling, yaw, up and down vertical movement, anterior-posterior translation movement, a left side
The compound motion of right translation campaign and six postures, the manipulator carried is typically mounted on the bottom ROV, as underwater operation
Powerful, Blow-out Preventer (BOP) installation can be carried out, remains are searched and recycling, pipe detection, underwater rescue, material object
The tasks such as transmission, the installation of transponder and recycling, manipulator can also additional integrated cameras, the preferably mechanical manual task feelings of observation
Condition；
Trainer inputs control command by rocking bar, handle and mechanical key, is parsed by instruction acquisition unit, instruction
Unit and instruction transmission unit convert digital signal for the manipulation intention of trainer and are transmitted to server.
In system the parameter and its characteristic of each ROV all in accordance with actual measurement ROV material object data and be arranged, and system is by root
The trendy ROV of exploitation is continuously replenished to improve database according to actual needs, each user can root in collaborative simulation training process
Operation training is carried out according to the ROV needed in selected data library.
Monitoring management end by system program to physical computing module, data conversion module, scenario building module, data and
Scene synchronization module integration processing, is output to live display terminal for operation interface, simulating scenes and operational feedback, makes to train
Personnel can carry out subscriber loops in vision, the sense of hearing, tactile；
Data and scene synchronization module need while guaranteeing the timely responding to property and change of the virtual scene of each display terminal
Change consistency, including event are consistent consistent with attribute, i.e., when the model attributes of virtual scene in a console terminal become
When change or a certain event occur, guarantee that same attribute change and event change occur in the virtual scene of other terminals in time,
With guarantee the coordinative coherences of all terminals with cooperate with accuracy；
In order to guarantee the real-time synchronization of data and scene, using " event-attribute is hybrid " co-architecture, which is used
The mode of " state computation-upload-broadcast ", terminal first in the execution logic of local computing user's operation signal, obtain in scene
The attribute status value of each model, state value is uploaded onto the server, and is carried out processing integration by server and then is broadcast to each
A terminal, then the state value obtained from server is acted on into the object module in local scene by terminal, as a result, each terminal
Model in scene is substantially to change the same time, guarantees that each trainer can perceive other terminals in synchronization
Operation and process.
Multitask is realized using the ROV coorinated training analogue system of above-mentioned multitask, polygonal color, the ROV of polygonal color is assisted
Same training method, this method the following steps are included:
S1, initial setting up: according to actual needs, task case and ROV model are selected；The actual needs includes participating in
Trained number, the skillset for needing to strengthen and the matched simulated environment of difficulty；
S2, into teaching pattern: according to selected task case, goal task is divided into several subtasks by system,
And optimum operation process is shown to each trainer in the form of animation；
S3, into operation mode: complete instructional objective to all trainers, open training mission, carry out the phase in task
Between, each cooperating personnel carry out information interchange by voice system, and system will adjust operation according to real-time condition and guide,
It is shown in console terminal to each operator；
S4, into evaluation model: after the completion of all subtasks, the operation data of each operating side of system statistics, reference
Evaluation is made in preset interpretational criteria, the operation performance of rehearsal situation and each operating side to entire task, and evaluation is to divide
The form of value provides；
S5, evaluation model is exited, complete training process information is integrated, data packet is stored into.
This method supports more people to simultaneously participate in coorinated training；The task type for supporting training includes the spy of underwater three dimensional terrain
Survey, the monitoring of aquatic organism, the cutting of immersed body and salvaging etc.；Support ROV simulator carry sensor include with tool
Multi-beam imaging sonar, underwater high-definition camera, underwater holder, LED illumination lamp, multifunctional motor-driven machinery hand, the sampling of accumulation object
Device etc..
Specifically, underwater scene simulation refer to established using virtual reality technology and three-dimensional vision technology it is more true to nature
ROV detects fishing platform, and underwater natural environment and biodynamic environment comprehensive are showed each terminal operation personnel.
Underwater natural environment information both includes the hydrographic informations such as flow rate of water flow, flow direction, temperature, hydraulic pressure, transparency, brightness,
It also include the scene informations such as underwater topography landforms, bottom material ingredient；Biodynamic environmental information both includes biological species, biology
The attribute informations such as quantity, bioactivity, and the motion informations such as feed are hunted including biological motion track, biology.
