Research On Key Techniques Of Virtual Simulation System Of Underwater Vehicle's Interfacing Apparatus

Underwater interfacing technique is the key technique of the underwater vehicle with dry rescue function. Now the technique is mainly used in the submarine rescue engineering. During "9th five-year", the laboratory has done the national defence priority in-advance-research project "the research on novel and intellectual interfacing apparatus of DSRV". The manufacture of the novel and intellectual interfacing apparatus which is the initiative interfacing apparatus with four manipulators used 5 yeas and 1.8 million RMB. To satisfy the new docking requirement, now the laboratory is doing the manufacture and experiment of "a novel mating skirt on underwater vehicle", which is also consuming long time and expending large amout of money. To shorten the period and reduce the cost of the rerearch of the interfacing apparatus, a virtual simulation system of underwater vehicle's interfacing apparatus is built in this paper. The virtal simulation system is made to offer a virtual simulation platform, which can do virtual simulation experiments for all kinds of interfacing apparatus and estimate their working capability. To build the virtual simulation system, the techniques of 3D modeling and visualization of the virtual scene, calculation of simulation mathematical model of DSRV and the interfacing apparatus, simulation solving of docking process and integration of virtual simulation system are researched in the paper.In the virtual simulation system, the interfacing technique of the DSRV with the initiative interfacing apparatus will be the main research question. First the whole method and the structural of the initiative interfacing apparatus of the DSRV are introduced. By analysing the process of rescue and docking of DSRV, the working method and steps of DSRV and the initiative interfacing apparatus is proposed, which is the basis of algorithm of the virtual simulation system. The working area and the motion freedom of the initiative interfacing apparatus of the DSRV are discussed. The motion equations of the initiative interfacing apparatus of the DSRV are given.Based on the models of BSAV-â… and the initiative interfacing apparatus, the objects in the virtual simulation system are created and the degree of freedom of the model of the interfacing apparatus is made. The modeling methods of predigesting model, texture mapping, instancing model, Image-Based Modeling and small area terrain are used to satisfy the rendering of the real-time system. Through loading the 3D models and setting the environment, marine module and special effect of particle system, the underwater docking situation is simulated and visualized. Roaming control of the virtal scene is researched.Based on the three levels in the 3D virtual simulation, the simulative mathematical models of the DSRV and the manipulators are established. The goal of combining of 3D visualization and simulative mathematical model is to create the real-time alternative virtual simulation system. The simulation calculating programme of docking process is made, which can reflect the base rule of the docking process of DSRV and interfacing apparatus.The technique of the real time and communication of simulative calculation and display is researched. The structure of the virtual simulation system is designed.The key questions of realization of the application based on Vega under the frame of MFC and human computer interaction are solved.Based on the virtual simulation system, the experiments of collision check and and virtual docking simulation are done. The working capability and mode of the initiative interfacing apparatus are tested.A virtual experimental flat for the interfacing apparatus of the underwater vehicle is developed, which will make a foundation for the future interfacing apparatus.