CN207704684U - A kind of manned underwater vehicle simulation system - Google Patents
A kind of manned underwater vehicle simulation system Download PDFInfo
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- CN207704684U CN207704684U CN201720937486.0U CN201720937486U CN207704684U CN 207704684 U CN207704684 U CN 207704684U CN 201720937486 U CN201720937486 U CN 201720937486U CN 207704684 U CN207704684 U CN 207704684U
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Abstract
The utility model is related to a kind of manned underwater vehicle simulation systems, including manned underwater vehicle emulation ontology, data simulation platform and vision emulation system, and it is interconnected by high speed Ethernet exchange machine between each system, manned underwater vehicle emulation ontology includes overall appearance size, indoor environment and the operating system consistent with real ship simulating the real structure of flood dragon manned underwater vehicle；For the data simulation platform to generate the sensing detecting data acquired in flood dragon manned underwater vehicle various kinds of sensors, the cabin controlling system to emulate ontology provides the digital environment of an emulation；The vision emulation system is based on the seabed real image captured by flood dragon manned underwater vehicle dive, submarine hydrothermal solution spout behaviour area, seamount range area sea basin polymetallic nodules distributed area three classes seabed emulation visual environment are built by computer modeling, and movement and transformation that the movement instruction of cabin controlling system realizes seabed what comes into a driver's can be passed through.
Description
Technical field
The utility model is related to a kind of simulation system more particularly to a kind of simulation systems of manned underwater vehicle.
Background technology
Manned underwater vehicle refers to by carrying personnel's driver behavior, there is life to support mating and auxiliary system, have underwater
The removable diving outfit of work capacity.Manned underwater vehicle cannot be only used for underwater test, it may also be used for underwater geology and geomorphology and
The work purposes such as resource exploration, Undersea Scientific Expedition, underwater project construction, underwater rescue, at present in China deep-sea geology, life
Important function has been played in the scientific investigation in the fields such as object and seabed resources exploration.Manned underwater vehicle is as a kind of safe efficient
Underwater carrying platform, aquanaut can be carried, engineers and technicians or scientist carry out underwater operation activity.
Manned underwater vehicle dive personnel mounted and manned underwater vehicle water surface commanding are required to by system
Training, the training of aquanaut are to grasp manipulation and the operation skill of manned submersible under normal conditions first, the marine instruction of real ship
White silk is extremely important and essential；However marine real ship training needs large ship and other corollary equipments, and marine manipulation
Training needs to select suitable sea area, and cycle of training is long, and the training of deep diving reality ship once spends hundreds thousand of nearly million yuan easily；Meanwhile
Manned deep diving needs a large amount of frequent manipulate to train, and can not estimate by real ship training manpower and materials, cannot achieve long-term
Low-cost high-efficiency training.
There has been no the riding manipulation simulators or simulation system researched and developed for manned underwater vehicle at present, thus need proposition one
Kind scheme provides Important Platform to improve the manned underwater vehicle reality ship operating technology technical ability of aquanaut and related personnel.
Utility model content
The utility model in view of the deficiencies in the prior art, proposes a kind of manned underwater vehicle simulation system, is used for mould
Quasi- manned underwater vehicle, indoor environment, operation data and seabed what comes into a driver's are combined, and are the land simulation training of manned underwater vehicle aquanaut
Instruction provides required technical equipment.
The utility model realized using technical solution below, a kind of manned underwater vehicle simulation system, including is passed through
Manned underwater vehicle emulation ontology, vision emulation system and the data simulation platform of Ethernet switch interconnection；It is described manned latent
Hydrophone emulation ontology controls to simulate in the real structure of flood dragon manned underwater vehicle, including simulation shell, manned capsule and cabin
System；The vision emulation system passes through meter based on the seabed real image captured by flood dragon manned underwater vehicle dive
Calculation machine modeling structure seabed emulate visual environment, and by the movement instruction of cabin controlling system realize seabed what comes into a driver's movement with
Transformation；The data simulation platform is to generate the sensing detecting data on flood dragon manned underwater vehicle acquired in sensor
Manned underwater vehicle emulates the digital environment that ontology cabin controlling system provides an emulation.
