CN115294853A - Intelligent unmanned ship experiment system combining virtuality and reality - Google Patents
Intelligent unmanned ship experiment system combining virtuality and reality Download PDFInfo
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Abstract
The invention discloses an intelligent unmanned ship experiment system combining virtuality and reality, and relates to the technical field of unmanned ship experiments; the unmanned ship aims to solve the problem that a worker cannot conveniently observe and record the navigation conditions of the unmanned ship in different water areas under different conditions along with the unmanned ship; the system specifically comprises a physical experiment system for physical experiments, a virtual experiment system for virtual experiments, a communication module for data information exchange and transmission and a control module for controlling the operation of the experiment system, wherein the physical experiment system and the virtual experiment system are respectively in communication connection with the communication module, and the control module is in communication connection with the communication module. According to the invention, a worker can clearly see the navigation condition of the simulated ship in the virtual experiment scene only through the corresponding display, and can know the navigation condition of the simulated ship constantly without following the specific experimental ship, so that the operation efficiency of the unmanned ship experiment system is improved.
Description
Technical Field
The invention relates to the technical field of unmanned ship experiments, in particular to an intelligent unmanned ship experiment system combining virtuality and reality.
Background
With the development of unmanned ship technology, the unmanned ship has a great utilization value in the aspects of military affairs, aquaculture, scientific research and the like, and is comprehensively expanded to the fields of economy, scientific research and the like. With the vigorous development and huge application prospect of unmanned ships, higher requirements are required to be put forward on the unmanned ships and new problems are met. The unmanned ship experiment is the most effective means for solving the problem of the unmanned ship, and the unmanned ship experiment platform becomes a carrier for replacing the experiment of the physical ship due to the advantages of less investment, short period and the like.
Through retrieval, a patent with the Chinese patent application number of CN201410470436.7 discloses a design method of an unmanned ship experimental platform and a fluid dynamic parameter identification method, the method firstly establishes an unmanned ship system model, then deduces an unmanned ship fluid dynamic equation according to an unmanned ship kinematic model and a dynamic model, applies an extended Kalman filtering method to identification of unmanned ship fluid dynamic parameters, and establishes the unmanned ship experimental platform, but because the experimental water area is often large when the unmanned ship is tested, a worker inconveniently follows the unmanned ship to observe and record the navigation conditions of the unmanned ship in various water areas under different conditions, an intelligent unmanned ship experimental system combining a virtual simulation experimental system and a physical experimental system is urgently needed, and the worker can comprehensively and conveniently observe the experimental data of the unmanned ship through the virtual simulation experimental system under the condition of verifying the real and effective experimental data.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an intelligent unmanned ship experiment system combining virtuality and reality.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent unmanned ship experiment system combining virtuality and reality comprises a real object experiment system for performing a real object experiment, a virtual experiment system for performing a virtual experiment, a communication module for performing data information exchange and transmission and a control module for controlling the operation of the experiment system, wherein the real object experiment system and the virtual experiment system are respectively in communication connection with the communication module, and the control module is in communication connection with the communication module;
the physical experiment system comprises an experiment ship, a physical experiment platform and a sensing module, and the virtual experiment system comprises an emulation ship, a virtual experiment scene, a virtual scene construction module and an experiment data analysis processing module.
Preferably, the following components: the physical experiment platform comprises a waterway unit for carrying out navigation experiment on the experimental ship, a barrier unit arranged in the waterway unit, a weather simulation unit and a water flow velocity control unit for adjusting the flow velocity of the waterway unit.
Further: the virtual scene building module builds a simulation ship in the computer system according to the actual size of the experiment ship, and then builds a virtual experiment scene according to the sizes of the waterway unit and the barrier unit in the physical experiment platform.
Further preferred is: the sensing module comprises a navigation data monitoring unit for detecting the state of the experimental ship during navigation and an experimental condition data monitoring unit for monitoring experimental environment data in the physical experiment platform in real time.
As a preferable aspect of the present invention: and the experimental data analysis processing module analyzes and processes the data detected by the navigation data monitoring unit and the experimental condition data monitoring unit during the experiment to obtain an experimental detection report.
Further preferred as the invention: the communication module is in data communication with the physical experiment system in a wireless signal transmission mode and is in communication connection with the virtual experiment system through a wired network and a wireless network; the control module controls the test ship to sail in the physical experiment platform in a wireless network and wireless signal transmission mode, meanwhile, the control module sends a corresponding control signal to the virtual experiment system through the communication module, and the virtual experiment system controls the simulation ship to complete actions corresponding to the test ship in a virtual experiment scene according to the signal.
