Development of a Virtual Environment Based Operating and Training Interface for ROV Pilots

• Main Authors: Tsung-Lin Li, 李宗霖
• Other Authors: Hsin-Hung Chen
• Format: Others
• Language: zh-TW
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/67817051475221186348

碩士 === 國立中山大學 === 海下技術研究所 === 90 === A ROV pilot needs to wholly control the behavior of the ROV while it is in execution of object recovery and detection in water. However, most of the commercial ROV operating systems only provide information of video images, depth and orientation. It is difficult for the operator to integrate all information into a vivid picture while steering the vehicle. Besides, limited by the available and expensive operating support, most operators take a lot of practice and field experiences to develop their skill. Therefore, it is necessary to develop a simulator that equips with capabilities of displaying ROV status for real world operation and generating all different operation scenarios for pilot training. This study has developed a multi-function ROV operating virtual environment which integrates all sensory data in real-time to yield a 3D navigation map for operators. Sensory data include GPS, orientation and depth of the ROV, and the acoustic tracking system. In addition to the real physical components connected to the system, a virtual environment for pilot training has constructed. This training environment allows modifying dynamic parameters of the ROV and changing conditions of the ocean environment. Keyboard, joystick and mouse are used as input devices for the system. The developed mathematical model of ROV kinematics and dynamics can generate ROV''s corresponding motion according to the commands of the trained-pilot.