阅读说明：本技术 一种耙吸挖泥船虚拟现实仿真系统 (Drag suction dredger virtual reality simulation system ) 是由 许墅 程领骑 戴文伯 杨波 王柳艳 沈彦超 周雨淼 于 2021-07-23 设计创作，主要内容包括：本发明涉及一种耙吸挖泥船虚拟现实仿真系统。其特征在于,包括漫游模块、疏浚过程模拟模块、设备拆装模块。漫游模块用于对耙吸挖泥船的船体结构、船上疏浚设备进行教学培训；疏浚过程模拟模块用于对耙吸挖泥船的疏浚过程进行教学培训。设备拆装模块用于对耙吸挖泥船的重要疏浚设备拆装进行教学培训。基于上述耙吸挖泥船虚拟现实仿真系统,能够实现对耙吸船船体结构、重要疏浚设备拆装以及施工工艺的仿真,可提高培训的操作体验和培训效果。(The invention relates to a drag suction dredger virtual reality simulation system. The device is characterized by comprising a roaming module, a dredging process simulation module and an equipment dismounting module. The roaming module is used for teaching and training a hull structure of the trailing suction hopper dredger and dredging equipment on the dredger; the dredging process simulation module is used for teaching and training the dredging process of the trailing suction hopper dredger. The equipment dismounting module is used for teaching and training the dismounting and mounting of important dredging equipment of the trailing suction hopper dredger. Based on the drag suction dredger virtual reality simulation system, the simulation of the drag suction dredger body structure, the disassembly and assembly of important dredging equipment and the construction process can be realized, and the operation experience and the training effect of training can be improved.)

1. A drag suction dredger virtual reality simulation system is characterized by comprising a roaming module, a dredging process simulation module and an equipment dismounting module;

the roaming module is used for teaching and training a hull structure of the trailing suction hopper dredger and dredging equipment on the dredger; the roaming module displays a trailing suction ship model by using a virtual reality technology and provides interaction functions, including first person interaction and third person interaction; when the model of the important dredging equipment is selected, the system pops up the text introduction and the voice explanation of the equipment;

the dredging process simulation module is used for teaching and training the dredging process of the trailing suction hopper dredger; the dredging process simulation module displays a trailing suction ship model, ocean and seabed terrain by using a virtual reality technology, and provides an interactive function: displaying a virtual operating rod and an operating button on an interface, and controlling a vehicle, a rudder, a rake arm and a rake head of the trailing suction ship by dragging the virtual operating rod and clicking the virtual operating button; a pipeline simulation control panel is displayed on the interface, the working states of the trailing suction ship, including dredging, mud throwing and hydraulic filling, are switched by operating the control panel, and the motion of mud in the pipeline is displayed; the speed and the visual angle of the ship body can be controlled by using gestures; the voice can be used for control, and the program executes corresponding operation through dictation; simulating the technological process of sailing and dredging of the drag suction ship;

the equipment dismounting module is used for teaching and training the dismounting and mounting of important dredging equipment of the trailing suction hopper dredger; the equipment dismounting module respectively establishes models for important dredging equipment parts of the trailing suction hopper dredger and displays the models by using a virtual reality technology, binds the parts and corresponding dismounting tools, sets dismounting and mounting animations, provides an interactive function, triggers the dismounting animations when a user clicks the correct parts and tools, and simulates the dismounting and mounting of the important dredging equipment;

the roaming module, the dredging process simulation module and the equipment dismounting module run in a computer, and have two interaction modes of a desktop version and a VR version; desktop version uses display, gesture, pronunciation to interact, and the VR version uses virtual reality glasses, handheld action bars and pronunciation to interact.

2. The drag suction dredger virtual reality simulation system of claim 1, wherein the dredging process simulation module simulates dredging operation of the drag suction dredger using gesture and voice control instead of hardware devices; the visual angle is controlled by gestures, the rake placing and rake collecting operations are controlled by gestures, buttons and knobs on the dredging table are replaced by voice control, and a hydraulic system, a water sealing system, a gate valve mode, a butterfly valve mode, a large mud door and a small mud door in the Scada system are controlled by voice.