Further, the manned underwater vehicle emulation ontology further includes the operation system being connected respectively with cabin controlling system
System is seen and leads to simulation system, underwater sound communication simulation system and life support simulation system, and manned capsule front is provided with observation
Window；The operating system includes sampling basket, manipulator, simulation propeller, simulation load rejection mechanism and hydraulic power source；Described see leads to mould
Quasi- system includes video monitoring system in camera shooting lighting apparatus and cabin；The underwater sound communication simulation system includes underwater sound communication in cabin
Computer, simulation underwater sound telephone, microphone and speaker；It includes oxygen system model in cabin that the life, which supports simulation system, spare
Oxygen system model, carbon dioxide filter out tank model, indoor environment monitoring panel model, life support display and control panel model and
Emergency respiratory mask model.
Further, the cabin controlling system includes that navigation controls analog module and comprehensive aobvious control analog module, and institute
State navigation control analog module, comprehensive aobvious control analog module passes through Ethernet and underwater sound communication simulation system, vision emulation system
It is connected with numeral simulation analysis.
Further, the vision emulation system includes annular projection's column curtain, the high-performance meter being arranged in front of observation window
Calculation machine work station and graphics acceleration card, the projection unit and electron sea artwork that training region what comes into a driver's is set to real-time display
Block；The electronic chart module generates and shows simulation manned underwater vehicle relative to the position of lash ship, submersible in geodetic coordinates
The posture of position, submersible in system（Including course, depth, trim, height, speed, collision prevention etc.）, submersible is relative to operation
The position of target, and according to location data generate analog temperature, salinity, depth, height, cabin internal control is sent to low speed degrees of data
System processed；It includes according to flood dragon that high-performance computer work station calls what comes into a driver's information, the what comes into a driver's information according to electronic chart module
The digitlization seabed that the seabed video recording of dragon manned underwater vehicle shooting makes emulates what comes into a driver's data, and what comes into a driver's information accelerates by figure
Annular projection's column curtain is projected to after card operation by projection unit to be shown.
Further, annular projection's column curtain is more than 120 degree of seamless spliced column curtains of 5m using radius, can cover manned
Cabin observation window absolute visual field.
Further, the data simulation platform includes the impeller system digital simulation mould being connected with cabin controlling system
Block, hydraulic system digital simulation module, ballast and trim regulating analog module and battery system digital simulation module；It is controlled in cabin
System receive electronic chart module send manned underwater vehicle location data and according to location data generate analog temperature, salinity,
Depth, height, to low speed degrees of data；The impeller system digital simulation module is receiving the boat of manned capsule internal operating system
Row operation handle controlled quentity controlled variable simultaneously generates simulation propeller electric current and feedback data accordingly, while according to manned underwater vehicle kinetic simulation
Type calculates manned underwater vehicle analog rate and acceleration information；The hydraulic system digital simulation module is generating manned diving
Device emulates simulation hydraulic system pressure, electric current and the tank temperature data of ontology；The ballast is used with trim regulating analog module
The simulation ballast throwing load instruction of ontology and front and back mercury liquid level trim regulating sensing data are emulated to generate manned underwater vehicle；It is described
Battery system digital simulation module to the main storage battery of simulated diving device system, secondary battery, standby battery voltage with
Current data.
Further, the data simulation platform further includes manned underwater vehicle Mishap Database, by controlling above-mentioned data
Change modeling manned underwater vehicle related system failure occur and fault recovery, the fault message that the Mishap Database includes
Including：The raw Variable Conditions of time of failure, failure triggering, failure are related to the when m- numerical value of variable list, involved variable
Variation and Failure elimination condition.
Further, the data simulation platform realizes that data interaction, interaction content include with cabin controlling system：It is manned
Submersible geodetic coordinates position, manned underwater vehicle posture and movement velocity, manned underwater vehicle shifting ballast system data, submersible
Depth, height, CTD data, life-support system data in cabin, anticollision sonar data, submersible battery current voltage energy consumption,
Lash ship position, lash ship movement velocity, submersible are with respect to lash ship position data.
Compared with prior art, it is with good effect the advantages of the utility model：
The utility model proposes manned underwater vehicle simulation system, combine manned underwater vehicle drive with control simulation skill
The crucial skill of the series such as art, seabed operation process simulation technology, catastrophic failure analogue technique and abyssal environment visual simulation technology
It is imitative to form a set of body construction, indoor environment, deep-sea what comes into a driver's, work flow, failure response, material object, half material object and number for art
The global function multitask dynamic simulator system really combined, may be implemented that submersible hangs in water from, dive operation is recycled to deck
Whole process drives provides required technology assembly and software system with operation simulation for the land simulation training of manned underwater vehicle aquanaut
System, the basic manipulation training means before being manipulated as aquanaut's reality ship may be repeated manipulation training, simulated training expense
Low, safe, exploitativeness is strong.