The setting of task case is to salvage evolution of objective by dynamic analog underwater environment, especially detection, sets task
Context information then constructs underwater three dimensional terrain including conditions such as position, state, environment in virtual three-dimensional what comes into a driver's
Detection, the monitoring of aquatic organism, the cutting of immersed body and the task types such as salvage or combinations thereof.
Under the evaluation model of S4, the management to trainer's operation intention consistency is participated in specifically is carried out according to the following steps
Method and evaluation method to its individual operations and integrated operation:
4.1, start specific task case:
It is called from the preset task packet of server and starts specific task case, task case is wanted by several completions
Point composition: task case A=< task will point AP1, task will point AP2..., task will point APn>；
Task main points are one of following types: the detection of I underwater three dimensional terrain；The monitoring of II aquatic organism density；III water
The locating and tracking of lower biology；The capture of IV aquatic organism sample；The cutting of V underwater mineral products sample of material；VI underwater minerals sample
This salvaging；The tying-up of VII underwater traction rope；
The parameter setting of task main points is as follows:
The ROV simulator of initial time trainee i manipulation is at a distance from the destination of subtask with DiIt indicates, by DiSetting
For 1 to 9 integer, the more big then distance of numerical value is remoter；
Initial time trainee i manipulation ROV simulator goes to the environment of subtask destination to influence resistance with OiIt indicates,
The influence for comprehensively considering the environmental factors such as flow direction, flow velocity, brightness, transparency, by OiIt is set as 1 to 9 integer, numerical value is got over
It is bigger that big then environment influences resistance；
The ROV manipulation skillset (movement manipulation, fishing, cutting, tying-up etc.) that trainee i is good at is appointed with to be done
The matching degree for the skillset that business needs is with AiIt indicates, by AiIt is set as 1 to 9 integer, the more big then matching degree of numerical value is higher；
(ROV movement velocity, ROV floating power, manipulator are flexible for the reinforcing type of performance for the ROV that trainee i is manipulated
Degree, manipulator job area etc.) matching degree of type of performance that needs with task to be done is with MiIt indicates, by Mi1 is set as to arrive
9 integer, the more big then matching degree of numerical value are higher；
Since all kinds of parameters of task main points are not quite identical to the influence significance level for smoothly completing task main points, case
Editorial staff determines by analysis, the property that the reinforcing type of performance for the ROV that trainee i is manipulated and task to be done need
The matching degree M of energy typeiWeight be 0.4；The ROV manipulation skillset and task needs to be done that trainee i is good at
Skillset matching degree AiWeight be 0.4；The ROV simulator and subtask purpose of initial time trainee i manipulation
The distance D on groundiWeight be 0.1；Initial time trainee i manipulation ROV simulator goes to the environment shadow of subtask destination
Ring resistance OiWeight be 0.1；
4.2, personnel depaly is determined for each task main points
According to the pre-set parameter of each task main points and each parameter to the weighing factor value of task process, wanted for each task
Point assesses the participation coefficient value of each trainee
According to coefficient value is participated in, the personnel depaly priority of each task main points is determined, realize that more people's interactive operations are intended to one
The management of cause property；
If trainee's number, which is less than task, to count, the guidance mesh of trainee is adjusted in real time according to task process situation
Mark；If trainee's number, which is greater than task, to count, according to coefficient value is participated in, carries out more wheel configurations and arrange.
It is that the completion difficulty of each generic task main points sets degree-of-difficulty factor in conjunction with actual conditions:
HⅠ=2, HⅡ=2, HⅢ=6, HⅣ=6, HⅤ=5, HⅥ=3, HⅦ=4；
It is directed to the personnel depaly that each task main points determine according to selected case and system, in conjunction with solid in task case
The completion sequence of some task main points, determines the fit system of trainee, fit system is divided into two kinds in parallel and serial, if
The target of two trainees will put task while carry out, then the fit system of the two is parallel connection, if the mesh of two trainees
Mark will put task and successively carry out, then the fit system of the two is series connection；
When the fit system between task main points is cooperation in parallel, the operation of each trainee of completion task main points is participated in
Quality base score value is identical, takes mean value；When the fit system between task main points is series connection cooperation, completion task main points are participated in
The operation quality base score value of each trainee is unaffected.