3. The drag suction dredger virtual reality simulation system of claim 1, wherein the equipment disassembly and assembly module is configured to establish a look-up table of each component and disassembly and assembly tools, each component being disassembled and assembled using a specific disassembly and assembly tool.

Technical Field

The invention relates to a simulation system, in particular to a drag suction dredger virtual reality simulation system.

Background

The drag suction dredger is one of main dredging equipment, has the functions of self-navigation, self-loading, self-unloading and the like, and is widely applied to projects such as port and channel dredging, hydraulic filling and the like. The structure, dredging mechanism and dredging process of the drag suction dredger are complex, and the equipped machines and software are professional. Dredging constructors are often difficult to master completely, and the due advantages of advanced equipment are difficult to exert. Some training can be organized by construction units, but training activities are restricted by a plurality of factors, the effect is difficult to guarantee, and the main expression is as follows: teaching and training are carried out through language description and static picture display, the description of the working principle of key equipment is abstract, and the internal structure is unclear and difficult to understand; through a teacher-band brother mode, the dredging construction process and the dredging construction process are different from person to person and can not be standardized for teaching; the real-ship drill training is limited by safety and cost, the number of times of training is small, the training period is long, and the like.

The virtual reality technology is widely applied to various industries due to the characteristics of strong immersion, multi-perceptibility, interactivity and the like. Virtual reality technology is a sharps that overcomes the problems with traditional training as described above. The invention provides a drag-suction ship simulation system (patent number: ZL201710150691.7) which simulates the operating environment of a drag-suction ship by building a circular curtain and a dredging operating platform on hardware and simulates the construction environment, the operating environment and the construction process of the drag-suction ship. The simulation system vividly simulates the operation environment of the trailing suction hopper dredger, shortens the training period of working personnel of the trailing suction hopper dredger to a certain extent, and improves the operation experience and the training effect of training. However, the apparatus is bulky, expensive and difficult to popularize.

Disclosure of Invention

In order to solve the technical problem, the drag suction dredger virtual reality simulation system is characterized by comprising a roaming module, a dredging process simulation module and an equipment dismounting module;

the roaming module is used for teaching and training a hull structure of the trailing suction hopper dredger and dredging equipment on the dredger; the roaming module displays a trailing suction ship model by using a virtual reality technology and provides interaction functions including first person interaction (simulating walking on a ship) and third person interaction (controlling a visual angle to rotate, zoom out and zoom in by taking the ship as a center). When the model of the important dredging equipment is selected, the system pops up the text introduction and the voice explanation of the equipment.

The dredging process simulation module is used for teaching and training the dredging process of the trailing suction hopper dredger; the dredging process simulation module displays a trailing suction ship model, ocean and seabed terrain by using a virtual reality technology, and provides an interactive function: displaying a virtual operating rod and an operating button on an interface, and controlling a vehicle, a rudder, a rake arm and a rake head of the trailing suction ship by dragging the virtual operating rod and clicking the virtual operating button; a pipeline simulation control panel is displayed on the interface, the working states of the trailing suction ship, including dredging, mud throwing and hydraulic filling, are switched by operating the control panel, and the motion of mud in the pipeline is displayed; the speed and the visual angle of the ship body can be controlled by using gestures; the control can be performed by using voice, and the program executes corresponding operation by dictating commands. Simulating the technological process of sailing and dredging of the drag suction ship.

The equipment dismounting module is used for teaching and training the dismounting and mounting of important dredging equipment of the trailing suction hopper dredger; the equipment dismounting module respectively establishes models for important dredging equipment parts of the trailing suction hopper dredger and displays the models by using a virtual reality technology, each part and a corresponding dismounting tool are bound, dismounting and mounting animations are set, an interaction function is provided, the dismounting animations are triggered when a user clicks the correct parts and tools, and the dismounting and mounting of the important dredging equipment are simulated.