As a still further scheme of the invention: the navigation data monitoring unit comprises a speed sensor for monitoring the navigation speed of the experimental ship, a collision sensor for monitoring whether the experimental ship collides with the barrier unit during navigation, a gyroscope sensor for monitoring the position and posture of the experimental ship during navigation in the waterway unit and a remote positioning sensor for positioning the experimental ship in real time.
On the basis of the scheme: the experimental condition data monitoring unit comprises a water flow velocity meter for monitoring the flow velocity of water flow in the waterway unit, a rainfall sensor for monitoring rainfall around the waterway unit, an air speed sensor for monitoring the air speed around the waterway unit and a liquid level sensor for monitoring the water depth of the waterway unit in real time.
On the basis of the scheme, the following steps are preferred: the material object experiment system comprises a monitoring module, wherein the monitoring module is arranged on a corresponding experiment ship and used for monitoring and snapshotting the experiment ship in an experiment.
The invention has the beneficial effects that:
1. the staff not only can control the experiment ship that corresponds to navigate in the experiment platform in kind according to the water route unit through control module, can also navigate in the virtual experiment scene corresponding with the experiment platform in kind through the emulation ship among the communication module control virtual experiment system, experimental data analysis and processing module can show the experimental data after receiving and analyzing simultaneously, let the staff only need can be clear see the navigation condition that the emulation ship simulated the experiment ship in virtual experiment scene through the display that corresponds, need not to follow specific experiment ship and can know its navigation condition constantly, unmanned ship experiment system's operating efficiency has been improved.
2. The water route unit can be open-air brook, artifical ditch etc. of building, the barrier unit can be pasture and water, reef, trees etc. can cause the things of influence to boats and ships navigation, the weather simulation unit accessible carries out forms such as artificial rainfall simulation rainy day around the water route unit, can set up extreme weather such as fan cooperation artificial rainfall simulation heavy wind rainstorm in water route unit both sides corresponding position simultaneously, thereby let the experimental system can detect unmanned ship's navigation condition under different environment.
3. Experiment data when navigation data monitoring unit navigates the test ship through the sensor of multiple installation on the test ship is gathered, and through communication module with these navigation data transmission to experiment data analysis processing module, this module is according to received data, control emulation ship and make corresponding displacement in virtual experiment scene, thereby let the emulation ship can be real simulate out the situation of test ship navigation in the experiment platform in kind, let the staff pass through the virtual experiment scene on the display screen, can judge the actual navigation condition of test ship according to the data that experiment data analysis processing module provided.
4. The experiment condition data monitoring unit can monitor the navigation environmental conditions around the experimental ship in real time, and transmit the data to the experiment data analysis processing module, the module judges the navigation performance of the experimental ship after various weather conditions, water depth, water flow velocity and obstacle collision according to the data detected by the navigation data monitoring unit and the experiment condition data monitoring unit, and therefore whether the experimental ship has the capability of unmanned driving and completing established tasks under the complex environmental conditions is judged.
5. When the staff observed the navigation data of emulation ship through virtual experiment system and appeared unusually, can observe the true experimental environment around the experimental ship through the monitoring module of installation on the experimental ship to what problem has appeared when the fast judgement experimental ship was voyaged, thereby the mode that combines through virtuality and reality carries out data monitoring and gathers the various problems that appear in the navigation experiment of experimental ship more efficient.
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Fig. 1 is a schematic structural diagram of an intelligent unmanned ship experimental system combining virtuality and reality according to the present invention.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
Example 1:
an intelligent unmanned ship experiment system combining virtuality and reality is shown in figure 1 and comprises a real experiment system for real experiment, a virtual experiment system for virtual experiment, a communication module for data information exchange and transmission and a control module for controlling the operation of the experiment system, wherein the real experiment system and the virtual experiment system are respectively in communication connection with the communication module, and the control module is in communication connection with the communication module;
the physical experiment system comprises an experiment ship, a physical experiment platform and a sensing module, and the virtual experiment system comprises an emulation ship, a virtual experiment scene, a virtual scene construction module and an experiment data analysis processing module.