Description of the drawings
Fig. 1 is simulation system functional block diagram described in the utility model embodiment.
Specific implementation mode
In order to which the above objects, features, and advantages of the utility model are more clearly understood, below in conjunction with the accompanying drawings and
Embodiment is described further the utility model.
The present embodiment discloses a kind of manned underwater vehicle simulation system, with reference to figure 1, including manned underwater vehicle emulation ontology, number
According to emulation platform and vision emulation system, and interconnected by high speed Ethernet exchange machine between each system, it is described manned latent
Hydrophone emulates ontology simulating the real structure of flood dragon manned underwater vehicle, include the overall appearance size consistent with real ship,
Indoor environment and operating system；The data simulation platform is obtained to generate each subsystem sensor of flood dragon manned underwater vehicle
The sensing detecting data taken, the cabin controlling system to emulate ontology provide the digital environment of an emulation；The vision simulation
System builds seabed heat based on the seabed real image captured by flood dragon manned underwater vehicle dive, by computer modeling
Liquid spout behaviour area, seamount range area sea basin polymetallic nodules distributed area three classes seabed emulate visual environment, and can be by cabin
The movement instruction of control system realizes the movement and transformation of seabed what comes into a driver's.
The technologies such as vision emulation system, data simulation platform construction involved in the present embodiment at present modularization and compared with
It is common, vision emulation system, data simulation system involved in the present embodiment are commercially available integrated chip, part in the present embodiment
Description limits product or parts with function module, but there is no comprising the improvement to computer program itself, is proposed
The mode for being related to computer processing data disclose already in the prior art, and be known in the art common sense.In the present embodiment,
One new submersible simulation system is formed by vision emulation system, data simulation platform etc., simulation system protection is to be
The connection relation of the circuit configurations of system, the circuit configurations is whole according to the respective purpose of each function module of description and the system
Body purpose is all to determine, form a set of body construction, indoor environment, deep-sea what comes into a driver's, work flow, failure response, material object,
The whole simulation of submersible may be implemented in the half global function multitask dynamic simulator system in kind combined with Digital Simulation, can be real
Shi Xingqiang.
The realization of concrete scheme is as follows：
One, manned underwater vehicle emulates ontology：
The manned underwater vehicle emulation ontology that the present embodiment proposes includes simulation shell, manned capsule, cabin controlling system, and
It supports to simulate with operating system, the logical simulation system of sight, underwater sound communication simulation system and the life that cabin controlling system is connected respectively
System.
1）, simulation shell：Lower supporter is sat including main frame, emulation light shell, emulation stabilizer and emulation, carrier frame is
The skeleton of submersible, the main frame carry out light-weight design, and main frame structure is built in the form of steel material welding, full
The installation of foot emulation body part, support load-bearing and transport hang requirement, and the emulation light shell uses high-strength engineering plastic system
Make, the stabilizer is made and consistent stabilizer in kind of wood materials；The manned capsule front is provided with observation window, sees
It examines window to be made of organic glass, including a diameter of 200 millimeters of observation window and two observations for 120 millimeters of diameter
Window.
2）, manned capsule be sphere structure that internal diameter is 2.1m, made by the titanium alloy material of 78mm, the top of manned capsule is set
Set the access hatch of also a diameter of 480mm.The front lower portion in manned capsule is arranged in observation window, and is also set in the rear lower of manned capsule
Set there are one cable penetration unit disk, be laid out in cabin it is almost the same with flood dragon manned underwater vehicle, including cabin internal wiring case, holder,
Deflector, seat, operation console, VHF, loudspeaker, aobvious control computer, display, light and video recorder etc. in cabin；Use telephone
Instead of underwater sound telephone, realize that the simulation of phonetic function, observation window are made of organic glass, the wherein observation of 200 millimeters of diameter
Window 1, the observation window that 120 millimeters of diameter 2 keep internal diameter 2.1m constant, using 10mm or so in simulating manned capsule spherical shell
The steel plate punched of thickness is at two hemisphere, then is welded into a whole spherical shell, and access hatch is consistent with actual size, is welded to phase
Position is answered, then a hatch board is set, is formed and consistent access hatch structure in kind.Flight operations hand is provided in manned capsule
Handle, control panel, comprehensive aobvious control computer, navigation control computer, underwater sound communication computer, Underwater Camera and camera are aobvious
Show device and its operation handle, in conjunction with manned capsule spherical shell, simplifies hatch board, cabin inner support, deflector, seat, operation console, floor energy
Enough form an indoor environment consistent with true flood dragon manned underwater vehicle manned capsule；
3）, cabin controlling system：Including navigation control analog module and comprehensive aobvious control analog module, the two passes through Ethernet
It is connected with underwater sound communication simulation system, vision emulation system and numeral simulation analysis.