The roaming module, the dredging process simulation module and the equipment dismounting module run in a computer, and two interaction modes of a desktop version and a VR version are provided. Desktop version uses display, gesture, pronunciation to interact, and the VR version uses virtual reality glasses, handheld action bars and pronunciation to interact.

The dredging process simulation module is characterized in that the dredging operation of the trailing suction hopper dredger is simulated by using gesture and voice control instead of hardware equipment. The visual angle is controlled by gestures, the rake placing and rake collecting operations are controlled by gestures, buttons and knobs on the dredging table are replaced by voice control, and a hydraulic system, a water sealing system, a gate valve mode, a butterfly valve mode, a large mud door and a small mud door in the Scada system are controlled by voice.

The equipment dismounting module is characterized in that a comparison table of each part and dismounting and mounting tools is established, and each part is dismounted by using a specific dismounting and mounting tool.

Has the advantages that:

based on the drag suction ship virtual reality simulation system, the simulation of the drag suction ship body structure, the disassembly and assembly of important dredging equipment and the construction process can be realized, and the operation experience and the training effect of training can be improved.

The drag suction dredger virtual reality simulation system establishes a high-precision full-dredger model according to a certain large-scale drag suction dredger, and realizes the functions of dredging process simulation, full-dredger roaming, key equipment dismounting and the like through a three-dimensional graphic engine. The virtual interaction is carried out by the operator through various interaction modes, the operator is completely integrated into the scene, and a strong immersion feeling is obtained. Effectively shorten the training period of the staffs of the trailing suction hopper dredger and improve the operation experience and the training effect of training.

Drawings

FIG. 1 is a system architecture diagram of the present invention

Detailed Description

The invention develops a set of drag suction dredger virtual reality training system, and the problems to be solved comprise: how to let a person who does not know the trailing suction hopper dredger enter the door fast: the first is to know the structure of the trailing suction hopper, the second is to know how the trailing suction hopper is constructed, and the third is to know the important dredging equipment inside the trailing suction hopper, namely teaching in three aspects.

The invention discloses a three-step training mode, which designs three modules to respectively carry out the teaching:

and the roaming module is used for enabling a student to browse all structures of the trailing suction boat in a virtual environment, walking in the trailing suction boat by using a first person perspective and browsing the whole structure of the trailing suction boat by using a third person perspective.

And the dredging simulation module is used for enabling a student to operate the trailing suction hopper dredger to carry out dredging operation in a virtual environment and learning the dredging process of the trailing suction hopper dredger.

And the equipment dismounting module is used for enabling a student to deeply know important dredging equipment on the trailing suction vessel and learn the internal structure and the dismounting method thereof.

Further, how to realize the simulation of the dredging operation of the trailing suction hopper dredger in the dredging simulation module by using the least hardware facilities. The dredging simulation module is a new interactive mode, replaces the traditional hardware equipment to carry out the dredging operation of the trailing suction dredger, combines voice control and gesture control, is separated from the hardware equipment of the dredging table, and simulates the dredging operation of the trailing suction dredger in a virtual environment.

Furthermore, the position of the equipment dismounting module can be conveniently adjusted while the first-person visual angle is used. In the process of assembling and disassembling the equipment, the dredging equipment of the trailing suction dredger has large volume, such as a dredge pump, a trailing head and the like, and the parts can be assembled and disassembled according to a correct sequence only by continuously moving the position in the process of assembling and disassembling. When the first-person perspective is used in the virtual reality environment, the operation is extremely inconvenient. The both hands use the virtual operation rod to handle and need to carry out the dismouting operation, still need to carry out the switching of position. In order to simulate the real dismounting process, the operation is required to be carried out under the first-person viewing angle. The equipment disassembly and assembly module is a new interactive mode, replaces single control of a handheld operating rod, and uses voice control to switch viewpoints. Through presetting several stations that operating personnel commonly used in the dismantlement process, use the speech control user to remove between several stations, let the operation of both hands concentrate on the dismouting of equipment.