The physical experiment platform comprises a waterway unit for carrying out navigation experiment on the experimental ship, an obstacle unit arranged in the waterway unit, a weather simulation unit and a water flow velocity control unit for adjusting the flow velocity of the waterway unit;
the virtual scene construction module constructs a simulation ship in the computer system according to the actual size of the experiment ship, and then constructs a virtual experiment scene according to the sizes of the waterway unit and the barrier unit in the physical experiment platform;
the sensing module comprises a navigation data monitoring unit for detecting the state of the test ship during navigation and an experiment condition data monitoring unit for monitoring experiment environment data in the physical experiment platform in real time;
the experimental data analysis processing module analyzes and processes the data detected by the navigation data monitoring unit and the experimental condition data monitoring unit during the experiment to obtain an experimental detection report;
the communication module is in data communication with the physical experiment system in a wireless signal transmission mode and is in communication connection with the virtual experiment system through a wired network and a wireless network; the control module controls the test ship to navigate in the physical experiment platform in a wireless network and wireless signal transmission mode, meanwhile, the control module sends a corresponding control signal to the virtual experiment system through the communication module, and the virtual experiment system controls the simulation ship to complete the action corresponding to the test ship in a virtual experiment scene according to the signal;
the navigation data monitoring unit comprises a speed sensor for monitoring the navigation speed of the test ship, a collision sensor for monitoring whether the test ship collides with the barrier unit during navigation, a gyroscope sensor for monitoring the position and posture of the test ship during navigation in the waterway unit and a remote positioning sensor for positioning the test ship in real time;
the experimental condition data monitoring unit comprises a water flow velocity meter for monitoring the flow velocity of water flow in the waterway unit, a rainfall sensor for monitoring rainfall around the waterway unit, an air speed sensor for monitoring the air speed around the waterway unit and a liquid level sensor for monitoring the water depth of the waterway unit in real time;
the working personnel can control the corresponding experimental ship to sail in the physical experiment platform according to the waterway unit through the control module, can also control the simulation ship in the virtual experiment system to sail in the virtual experiment scene corresponding to the physical experiment platform through the communication module, and meanwhile, the experimental data analysis and processing module can display the received and analyzed experimental data, so that the working personnel can clearly see the sailing condition of the simulation ship in the virtual experiment scene through the corresponding display, can know the sailing condition of the simulation ship constantly without following the specific experimental ship, and the operating efficiency of the unmanned ship experiment system is improved;
the water route unit can be open-air brook, artifical ditch etc. of building, and the barrier unit can be water grass, reef, trees etc. can cause the things of influence to boats and ships navigation, and the weather simulation unit accessible carries out forms such as artificial rainfall around the water route unit and simulates rainy weather, can set up extreme weather such as fan cooperation artificial rainfall in water route unit both sides correspondence position simultaneously and simulate strong wind rainstorm to let the experimental system can detect unmanned ship's navigation condition under different environment.
The navigation data monitoring unit collects experimental data of the experimental ship during navigation through various sensors arranged on the experimental ship, and transmits the navigation data to the experimental data analysis processing module through the communication module, and the module controls the simulation ship to make corresponding displacement in a virtual experimental scene according to the received data, so that the simulation ship can truly simulate the navigation situation of the experimental ship in a physical experimental platform, and a worker can judge the actual navigation situation of the experimental ship according to the data provided by the experimental data analysis processing module through the virtual experimental scene on the display screen; the experiment condition data monitoring unit can monitor the navigation environmental conditions around the experimental ship in real time, and transmit the data to the experiment data analysis processing module, the module judges the navigation performance of the experimental ship after various weather conditions, water depth, water flow velocity and obstacle collision according to the data detected by the navigation data monitoring unit and the experiment condition data monitoring unit, and therefore whether the experimental ship has the capability of unmanned driving and completing established tasks under the complex environmental conditions is judged.
This embodiment is used: a worker firstly constructs a simulation ship virtual model through a virtual scene construction module according to the specific size of a test ship and corresponding virtual reality software, then constructs a corresponding virtual experiment scene according to a corresponding real experiment platform, then corresponding sensors and detectors are installed at corresponding positions on the test ship and the real experiment platform, the test ship is placed on a waterway unit, then the worker simultaneously controls the test ship and the simulation ship to sail in the real experiment platform and the virtual experiment scene through a control module, the sensing module can monitor the sailing state of the test ship in real time when the test ship sails, and transmits data to an experiment data analysis processing module for analysis, so that a corresponding experiment report is obtained, and meanwhile, the worker can know that the test ship is sailing situation and data on the real experiment platform through observing the virtual experiment scene on a screen and the sailing situation of the simulation ship.
Example 2:
an intelligent unmanned ship experimental system combining virtual and real, as shown in fig. 1, is modified from embodiment 1 as follows: the material object experiment system comprises a monitoring module, wherein the monitoring module is arranged on a corresponding experiment ship and used for monitoring and snapshotting the experiment ship in the experiment.