The navigation controls analog module to realize acquisition and the control function of control device signal, and will be collected
Information be supplied to comprehensive aobvious control analog module；Navigation control analog module is that manned underwater vehicle realizes that skimulated motion and simulation are navigated
The system of row control, the major function simulated includes movement hand behaviour, automatic orientation control, automatic fixed high control, automatic fixed
Functions, the specific implementation such as deep control, unpowered dive and floating, station keeping are by manipulating control panel realization in manned capsule
The motion control of submersible and gesture stability are completed submersible cruise, observation and are made using tool, the instrument etc. on submersible
The purpose of industry.In order to reproduce operation conditions of the manned underwater vehicle in ocean, navigation control analog module by data-interface to
Vision emulation system sends submersible motion control data, and being based on kinematical equation by the vision emulation system carries out manned diving
The simulation of device exercise data resolves, and by resolving the irregular wave spectral density function under different marine environment, it is each to calculate submersible
Coordinate space component motion obtains the position in operational process and posture, and is real-time transmitted to navigation control by data-interface
Simulation system realizes movement simulation of the manned underwater vehicle in ocean.
For navigation control analog module mainly by software systems and hardware system, hardware system includes that navigation control calculates
Interchanger, hardware interface device etc. in machine, cabin, software systems mainly realize mission planning and bottom control algorithm and it is virtual and
The control function of entity hardware device, and its hardware signal transmission device RS-232 serial servers, RS-485/422 serial ports take
The type selecting for device, I/O Node Controllers and the I/O modules of being engaged in is consistent with real ship control system equipment type selecting, simulates management system
There is data interface protocol between training command system, carries out submersible movement, the feedback of state of a control and commander's instruction, failure
Generate the transmission of the information such as instruction.The control information of manned underwater vehicle emulation ontology is obtained from navigation control computer, by navigating by water
Control computer control command control simulation propeller generates motive force, according to arrangement of the simulation propeller on manned underwater vehicle
Position, can be in the hope of the thrust allocation matrix of manned underwater vehicle, and then manned underwater vehicle is dynamic in thrust matrix, ocean current and fluid
Its current position and posture can be calculated under the action of mechanics, according to its position and posture, virtual various navigation
Feedback information is sent to navigation control computer by sensor, sonar sensor and other sensors, is completed a job and is followed
Ring continues next working cycles, runs in cycles.
The aobvious control analog module of the synthesis is the interface of signalman personnel and the information interchange of cabin controlling system, operation
Member obtains submersible, lash ship, the working conditions such as power tool by the interface, the comprehensive display ＆ control system by Ethernet with lead
The locating module that navigates is connected, the every terms of information of real-time display submersible.Specifically include sensor information detection module, information processing with
Fusion Module, presentation of information and alarm module, Diagnosis and Analysis module, electrical equipment operation and detection module are electrically set
Standby control module and data recordin module；Sensing in the sensor information detection module manned capsule outer sensor group and manned capsule
Device group, manned capsule outer sensor group include realizing the leakage report of simulation propeller electric current or rotating speed, CTD data, each autoclave
It warns, the compensation of filling type container is alarmed, the operating pressure of mercury liquid level, variable ballast tank liquid level, hydraulic system
With return pressure, hydraulic system temperature, various electrical equipment temperatures, ballast release conditions, 110V supply voltages and electric current, 24V
The various kinds of sensors of the sensor informations such as supply voltage and electric current, backup battery voltage and electric current detection；Manned capsule inner sensor
Group includes realization course, trim, heel, speed, 3 axial accelerations, angular speed, angular acceleration, temperature, humidity, two in cabin
It aoxidizes the sensor informations such as concentration of carbon, oxygen concentration and detects various kinds of sensors；Presentation of information and alarm module include integrated information
Display screen, the display panel to sound-light alarm and battery parameter display panel, the intergrated information display screen is according to behaviour's ship
Pattern is shown, and shows the function manipulation key with display pattern setting with page-turnable；The electrical equipment operation and inspection
The operation panel that module is equipped with various equipment is surveyed, is responsible for detection operation panel operation information, and operating result real-time Transmission is given
Cabin controlling system；The electrical equipment control module control signal driving electrical equipment running, according to drive signal type point
For output switch parameter and adjustable analog output, and it is equipped with corresponding driving circuit as needed.