Examples

The present embodiment needs to solve:

1. the dredging operation of the real drag suction ship is complex, a plurality of keys and operating rods are required to be operated on two control terminals, the real dredging operation is difficult to simulate through mouse and keyboard operation on a computer, and a good teaching effect cannot be achieved;

2. the trailing suction boat has a complex structure and more devices on the boat, so that even if virtual roaming is carried out in a computer, the enthusiasm of students is difficult to be mobilized, and the learning time is long;

3. various tools are needed in the process of dismounting the trailing suction boat equipment, and a student needs to learn the dismounting sequence of parts and needs to know the tools used for dismounting each part;

the embodiment provides a simulation system capable of truly showing the structure of a ship body of a drag suction ship, the disassembly and assembly process of important equipment and a construction process, provides immersive learning experience for training personnel, and improves the training effect.

The embodiment discloses a drag suction ship virtual reality simulation system, which is a computer system for teaching and displaying the drag suction ship dredging technology and comprises two parts, namely hardware and software.

The hardware part mainly comprises a computer host, a computer display, a VR helmet kit, a microphone, a sound box, a body sensing controller and the like. Wherein VR helmet kit, its characteristics must include helmet display, handheld joystick, can contain laser locator. The software part mainly completes business logic processing, visual display and man-machine interaction.

According to the classification, the hardware comprises a computer host and interactive equipment. The interactive device has two options, namely a desktop version and a VR version. The desktop version uses a computer display, mouse, keyboard, somatosensory controller and microphone for interaction. The voice recognition operation is carried out by collecting voice signals through the microphone, and the gesture recognition operation is carried out by collecting gesture signals through the somatosensory controller. In the dredging process simulation module, the navigation speed and the visual angle of the ship body can be controlled by using gestures, and the dredging operation control is carried out by using voice, so that a teacher can conveniently show the dredging process of the drag suction dredger in the teaching process. VR version virtual reality glasses and handheld action bars interact, and the student can learn in the VR version, obtains deeper understanding and memory to the trailing suction dredge dredging knowledge. An HTC Vive helmet kit may be used as a VR edition interaction device. The HTC Vive helmet kit mainly comprises a helmet display, a handheld operating rod and a laser positioner.

The software part is developed by using a three-dimensional image engine to complete visual display and human-computer interaction. The software part consists of a roaming module, a dredging process simulation module and an equipment dismounting module, provides two interaction modes of a desktop version and a VR version, and automatically switches to the corresponding interaction mode according to different hardware equipment.

And the roaming module is used for performing roaming display and equipment explanation of the trailing suction boat. The roaming display is realized based on a three-dimensional roaming function and an environment simulation function, and comprises automatic roaming and manual roaming, wherein the manual roaming performs view angle control according to a user. The visual angle control comprises two modes, namely a first person interaction (simulating the walking on a ship) and a third person interaction (controlling the visual angle to rotate, zoom out and zoom in by taking the ship as a center). The first person interaction controls the camera to move front and back, left and right and rotate according to user input, the camera always keeps a certain height with the ground, walking of a person is simulated, collision bodies are arranged on the camera and the ship body model for collision detection, and the camera is prevented from penetrating through a wall; and the third person controls the camera to rotate, zoom in and zoom out by taking the suction boat as a center according to the user input. The automatic roaming performs visual angle control according to service metadata stored in a database, namely an automatic roaming camera key point file, and the camera moves and rotates according to a preset path; the device explanation is realized based on a voice playing function and a character displaying function, character displaying and voice playing are carried out according to scene metadata, namely key device introduction characters and voice, stored in a database, and when a user selects a specific model, corresponding character displaying and voice playing are triggered. The scene database is realized in the form of a resource compression package, comprises models, maps, animations and sounds, is compressed by adopting an LZMA compression algorithm, and can be loaded when a program runs. The contents of the service database may be recorded in a program file and not stored in a separate database.

