Research On Teleoperation System Of Shipborne Marine Work Robot Based On Virtual Reality

While humans explore the ocean and develop marine resources,unmanned submersibles have become extremely critical tools,replacing manual underwater rescue,salvage,and marine operations in complex and harsh sea conditions.In actual offshore operations,when deploying and retrieving equipment through a gantry suspended shipboard stowage system,the equipment will be subject to irregular and continuous shaking along with the mother ship due to the impact of wind and waves.This will cause significant interference to fine operations such as unhooking during stowage.Currently,the problem of automatic hooking for its stowage operations has not been resolved,and it is necessary to manually descend to the sea for hooking operations,which is difficult and dangerous to operate.However,the existing methods used for auxiliary manipulators,such as teleoperation of teaching devices,teleoperation of main hands,visual measurement,and visual servo control,require high theoretical skills and operational proficiency of the manipulator.In addition,under unknown and complex operating conditions at sea,there are problems such as poor visibility and flexibility in the hooking process,camera visual occlusion,and time delay,resulting in low operational efficiency.Aiming at the difficulty of hooking up during the retraction and retraction of an unmanned underwater vehicle under severe sea conditions,a virtual reality based remote operation system for a shipborne maritime operation robot is designed.The robot is mounted on the A-type gantry of the shipborne unmanned underwater vehicle,and real-time remote operation of the robot is performed through the VR device handle,flexibly and efficiently completing the auxiliary hooking operation during the retraction and retraction of the unmanned underwater vehicle.At the same time,the virtual simulation system can also achieve offline teaching of multiple robot job scenes,and visually present and simulate the motion data and status of the robot and the working ship during remote operation.Firstly,according to the structure and function of the marine robot on board,Solid Works and 3ds Max software are used for modeling and axial transformation,and D-H parameter method is used to establish a kinematics model and perform forward and inverse kinematics analysis and solution;Using CCD inverse kinematics algorithm to achieve inverse kinematics solution of the robot;And use C# language to develop Winform window applications to establish a host computer interaction platform for robots.Secondly,the Unity3 D engine is used to simulate,build,and render different operating scenarios of shipborne maritime robots,determine the overall scheme and structural framework of the system based on functional requirements,and achieve human-computer interaction and development of various module functions through C# scripts.The system is divided into PC terminal interaction system and VR mobile terminal interaction system in terms of human-computer interaction mode;From the functional module,it is divided into three modules: offline teaching,visual simulation,and VR remote operation.The virtual simulation system realizes forward and reverse kinematics simulation and control of virtual robots,and can serve as a server for visualizing the real-time motion posture of the robot controlled by the Winform host computer.On this basis,connect VR all-in-one equipment in series,develop the interactive function of the handle,and combine human-computer interaction technology with CCD inverse kinematics algorithm to achieve natural human-computer interaction for virtual robots;Through socket network communication based on TCP/IP,two-way data transmission between the virtual simulation system and the actual robot controller is carried out to achieve VR teleoperation and visual virtual reality synchronization,and the end trajectory coordinates of the virtual robot and the actual robot are collected to verify the accuracy and flexibility of VR teleoperation.Finally,build an overall experimental platform for the remote operation system of the shipborne marine work robot,control the wave simulation experimental platform to conduct each single degree of freedom motion and three degrees of freedom composite motion,and conduct comparative experiments between the remote operation of the teaching device and the hook operation of the VR remote operation robot,to verify the efficiency of the VR remote operation,as well as the visibility and human-machine interaction of the system.Experimental verification shows that the efficiency of VR teleoperation robot hooking operation is 49.32% higher than that of teaching device teleoperation,and the operation difficulty is relatively low.The system has a strong sense of immersion and presence;In actual sea trials,the robot has also successfully completed various hook operations for the retraction and release of submersible vehicles,improving the efficiency and safety of the robot’s sea operations.