This embodiment is when using, when the staff observed the navigation data of emulation ship through virtual experiment system when unusual, can observe the real experimental environment around the experimental ship through the monitoring module of installation on the experimental ship to what problem has appeared when the fast judgement experimental ship is voyage, thereby carry out data monitoring and gathering to the various problems that the experimental ship appeared in the experiment of sailing through the mode that virtuality and reality combines more efficient.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. An intelligent unmanned ship experiment system combining virtuality and reality comprises a real object experiment system for real object experiment, a virtual experiment system for virtual experiment, a communication module for data information exchange and transmission and a control module for controlling the operation of the experiment system, and is characterized in that the real object experiment system and the virtual experiment system are respectively in communication connection with the communication module, and the control module is in communication connection with the communication module;
the physical experiment system comprises an experiment ship, a physical experiment platform and a sensing module, and the virtual experiment system comprises an emulation ship, a virtual experiment scene, a virtual scene construction module and an experiment data analysis processing module.
2. The intelligent unmanned ship experiment system of claim 1, wherein the physical experiment platform comprises a waterway unit for sailing the experiment ship, an obstacle unit arranged in the waterway unit, a weather simulation unit and a water flow rate control unit for adjusting the flow rate of the waterway unit.
3. The intelligent unmanned ship experiment system based on virtual-real combination of claim 1, wherein the virtual scene construction module constructs a simulated ship in the computer system according to the actual size of the experiment ship, and then constructs the virtual experiment scene according to the sizes of the waterway unit and the obstacle unit in the physical experiment platform.
4. The virtual-real combined intelligent unmanned ship experiment system of claim 1, wherein the sensing module comprises a navigation data monitoring unit for detecting the state of the experiment ship during navigation and an experiment condition data monitoring unit for monitoring experiment environment data in the physical experiment platform in real time.
5. The virtual-real combined intelligent unmanned ship experiment system of claim 1, wherein the experiment data analysis processing module analyzes and processes data detected by the navigation data monitoring unit and the experiment condition data monitoring unit during the experiment to obtain an experiment detection report.
6. The virtual-real combined intelligent unmanned ship experiment system of claim 1, wherein the communication module is in data communication with the physical experiment system in a wireless signal transmission manner, and is in communication connection with the virtual experiment system through a wired or wireless network; the control module controls the test ship to sail in the physical experiment platform in a wireless network and wireless signal transmission mode, meanwhile, the control module sends a corresponding control signal to the virtual experiment system through the communication module, and the virtual experiment system controls the simulation ship to complete actions corresponding to the test ship in a virtual experiment scene according to the signal.
7. The intelligent unmanned ship experiment system of claim 5, wherein the sailing data monitoring unit comprises a speed sensor for monitoring the sailing speed of the test ship, a collision sensor for monitoring whether the test ship collides with the obstacle unit during sailing, a gyroscope sensor for monitoring the pose of the test ship during sailing in the waterway unit, and a remote positioning sensor for positioning the test ship in real time.
8. The virtual-real combined intelligent unmanned ship experiment system of claim 5, wherein the experiment condition data monitoring unit comprises a water flow velocity meter for monitoring the flow velocity of water in the waterway unit, a rainfall sensor for monitoring the rainfall around the waterway unit, an air velocity sensor for monitoring the air velocity around the waterway unit and a liquid level sensor for monitoring the water depth of the waterway unit in real time.
9. The virtual-real combined intelligent unmanned ship experiment system of claim 1, wherein the real object experiment system comprises a monitoring module, and the monitoring module is arranged on a corresponding experiment ship and is used for monitoring and capturing an experiment ship in an experiment.
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| CN113238556A (en) * | 2021-05-14 | 2021-08-10 | 西北工业大学 | Water surface unmanned ship control system and method based on virtual reality |
| CN114446106A (en) * | 2022-01-20 | 2022-05-06 | 大连海事大学 | Virtual-real fusion test evaluation method for autonomous navigation capacity of unmanned ship and practical training teaching platform |
| CN114721298A (en) * | 2022-06-09 | 2022-07-08 | 中国海洋大学 | Virtual simulation control system of small unmanned ship |
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- 2022-08-29 CN CN202211038371.XA patent/CN115294853A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040113887A1 (en) * | 2002-08-27 | 2004-06-17 | University Of Southern California | partially real and partially simulated modular interactive environment |
| CN113120186A (en) * | 2020-01-16 | 2021-07-16 | 广州幻境科技有限公司 | Unmanned ship testing method and system based on virtual reality |
| CN111240226A (en) * | 2020-01-19 | 2020-06-05 | 智慧航海（青岛）科技有限公司 | Simulation test system and method for shipborne visual perception equipment |
| CN111409788A (en) * | 2020-04-17 | 2020-07-14 | 大连海事大学 | Unmanned ship autonomous navigation capability testing method and system |
| CN113238556A (en) * | 2021-05-14 | 2021-08-10 | 西北工业大学 | Water surface unmanned ship control system and method based on virtual reality |
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