In addition, as follows to trainee's individual and whole operation evaluation method:
Step 1: it carries out simulated training and records data:
Each trainee carries out in-site modeling training, the task that trainee i is completed in training according to selected case A
Main points are respectively AP1-APk, the completion degree-of-difficulty factor of each task main points is respectivelyThe personnel complete each task and want
Point time be respectively
The trainee's sum for participating in case A is x, completes task case A to consume total duration to be t；
In system server preset task packet, the corresponding preset time of each task main points of case A is respectivelyIt is X that task case A, which presets participation number, and the default total duration that consumes of task case A is T；
Step 2: individual operations evaluation:
In the training that this chooses case A, the operation quality Result of trainee iiAre as follows:
In formula, n represent trainee i completion task will point APkWhen with the fit system of other n-1 trainee be
Parallel connection cooperation；
Step 3: integrated operation evaluation:
In formula, the integrated operation quality Result value of this group of trainer is bigger, then the mating capability of this group of trainer
It is stronger；Numerical value is smaller, then mating capability is weaker.
Since this coorinated training analogue system is related to the detection of the underwater three dimensional terrain, monitoring of aquatic organism density, underwater
Locating and tracking, the capture of aquatic organism sample, the cutting of underwater mineral products sample of material, the underwater minerals sample of biology are beaten
Fishing, the multiclass task case such as tying-up of underwater traction rope or combinations thereof, are only introduced by taking the salvaging of underwater minerals sample as an example below
The implementation of entire coorinated training.
Task case: more ROV coorinated training processes of case are salvaged based on underwater minerals sample.
Stage one: task Case retrieval and the setting of underwater situational context
Certain polygonal color ROV coorinated training shares 4 personnel and participates in, and is denoted as A, B, C, D.The task case selected is underwater
Minerals sample is salvaged.
The ROV model parameter such as table 1 that each role is configured
| Personnel | It is equipped with ROV model | Abbreviated functional description |
| A | H800 | 8 propellers, at most load 30Kg |
| B | H300V | 6 propellers, at most load 15Kg |
| C | H300V | 6 propellers, at most load 15Kg |
| D | ROVING BAT | Mechanical crawler belt, powerful, five-function electric manipulator |
Underwater situational context parameter setting such as table 2
| Case parameter | Parameter value | Explanation |
| Flow rate of water flow | 0.5(m/s) | Flow rate of water flow is set as 0.5m/s |
| Flow direction | 60° | Target direction and water (flow) direction angle are set as 60 ° |
| Temperature | 6(℃) | Underwater environment temperature setting is 6 DEG C |
| Hydraulic pressure | P=ρ * g*h (Pa) | The hydraulic pressure of underwater different depth is set as P |
| Brightness | 2000(cd/m2) | Time is set as 5 PM, brightness 2000cd/m in water2 |
| Transparency | 3(m) | Underwater sighting distance is set as 3m |
Stage two: trainer, which operates, is intended to coherency management
The information of initialization: the performances such as power, load, manipulator of 4 ROV that trainer A, B, C, D are manipulated；Respectively
The proficiency of trainer's manipulation ROV；Each trainer is influenced by environmental resitance；Each ROV initial position is away from job position
Distance.
It is detection salvaging target conditions by underwater minerals sample salvaging Task-decomposing, determine salvaging tying-up point, salvages rope
Tying-up, collaboration take object float, fixed point launch etc. subtasks, according to initialization information to trainer operate be intended to consistency into
Row management.
For each subtask, determines each participation coefficient value for participating in trainer, specify the sequence of operation.
Stage three: tasks clear divides and system guides teaching
It is intended to coherency management based on the operation to each personnel for participating in training, underwater salvage task is divided into following
4 subtasks:
Task 1: target conditions are salvaged in detection, manipulate ROVING BAT type underwater robot dive to target location by D
The data such as position, shape, the density of minerals sample to be salvaged are estimated in domain, and determine best salvaging rope tying-up point and take
Object floating path.
Task 2: according to the prepared salvaging plan of D, A, B, C tri- is that operator manipulates ROV arrival designated position respectively,
And complete to salvage the tying-up of rope under the assistance of D.Live display terminal gives tying-up process real-time exhibition to each operator, and is
Each operator provides guides auxiliary in real time.
