Research On The Key Technology Of Underwater Vehicle's Operation Simulation Training System

Robot is the most intelligent and advanced electromechanical device,the developmental level in this field became an important standard to judge the comprehensive manufacturing capabilities of a country.The technology of Remotely Operated Vehicle(ROV)visual simulation is also an important research direction in this field.This paper is based on oil pipeline detection project,and develop a set of underwater vehicle's operation simulation training system.The system is built on Visual Studio 2010,it renders the scene with the popular OGRE graphics engine,achieves physical effects with the PhysX physics engine technology,and also takes the usage of C ++ programming language.The main contents of this paper are as follows:First of all,according to the relevant technical parameter of the Remotely Operated Vehicle(ROV),by using 3DS Max 2012 to create the geometry model of ROV and load textures.At the same time,it will perfect the details of the structure of the model aim to present a realistic model.Secondly,I would reference the dynamic model of underwater robots,and make a dynamic analysis about underwater robot and manipulator system with exponential product formula;I do set parameters to ensure the authenticity of the simulation process according to the dynamic prototype underwater robot-related motion.By using the multi-body system theory,abstract manipulator simplified model proposed multi-body segment manipulator;each body segment of the model are independent from the joint relationship of the individual structural constraints sports segment,enabling interactive manipulation manipulator emulation.From the application point of view,multi-body manipulator model is easy to implement,can make the simulation of manipulator life-like.Moreover,the underwater vehicle's operation simulation training system is based on three-dimensional virtual simulation environment to achieve.The simulation environment is divided into two parts: the geometric modeling and physical modeling.Geometric modeling section,use OGRE graphics engine to create simulation scenarios,loading and rendering geometry,using the Scene Manager manages all geometric models;physical modeling part is mainly applied PhysX physics engine technology for modeling and simulation.To build three-dimensional virtual simulation environment,is a key technology of underwater vehicle's operation simulation system.Finally,Visual Studio 2010 as a software development environment that combines OGRE graphics engine and physics engine Phys X technology programming underwater vehicle's operation simulation system.Add blur effects in particle simulation scenario,making simulation more realistic scenarios.Simulation results shows that the simulation system has the following functions: scene roaming,scene atomizing,particle fuzzing,robotic arm interactive simulating.And these functions achieved basic requirements for underwater robot operations simulation training system.The simulation system uses a modular approach to build a program framework,with a high degree of flexibility and portability,easy to follow the development process to improve functionality.