Studies On Virtual Reality Simulator System For The EAST Blanket Teleoperation

Controlled nuclear fusion energy can be regarded as one of the most promising clean energy sources.Tokamak is the main nuclear fusion device,one major challenge on the maintenance for Tokamak is the remote inspection.Experimental Advanced Superconducting Tokamak(EAST),the full superconducting tokamak fusion experiment device with actively cooled plasma facing components,which has been built and operated successfully in ASIPP.It will seriously affect the teleoperation task as a result of the complexity of EAST internal environments,Limited visual feedback and difficult operation training.For these reasons,a virtual reality simulator that can compute the relative distance of robot and EAST for visual feedback,train new operator and validate trajectory planning is necessary for remote inspection in fusion device.Fast collision detection can establish a safety mechanism to ensure the safety of the teleoperation.The first wall scene repetition can carry out comprehensive visual feedback to help understand the EAST real situation inside the cavity.Study on the virtual camera optimal viewpoint can improvehuman-computer interaction experience significantly.Thus,research on the key problem of virtual reality simulation is of great significance to improve the safety and efficiency of teleoperation.This paper design and implement a virtual reality simulator system for the EAST blanket remote inspection,and study the key problem of virtual reality simulation.The VR simulator system with these features has been successfully applied to flexible in-vessel inspection.The main content of this thesis is summarized as bellow:1)Construction of Virtual Reality system: Design and implement a virtual reality simulator system for the EAST blanket remote inspection.Realizing simulation and control for manipulator and EAST.2)Fast collision detection method research: Aimed at the requirement of safety control in teleoperation detection,this paper proposes a collision detection method is suitable for non convex polyhedron.Implements the fast collision detection between manipulator and EAST.Calculate the shortest distance and real-time display.When distance reduces into warning distance,send warning signals to the control system to take safety control.3)The first wall scene repetition: Select the interested region in the virtual reality simulation,and control arm detect bricks.Combining image information with the position information of manipulator,VR system canmap real brick pictures to the first wall on virtual reality simulation using image recognition,augmented virtuality,texture mapping technology.4)The virtual camera optimal viewpoint method research: Paper gives camera viewpoint quality evaluation index,considers the common constraints for camera viewpoint and quantitative expression of constraints is given.Adopt search method to find the global optimal viewpoint.Finally,the effectiveness of the method is verified by experiment.