Task 3:A, B, C manipulate ROV collaboration in virtual environment and carry minerals sample floating according to the commander of D, according to
Fixed route reaches fishing net release position.Object return is taken on the way in collaboration, the minerals sample that D whole process carries 3 ROV and tying-up
This state is monitored, and conveys operation adjustment instruction to A, B, C by voice system in real time, it is ensured that minerals sample is suitable
Benefit is carried to specified release position.
Task 4: under the commander of D, A, B, C manipulate three ROV and carry minerals sample to specified release position, simultaneously
It controls ROV release and salvages rope, salvage objects are thrown in fishing net, complete this collaboration salvaging task under water.
For each subtask, system server will be that each operator carries out guide teaching by display terminal, in each association
After making the clearly respective task object of personnel and operating process, start to do exercises under battle conditions.
Stage four: underwater salvage combat training
It is divided and is planned according to assigned tasks, each operator manipulates affiliated ROV and does exercises under battle conditions.In task process,
Task termination includes three types: 1. salvaging task and goes on smoothly, underwater minerals sample is smoothly salvaged and is thrown to fishing
In net；2. each operator cooperates with fault in taking object return trip, causes minerals sample to slide, repeatedly cause ROV back and forth
Energy consumption is excessive, the automatic terminated task of system；3. operator can not effective tying-up minerals sample, decide termination in its sole discretion and salvage and appoint
Business.
If the task of salvaging can smoothly complete, it is trained effect assessment；If the task of salvaging is terminated automatically by system, display is eventually
The playback of salvaging process is showed each trainer by end, and for its behavior of observation in the training process, reinforcing edge is made up not
Foot；If operator's self termination salvages task, which terminates.
Stage five: it salvages process playback and is evaluated with training effect
Multitask, polygonal color ROV coorinated training analogue system the Salvage Training process of trainer is recorded, from
And basic data is provided for operation evaluation, training effect can also be checked by three-dimensional scenic playback.Principal statistical parameter packet
Include it is each complete main points execute the time, the accuracy of tying-up point, each operator collaborative effect and timeliness.
This underwater minerals sample Salvage Training effect assessment such as table 3
According to the assessment result of underwater minerals sample Salvage Training, in this available polygonal color ROV coorinated training
The actuated quality evaluation Result of each traineriWith integrated operation quality evaluation Result.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.
Claims (8)
1. the ROV coorinated training analogue system of a kind of multitask, polygonal color, it is characterised in that: this system is by server, monitoring pipe
Reason end and multiple console terminals are formed by LAN connection；Wherein,
Server is for storing Various types of data packet, being arranged, being called, by Various types of data consolidated statement in the form of dynamic simulation
Reveal and, provide the outpost display of real-time simulation scene and ROV state for trainer, persistently receives the finger of trainer's input
It enables, and instruction is handled, be stored as new emulation data, control history emulates data, provides in real time most for trainer
Excellent operation instruction；
Monitoring management end optimizes and manages to server for being monitored to the operational process of entire training system；
Console terminal receives three-dimensional artificial scene and the real-time shape of the ROV manipulated by combined display screen for trainer
State information, and by rocker actuator, speed adjusting device and operation handle device in virtual scene ROV and its configuration tool
Carry out manipulation of physical, input instruction；
The server includes:
Data packet, including basic data packet, preset task packet, historic task packet, basic data packet is for storing simulated environment letter
Breath and ROV parameter information, preset task packet for store different types of task case and task start after may derived from
Secondary task case, historic task packet is for storing history Simulation Training data；
Data conversion module, the data of other modules in each console terminal of integrated treatment and server, as needed to all kinds of
Data are converted and are transmitted；
Scenario building module, for constructing three-dimensional artificial scene, including arrange flow rate of water flow, flow direction, temperature, pressure, brightness and
Transparency；
Physical computing module, the mechanically actuated for calculating simulation trainer is to the ROV's being accordingly manipulated in virtual scene
The change of physical state, movement velocity, the direction of motion, present position and manipulator form including simulated target ROV；
Data and scene synchronization module, various state changes instruct other in virtual scene when for guaranteeing each trainer operation
The consistency for practicing personnel is shown, realizes the Real-Time Sharing of the multidate information in multi-person synergy interactive process；
Task management module, for calling data packet, by secondary task case derived from task case and possibility with dynamic simulation
Form show, provide task process information and operation instruction in real time for trainer, and safeguard the operation of trainer
Statistical data；
Statistical appraisal module, it is quasi- referring to preset evaluation according to the accuracy of the operational order of trainer in the training process
Then, task result is made and objectively evaluates.