And the dredging process simulation module is used for teaching and displaying the dredging process flow of the trailing suction dredger. The dredging process simulation module is realized based on a dredging process simulation function and an environment simulation function. The dredging process simulation function is developed according to the real construction process of the drag suction dredger, and comprises rake placing, dredging, cabin entering, rake collecting, navigation, mud throwing, bow spraying and bow blowing. The state of the trailing suction hopper dredger, the terrain change during excavation and the slurry conveying process are simulated respectively.

The method uses gesture and voice control instead of hardware equipment to simulate the dredging operation process of the trailing suction vessel. The following table shows the corresponding operation of different gestures and voices. The dredging operation of the trailing suction vessel is distributed to voice and gestures for control according to a proper mode, partial operation is simplified, and a student can conveniently and quickly master the dredging process of the trailing suction vessel.

TABLE 1 Interactive operation Table

The state simulation of the trailing suction hopper dredger is divided into a plurality of links, namely rake arm movement, excavation, loading and unloading. Wherein the content of the first and second substances,

the motion simulation of the rake arm comprises the retraction and extension of a bracket A, the motion of a winch and the retraction and extension of a rake head and the rake arm;

the excavation process simulation comprises the steps of high-pressure flushing opening and closing of a drag head, movement of a drag head movable cover, control of the lowering depth of the drag head, control of the sailing speed and movement of a wave compensator, and the loading simulation process comprises cabin entering control and overflow control.

The simulation of the unloading process comprises bottom mud door mud throwing, bow blowing and bow spraying. And (4) making a three-dimensional animation according to the posture change of each part in the dredging process of the real trailing suction vessel. The three-dimensional animation is to control the model to move by setting the model orientation of the model at key time points in the moving process, and the state of the model between the key time points is obtained by interpolation. And controlling the playing of the corresponding animation according to the user operation. And setting a UI interface according to the real operating equipment of the trailing suction hopper dredger, wherein the simulated operating equipment comprises a vehicle, a rudder, a dredging operating button, an operating rod and a part of software operating interface. The dredging operation button comprises a one-key harrow placing button, a one-key harrow collecting button, a cabin entering button, a low-concentration discharging button and a left and right high-pressure flushing switch. The dredging operating rod comprises a left drag head, a right drag head, a drag center and a hanger winch retracting and releasing operating rod of a bent pipe. The software operation interface comprises a gate valve control interface, an overflow control interface and a mud throwing control interface. A user operates the UI interface by dragging the virtual operating rod and clicking the virtual operating button, and the program performs logic judgment according to the input of the user to control the model to move or play corresponding animations.

The simulation of the terrain change is divided into two parts of digging and mud throwing. And in the excavation process, the height of the terrain grid point is modified according to the position of the drag head of the drag suction ship. Simultaneously, the topography can also react to the drag head, prevents that the drag head from constantly sinking. When the drag is grounded, the points of the topographical grid that are in contact with the drag are repositioned based on the drag height. The depth of the subsidence of the terrain has a maximum value, and when the subsidence depth does not reach the maximum value, the height value of the height of the terrain grid in contact with the drag head is changed into the height value of the drag head. When the sag depth reaches a maximum, the drag head continues to be lowered without changing the drag head and the terrain height. And in the mud throwing process, the height of the terrain grid point is changed according to the bow jet mode, the bow blowing mode and the mud door position of the drag suction ship respectively.

And the mud conveying process is simulated according to the working state of the trailing suction ship, and the mud conveying in the processes of dredging, mud throwing and hydraulic filling is simulated. A ship body transparent button is arranged on the interface, and a user sets the trailing suction ship mode to be a semitransparent state after clicking, so that the user can conveniently observe the motion of slurry in the pipeline. The user controls the working state of the trailing suction dredger through a gate valve control interface and a mud throwing control interface in an operation software operation interface, and the program opens and closes different gate valves and dredging equipment according to the corresponding working state and plays different mud flow animations.