4）, operating system：Including sampling basket, manipulator, simulation propeller, simulation load rejection mechanism and hydraulic power source；It is described
It simulates propeller and carries out design of Simulation with reference to flood dragon object construction, mainly by motor, accurate planetary reducer and spacing spiral
Slurry composition, simulation propeller control signal by ± 5v classes and carry out rate control, and 7 are equipped with altogether on 7000 meters of manned underwater vehicles
A propeller is four stern propellers, two vertical thrusters and a lateral conduit thruster respectively, they are collectively formed
The propulsion system of 7000 meters of manned underwater vehicles provides power for 7000 meters of manned underwater vehicles；The manipulator includes master-slave mode machine
The power of tool hand and switching regulator manipulator, hydraulic power source is not less than 10kw, and hydraulic power source, manipulator and its facilty design reference
Flood dragon manned underwater vehicle operating system designs, and in conjunction with practical deep diving operation experience, is influenced by deep-sea extreme environment, and matchmaker is driven
Jie's hydraulic pressure oil nature will can also be affected with depth, temperature change, hydraulic power source and related executing agency, especially manipulator
Operation response will occur slowing down or delay phenomenon；The variation of these operating environments by directly affect aquanaut operation stability,
Accuracy reduces sampling operation, the success rate that test measures, therefore is instructed by simulating like environment, equipment variations by land
Practice the adaptability that aquanaut is directed to varying environment, also functions to the effect of certain psychological training.
5）, see lead to simulation system：Including video display ＆ control system in photography and vedio recording lighting apparatus and cabin, a land is specifically included
Upper high definition camera, two holder, two land high clear colorful video cameras, 14 with level and two rotational freedoms of pitching
The land headlamps of platform LED, four tunnels input hard disk video recorder；Break through simulation manned capsule system development, deep sea manned submersible operation
The key technologies such as simulation form the manned underwater vehicle ontology model consistent with flood dragon physical form, use with the real ship of flood dragon number
For the principle of template, simplify internal unit and installation；Emulation light shell or buoyant material cover invisible part and are not set in installation
All standing is realized in standby model, outside.
6）, underwater sound communication simulation system：Including underwater sound communication computer, simulation underwater sound telephone, microphone and speaker, cabin in cabin
Outer depth measurement side scan sonar model, anticollision sonar model, imaging sonar model and ultra-short baseline transponder model.Underwater acoustic communication set meter
Calculation machine is developed a set of underwater sound communication simulation softward, is passed through using the underwater sound communication system of current flood dragon manned underwater vehicle as prototype
The underwater acoustic channel of Ethernet transmission simulation flood dragon underwater sound communication system, while developing the mould consistent with genuine interface visual effect
Intend interface, realizes original function, ensures that original button position and color are constant, realize submersible simulation system manned capsule and the external world
The contents such as voice, image, word, Morse code, submersible status data transmission.Simulation underwater sound telephone passes through wireless speech
Intercom system simulates the backup underwater voice communication system function of the real ship of flood dragon number.Microphone and speaker are as voice signal in cabin
Voice signal input and output are completed in man-machine interface.
7）, life support simulation system：In simulation manned capsule cabin is realized by being installed on the Air conditioner air exchange hole near floor
Interior air exchange, therefore life supports simulation system only to reflect its physical location consistent with real ship and shape by model, specifically
Including：Oxygen system model, spare oxygen system model, carbon dioxide filter out tank model, indoor environment monitoring surface template die in cabin
Type, life support display and control panel model, emergency respiratory mask model.
The simulated diving device frame and light shell for the manned underwater vehicle emulation that the present embodiment proposes can be formed one with it is true
The consistent emulation manned underwater vehicle of real flood dragon manned underwater vehicle appearance；The aobvious control computer of synthesis in manned capsule can be real-time
Receive submersible position data, athletic posture data and hydraulic system, the power train that simultaneously display data emulation platform is sent out
It unites, the analogue data of life-support system, the display and hard disk video recorder in manned capsule can be realized to image on emulation ontology
The display and storage of the recorded picture of machine, video recorder, and simulation underwater sound communication system in manned capsule and underwater sound telephone can divide
Wired call that Shi Xian be with external control stand and wireless communication.The design of ontology, Ke Yishi are emulated according to the manned underwater vehicle
Operation simulation in existing cabin, propeller rotation simulation, video camera simulation, lighting simulation, master-slave manipulators operation simulate,
Switching regulator manipulator abandons the functions such as simulation, ballast desertion functional simulation, and operation and control is flexible, and training is more convenient.