2. the ROV coorinated training analogue system of multitask according to claim 1, polygonal color, it is characterised in that: described
Console terminal includes:
Instruction input terminal, including command input device, instruction acquisition equipment, instruction resolution unit and instruction transmission unit；Refer to
Enabling input equipment is that information exchange or multiple trainers progress information friendship are carried out between Support Training personnel and computer system
The main device of stream further includes keyboard, mouse, ear including the rocker actuator, speed adjusting device and operation handle device
Machine and microphone, the rocker actuator and operation handle device are used to operate the movement and manipulation that ROV carries out 6DOF
The manipulator of ROV equipment；The operation that instruction acquisition equipment is used to input trainer is digital signal by sensor transformation；
Instruction resolution unit is for being analyzed and processed digital signal, then by instructing transmission unit to be transferred to server；
Live display terminal is made of multiple electronic displays, for by three-dimensional virtual environment information, the task in training process
Progress information and ROV status information show trainer in real time, and system programming count after training is tested and assessed
Evaluation result is shown.
3. the ROV coorinated training analogue system of multitask according to claim 1, polygonal color, it is characterised in that: data and
Scene synchronization module is specifically used for while guaranteeing the timely responding to property and variation consistency of the virtual scene of each console terminal,
It is consistent consistent with attribute including event, i.e., when the model attributes of virtual scene in a console terminal change or a certain thing
When part occurs, guarantee that same attribute change and event change occur in the virtual scene of other terminals in time, it is all to guarantee
The coordinative coherence of terminal with cooperate with accuracy；
In order to guarantee the real-time synchronization of data and scene, using " event-attribute is hybrid " co-architecture, which uses " shape
The mode of state calculating-upload-broadcast ", console terminal first in the execution logic of local computing user's operation signal, obtain scene
In each model attribute status value, state value is uploaded onto the server, processing integration is carried out by server and then is broadcast to every
One console terminal, then the state value obtained from server is acted on to by console terminal the target mould in local scene
Type, the model in each console terminal scene is exactly to change the same time as a result, guarantees each trainer in same a period of time
Carve the operation and process that can perceive other console terminals.
4. the ROV coorinated training realized using the ROV coorinated training analogue system of multitask described in claim 1, polygonal color
Method, it is characterised in that: this method the following steps are included:
S1, initial setting up: according to actual needs, task case and ROV model are selected；The actual needs includes participating in training
Number, need the skillset strengthened and the matched simulated environment of difficulty；
S2, into teaching pattern: according to selected task case, goal task is divided into several subtasks by system, and with
The form of animation shows optimum operation process to each trainer；
S3, into operation mode: complete instructional objective to all trainers, open training mission, during task carries out, respectively
Cooperating personnel carry out information interchange by voice system, and system will adjust operation according to real-time condition and guide, and control
Platform terminal processed is shown to each operator；
S4, into evaluation model: after the completion of all subtasks, the operation data of each operating side of system statistics, referring to default
Interpretational criteria, the operation performance of rehearsal situation and each operating side to entire task makes evaluation, and evaluation is with score value
Form provides；
S5, evaluation model is exited, complete training process information is integrated, data packet is stored into.
