Simulation Of Remotely Operated Vehicle Based On Vortex

Underwater robot is a new tool for exploring the exploration of the oceans.ROV regardless of the depth of dive,life or operating capacity are ahead of other ways,but its high cost,difficult to operate,and even drivers will lead to improper operation of the hidden dangers.The development of the ROV simulation driving platform allows the driver to operate the ROV in a virtual reality environment so that the driver can not only truly understand and perceive the operational requirements and operating procedures,learn operational procedures,safety awareness,but also rehearse underwater operations,Evaluate the feasibility of the program.This article focuses on ROV simulation platform technology,from the following aspects:First of all,the actual investigation of the ROV operating system,developed the ROV simulation platform for the overall architecture design and functional planning,the dynamic calculation system and the visual system to do a detailed analysis and research;the simulation of the functional planning of the module The software development environment based on C ++ programming language,Creator modeling software,Vortex software and OSG graphics engine is demonstrated.The hardware development of distributed simulation system is determined.Secondly,the hydrodynamic experiments of the ROV model are designed and implemented.The model of the reduction is made by VPMM and LAHPMM.The hydrodynamic tests are carried out,and the hydrodynamic coefficients are measured.Then,the ROV The dynamic model of the body,the manipulator,the cable coupling,the current disturbance and the collision response is simplified,and the items with small interference are simplified and the efficiency of the dynamic solution is improved.Once again,the use of Creator software and Vortex software to establish a simulation with the visual model and physical model,post-binding synchronous movement;use C ++ language development Vortex software hydrodynamic plug-in;use Python language to achieve logic control;Finally,the dynamic performance of the simulation platform is analyzed,including the thrust generator output process of the propeller,the typical motion state of the ROV,the dynamic performance of the manipulator,the corresponding force,trajectory and velocity analysis of the collision.