Two, vision emulation system：
The vision emulation system includes 120 degree of annular projection's column curtains, high-performance computers being arranged in front of observation window
Work station and graphics acceleration card, the projection unit and electronic chart module that training region what comes into a driver's is set to real-time display；Institute
Electronic chart module is stated to generate and show simulation manned underwater vehicle relative to the position of lash ship, submersible in earth coordinates
Position, submersible posture（Including course, depth, trim, height, speed, collision prevention etc.）, submersible is relative to operative goals
Position, and according to location data generate analog temperature, salinity, depth, height, to low speed degrees of data be sent in cabin control be
System；It includes according to flood dragon number that high-performance computer work station calls what comes into a driver's information, the what comes into a driver's information according to electronic chart module
The digitlization seabed that the seabed video recording of manned underwater vehicle shooting makes emulates what comes into a driver's data, and what comes into a driver's information is transported by graphics acceleration card
Annular projection's column curtain is projected to after calculation by projection unit to be shown.Wherein, annular projection's column curtain is more than 5m using radius
120 degree of seamless spliced column curtains, manned capsule observation window absolute visual field can be covered.
In specific design, the technology realization of vision emulation system considers submersible motion mathematical model and deep-sea ring
Border visual simulation system.Submersible motion mathematical model applied hydrodynamics and spatial kinetics algorithm consider submersible in first
Plate prepares, lays recycling, water filling dive, dive throwing load, the navigation of nearly bottom, the operation that lands, throws to carry and make a return voyage, drain floating, recycling first
The variation of associ-ated motion parameters under the different motions working condition such as plate establishes deep water six degrees of freedom equation of motion and approximately level six certainly
By the degree equation of motion, using high-performance computer work station, equation of motion solution is carried out using fourth order Runge-Kutta algorithm, is realized
The Real-time solution of the various athletic posture numerical value such as submersible sails through in abyssal environment, turns round, pitch movements, and each movement point
Numerical quantity is real-time transmitted to visual display, master control platform.
Deep-sea visual simulation system Combining with technology of virtual reality, graphics technology, 3 D stereo what comes into a driver's are generated and are reproduced
Technology generates the interactive simulation environment that operating personnel can be made for example on the spot in person, and realizes operator and seabed 3 D stereo
The direct natural interaction of what comes into a driver's；Abyssal environment visual simulation system can simulate manned underwater vehicle and be operated in smooth bottom environment and answer
Miscellaneous environments such as subsea, and by the spatial movement of the real-time dynamic change of three-dimensional vision reproduction manned underwater vehicle, realize in deep-sea ring
The realistic looking representation of the performances such as direct route, revolution, pitch movements in border.The high brightness stereopsis that abyssal environment visual simulation technology is equipped with
Scape system can provide the high fidelity seabed virtual scene in multiple hands-on tasks for operator, and aquanaut is made such as to come to personally
Deep-sea drives the feeling for device of diving.
Abyssal environment visual simulation system is for abyssal environments feature and bathyscaphs such as deep-sea geology and geomorphology, interior wave, underflows
Kinetic characteristic carries out high realism virtual scene three-dimensional modeling, seabed special geomorphology such as deep-sea hydrothermal vent, abyssopelagic organism, cobalt
The virtual special efficacy of crust etc. is realized, is built based on seamount, is aided with the virtual depth of paddy, trench, the cliff of displacement, smooth bottom and ocean current etc.
Extra large three-dimensional vision database and electronic chart module build the seamless spliced three-dimensional vision system of high brightness wide visual field corner post curtain, real
The real time information that computer is now resolved with latent device motion model exchanges, and drives three-dimensional vision system to be responded with real-time synchronization and operate
The operation of personnel gives feeling on the spot in person, reaches to which realistic simulation manned underwater vehicle is in the movement of Six-freedom-degree space
To the purpose of training.
Specifically in the training process, training-sea area, setting training subject, setting system event are selected by master control platform coach
Barrier, monitoring aquanaut training, record training data etc., master control platform sets the what comes into a driver's channel that a viewpoint can change, and makes coach
The movement of entire manned underwater vehicle emulation ontology can be observed.It is completely the same that manned underwater vehicle emulates ontology outfit manned underwater vehicle
Commanding apparatus and control system, aquanaut by these equipment realize and system real-time, interactive, and will control and manipulation letter
Breath is real-time transmitted to six-freedom motion model, and the six-freedom motion number of module real-time resolving submersible is resolved by motion model
According to.Three-dimensional vision system manipulates information etc. according to six-degree-of-freedomovement movement data and manipulator, and real-time synchronization updates seabed virtual field
Scape, to the response that dynamic reappears the spatial movement of manned underwater vehicle in real time and system operates operating personnel.