And the key equipment dismounting module is used for performing dismounting teaching and demonstration on key dredging equipment of the trailing suction vessel and is realized based on an equipment dismounting function, a three-dimensional roaming function, a voice playing function and a character display function. The development process of the equipment dismounting function comprises the following steps:

1. manufacturing a three-dimensional model of the equipment parts on modeling software, enabling each part to exist in an independent individual mode, and giving characteristic attribute information of the parts, including part names and related text introduction;

2. and establishing a comparison table of each part and the disassembling and assembling tools, wherein each part can only use a specific disassembling and assembling tool.

3. Arranging the motion trail and the motion mode of each part, a dismounting tool thereof and an auxiliary tool model during dismounting (the auxiliary tool comprises a cable, wood chips, a rubber pad and different types of hangers);

4. combining the motion tracks and motion modes of the parts and the disassembling tools thereof according to a specific disassembling sequence;

5. setting a click response function: when the correct parts and the corresponding disassembling tools are clicked according to the disassembling sequence, the model moves according to the set motion track and motion mode.

6. Two to three common stations in the process of dismounting and mounting are set for different dredging equipment, voice response keywords (viewpoint one, viewpoint two and viewpoint three) are set, and when the corresponding voice keywords are triggered, the camera moves to the position of the corresponding viewpoint.

The equipment disassembly process is simulated by 4 modes of roaming observation, disassembly practice, installation practice and automatic disassembly and assembly. The roaming observation mode is similar to the roaming in the roaming module and is divided into first person interaction and third person interaction, so that the user can conveniently and freely observe the equipment in an all-round manner. Each spare part in the user's optional sets to respectively and hides, conveniently observes equipment inner structure. The automatic dismouting mode is the study mode, and equipment dismouting animation is according to the automatic broadcast of equipment dismouting step, simultaneously, imbeds pronunciation teaching explanation content, carries out the one-to-one with pronunciation explanation content and each dismouting action sequence. The disassembly practice and assembly practice mode is a training mode, and only when a user selects the correct disassembly and assembly tool and the corresponding equipment part in the current disassembly and assembly step, the part and the disassembly and assembly tool can move in a correct mode.

The software system is structured in a layered mode and is divided into six layers, namely a metadata layer, a database layer, a graphic engine layer, a functional layer, an application layer and a presentation layer. The system architecture is shown in fig. 1. The metadata includes scene metadata and service metadata. Scene metadata, characterized by comprising 3D models, material, sound, animation, text; and the service metadata is characterized by comprising the disassembly and assembly sequence of the equipment parts and the automatic roaming path information. The metadata is stored in a database. The graphic rendering engine layer is mainly responsible for system service logic processing and is characterized by comprising model orientation control, model state control, visual angle control, sound control, special effect control, animation control and collision detection. The functional layer is mainly customized and developed specific functional items on the basis of control logic compiled by a graphic engine layer, and is characterized by comprising a three-dimensional roaming function, an equipment dismounting function, a dredging process simulation function, a voice playing function, a character display function, a trailing suction dredger state simulation function and an environment simulation function. And performing virtual disassembly and assembly practice and teaching, roaming display, dredging process display and teaching application of key equipment on the basis of the functional layer. The presentation layer is two kinds of human-computer interaction modes of desktop end and VR end, and the desktop end uses mouse, keyboard, microphone, stereo set, somatosensory controller, computer display to interact, and the VR end uses VR helmet external member.

The training system for the trailing suction hopper dredger based on the virtual reality technology is divided into a desktop version and a VR version. Can run on ordinary computer, also can use VR helmet external member to promote the operation experience. The desktop version makes things convenient for the teacher to give lessons and impart knowledge to students, and the VR version can further improve student's learning effect, satisfies many-sided demand, and is with low costs, effectual, easily popularizes.