5. ROV coorinated training method according to claim 4, it is characterised in that: the task case is complete by several
Form at main points: task case A=< task will point AP1, task will point AP2..., task will point APn>；
Task main points are one of following types: the detection of I underwater three dimensional terrain, the monitoring of II aquatic organism density, III underwater life
The locating and tracking of object, the capture of IV aquatic organism sample, the cutting of V underwater mineral products sample of material, VI underwater minerals sample
It salvages, the tying-up of VII underwater traction rope；
The parameter setting of task main points is as follows:
The ROV simulator of initial time trainee i manipulation is at a distance from the destination of subtask with DiIt indicates, by Di1 is set as to arrive
9 integer, the more big then distance of numerical value are remoter；
Initial time trainee i manipulation ROV simulator goes to the environment of subtask destination to influence resistance with OiIt indicates, it is comprehensive
The influence for considering the environmental factors such as flow direction, flow velocity, brightness, transparency, by OiBe set as 1 to 9 integer, numerical value more it is big then
It is bigger that environment influences resistance；
The matching degree of the ROV manipulation skillset that trainee i is good at and the skillset that task to be done needs is with AiTable
Show, by AiIt is set as 1 to 9 integer, the more big then matching degree of numerical value is higher；
The matching degree for the type of performance that the reinforcing type of performance for the ROV that trainee i is manipulated and task to be done need is with Mi
It indicates, by MiIt is set as 1 to 9 integer, the more big then matching degree of numerical value is higher；
Since all kinds of parameters of task main points are not quite identical to the influence significance level for smoothly completing task main points, case editor
Personnel determine by analysis, the performance class that the reinforcing type of performance for the ROV that trainee i is manipulated and task to be done need
The matching degree M of typeiWeight be 0.4；The ROV manipulation skillset that trainee i is good at and the skill that task to be done needs
The matching degree A of energy typeiWeight be 0.4；The ROV simulator of initial time trainee i manipulation and subtask destination
Distance DiWeight be 0.1；Initial time trainee i manipulation ROV simulator goes to the environment of subtask destination to influence resistance
Power OiWeight be 0.1.
6. ROV coorinated training method according to claim 5, it is characterised in that: determine personnel for each task main points
It configures as follows:
According to the pre-set parameter of each task main points and each parameter to the weighing factor value of task process, for each task main points,
Assess the participation coefficient value of each trainee
According to coefficient value is participated in, the personnel depaly priority of each task main points is determined, realize that more people's interactive operations are intended to consistency
Management；
If trainee's number, which is less than task, to count, the guiding target of trainee is adjusted in real time according to task process situation；
If trainee's number, which is greater than task, to count, according to coefficient value is participated in, carries out more wheel configurations and arrange.
7. ROV coorinated training method according to claim 6, it is characterised in that: difficult for the completion of each generic task main points
Degree setting degree-of-difficulty factor:
HⅠ=2, HⅡ=2, HⅢ=6, HⅣ=6, HⅤ=5, HⅥ=3, HⅦ=4；
H is degree-of-difficulty factor, under be designated as the task main points of corresponding types；
It is directed to the personnel depaly that each task main points determine according to selected case and system, in conjunction with intrinsic in task case
The completion sequence of task main points, determines the fit system of trainee, fit system is divided into two kinds in parallel and serial, if two
The target of trainee will put task while carry out, then the fit system of the two is parallel connection, if the target of two trainees is wanted
Point task successively carries out, then the fit system of the two is series connection；
When the fit system between task main points is cooperation in parallel, the operation quality of each trainee of completion task main points is participated in
Basic score value is identical, takes mean value；When the fit system between task main points be series connection cooperation when, participate in completion task main points respectively by
The operation quality base score value of instruction personnel is unaffected.
8. ROV coorinated training method according to claim 7, it is characterised in that: the S4 is specifically included:
4.1, it carries out simulated training and records data:
Each trainee carries out in-site modeling training, the task main points that trainee i is completed in training according to selected case A
Respectively AP1-APk, the completion degree-of-difficulty factor of each task main points is respectivelyThe personnel complete each task main points
Time is respectively
The trainee's sum for participating in case A is x, completes task case A to consume total duration to be t；
In system server preset task packet, the corresponding preset time of each task main points of case A is respectively
It is X that task case A, which presets participation number, and the default total duration that consumes of task case A is T；
4.2, individual operations are evaluated:
In the training that this chooses case A, the operation quality Result of trainee iiAre as follows:
In formula, n represent trainee i completion task will point APkWhen with the fit system of other n-1 trainee be it is in parallel
Cooperation；
4.3, integrated operation is evaluated:
In formula, the integrated operation quality Result value of this group of trainer is bigger, then the mating capability of this group of trainer is stronger；
Numerical value is smaller, then mating capability is weaker.
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