Vision emulation system equipment described in the present embodiment sets up that simple, consumptive material expense is low, and with practical diving process without
Difference, normalization, interactivity and the property immersed of vision emulation system are high, contribute to the training to operator.
Three, data simulation platform：
The data simulation platform includes the impeller system digital simulation module being connected with cabin controlling system, hydraulic pressure system
System digital simulation module, ballast and trim regulating analog module, battery system data module；The impeller system data module
To receive flight operations handle controlled quentity controlled variable in cabin and generate simulation propeller electric current and feedback data accordingly, while according to manned
Submersible power plant model calculates manned underwater vehicle analog rate and acceleration information；The hydraulic system digital simulation module is used
To generate the simulation hydraulic system pressure and current data that manned underwater vehicle emulates ontology；The ballast simulates mould with trim regulating
Block is generating simulation ballast and the trim regulating sensing data that manned underwater vehicle emulates ontology；The battery system data module
To generate simulation main storage battery, secondary battery, the voltage of standby battery and the current data of emulation main body system；And it will be upper
It states total data and is sent to cabin controlling system.
In addition, in order to improve simulated training effect, the data simulation platform further includes manned underwater vehicle Mishap Database
And module occurs for simulated failure, is occurred and event by controlling the failure of change modeling manned underwater vehicle related system of above-mentioned data
Barrier restores, and the fault message that the Mishap Database includes includes：The raw Variable Conditions of time of failure, failure triggering, event
Barrier is related to the when m- numerical value change and Failure elimination condition of variable list, involved variable.Module occurs for the simulated failure
In the design process, the content of failure and its source are analyzed first, and classification simulation is carried out according to fault type, specifically
By summarizing the failure that occurred in application process of flood dragon manned underwater vehicle, sorting out when failure occurs may be by
Device, the component of influence carry out functional restraint so that simulation is manipulated when system is simulated and generates failure to related function module
Control system can be true to nature reproduction failure.Simulated failure occurs module and receives the failure life generated according to Mishap Database first
It enables, by virtual data generation technique, generates the random detection information more than respective threshold, be sent at navigation control computer
Reason is completed the update of man-machine interface fault message, and according to flood dragon failure Producing reason and its performance, is set to correlation execution
The feedback response of standby executive condition and sensor, which is made, reasonably shuts down, and simultaneously fault status information is sent in real time
Vision emulation system and command centre answer to complete the linkage of whole operation simulating system failure, to grasp start-up's failure
The case where anxious operation.
Data simulation platform described in the present embodiment based on the operation data of true submersible, make under water by simulated diving device
Various kinds of sensors data variation during industry, and can be triggered in failure and manned dive is simulated by numerical value change under elimination instruction
The failure and its recovery situation that hydrophone training system occurs.
The above descriptions are merely preferred embodiments of the present invention, is not to make other forms to the utility model
Limitation, any person skilled in the art is changed or is modified as possibly also with the technology contents of the disclosure above equivalent
The equivalent embodiment of variation is applied to other fields, but every without departing from the content of the technical scheme of the utility model, according to this reality
With novel technical spirit to any simple modification, equivalent variations and remodeling made by above example, it is new to still fall within this practicality
The protection domain of type technical solution.
Claims (8)
1. a kind of manned underwater vehicle simulation system, which is characterized in that include the manned underwater vehicle interconnected by Ethernet switch
Emulate ontology, vision emulation system and data simulation platform；
The manned underwater vehicle emulates ontology to simulate the real structure of flood dragon manned underwater vehicle, including simulation shell, load
People cabin and cabin controlling system；
The vision emulation system passes through calculating based on the seabed real image captured by flood dragon manned underwater vehicle dive
Machine modeling structure seabed emulates visual environment, and is connected with cabin controlling system, and the movement instruction for receiving cabin controlling system is real
The movement and transformation of existing seabed what comes into a driver's；
The data simulation platform is to generate the sensing detecting data on flood dragon manned underwater vehicle acquired in sensor, to carry
People's submersible emulates the digital environment that ontology cabin controlling system provides an emulation.
2. manned underwater vehicle simulation system according to claim 1, it is characterised in that：The manned underwater vehicle emulates ontology
Further include the operating system being connected respectively with cabin controlling system, see and lead to simulation system, underwater sound communication simulation system and life branch
Simulation system is held, and manned capsule front is provided with observation window；
The operating system includes sampling basket, manipulator, simulation propeller, simulation load rejection mechanism and hydraulic power source；
Described see leads to simulation system including imaging video monitoring system in lighting apparatus and cabin；
The underwater sound communication simulation system includes underwater sound communication computer in cabin, simulation underwater sound telephone, microphone and speaker；
The life supports that simulation system includes that oxygen system model in cabin, spare oxygen system model, carbon dioxide filter out tank
Model, indoor environment monitoring panel model, life support display and control panel model and emergency respiratory mask model.
3. manned underwater vehicle simulation system according to claim 2, it is characterised in that：The cabin controlling system includes boat
Row control analog module and comprehensive aobvious control analog module, and navigation control analog module, comprehensive aobvious control analog module pass through
Ethernet is connected with underwater sound communication simulation system, vision emulation system and numeral simulation analysis.
4. manned underwater vehicle simulation system according to claim 2 or 3, it is characterised in that：The vision emulation system packet
Include annular projection's column curtain, high-performance computer work station and the graphics acceleration card being arranged in front of observation window, projection unit and
The electronic chart module of training region what comes into a driver's is set to real-time display；
The electronic chart module generates and shows sea-bed area coordinate setting data where simulation manned underwater vehicle emulation ontology
And analog temperature is generated according to location data, salinity, depth, height, cabin controlling system, Gao Xing are sent to low speed degrees of data
Energy computer workstation calls electronic chart module what comes into a driver's information, and is projected to by projection unit after graphics acceleration card operation
Annular projection's column curtain is shown.
5. manned underwater vehicle simulation system according to claim 4, it is characterised in that：Annular projection's column curtain is using half
Diameter is more than 120 degree of seamless spliced column curtains of 5m.
6. manned underwater vehicle simulation system according to claim 1, it is characterised in that：The data simulation platform include with
Cabin controlling system connected impeller system digital simulation module, hydraulic system digital simulation module, ballast and trim regulating
Analog module and battery system digital simulation module；It is fixed that cabin controlling system receives the manned underwater vehicle that electronic chart module is sent
Position data and according to location data generate analog temperature, salinity, depth, height, to low speed degrees of data；
The impeller system digital simulation module is receiving the flight operations handle controlled quentity controlled variable of manned capsule internal operating system simultaneously
Simulation propeller electric current and feedback data are generated accordingly, while manned underwater vehicle mould is calculated according to manned underwater vehicle kinetic model
Quasi- velocity and acceleration data；
The hydraulic system digital simulation module to generate manned underwater vehicle emulate ontology simulation hydraulic system pressure, electric current
With tank temperature data；
The ballast and trim regulating analog module emulated to generate manned underwater vehicle ontology simulation ballast throw carry instruction with
Front and back mercury liquid level trim regulating sensing data；The battery system digital simulation module to simulated diving device system main storage
Battery, secondary battery, the voltage of standby battery and current data.
7. manned underwater vehicle simulation system according to claim 6, it is characterised in that：The data simulation platform further includes
Manned underwater vehicle Mishap Database, the fault message that the Mishap Database includes include：Time of failure, failure occur
Variable Conditions, failure are related to the when m- numerical value change and Failure elimination condition of variable list, involved variable.
8. manned underwater vehicle simulation system according to claim 7, it is characterised in that：In the data simulation platform and cabin
Control system realizes that data interaction, interaction content include：Manned underwater vehicle geodetic coordinates position, manned underwater vehicle posture and movement
Speed, manned underwater vehicle shifting ballast system data, submersible depth, height, CTD data, life-support system data in cabin,
Anticollision sonar data, submersible battery current voltage energy consumption, lash ship position, lash ship movement velocity, submersible are with respect to lash ship position
Set data.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107301802A (en) * | 2017-07-28 | 2017-10-27 | 国家深海基地管理中心 | A kind of manned underwater vehicle simulation system |
| CN109887369A (en) * | 2019-04-17 | 2019-06-14 | 江苏科技大学 | A kind of ship dangerous situation escape stimulating and training system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107301802A (en) * | 2017-07-28 | 2017-10-27 | 国家深海基地管理中心 | A kind of manned underwater vehicle simulation system |
| CN107301802B (en) * | 2017-07-28 | 2024-03-12 | 国家深海基地管理中心 | Manned submersible simulation system |
| CN109887369A (en) * | 2019-04-17 | 2019-06-14 | 江苏科技大学 | A kind of ship dangerous situation escape stimulating and training system |
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