虚拟矿井系统的研究与实现
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摘要
虚拟现实技术是多媒体技术、人工智能技术、计算机图形学、计算机仿真等多项高新技术的集合体，并伴随着各项技术的迅猛发展日渐引起各界的重视，成为计算机领域研究的一个新方向。虚拟现实技术能够综合利用计算机软硬件及相关技术高度逼真地模拟人在自然环境中的视、听、触等感知行为，给用户以沉浸感较强的环境体验，从而获得沉浸其中的感受和体会。目前，其应用已涉及科研、培训、商业、军事、医学、娱乐等众多领域，将虚拟现实技术应用于煤矿领域尚处在探索阶段。
本文采用先进建模工具Creator建模、高级视景仿真工具Vega驱动、VC++为平台对矿井环境、工作设备等进行仿真，设计实现了虚拟矿井仿真系统。具体所做工作如下：
(1)利用MultiGen Creator进行静态建模，逼真地构建了包括地面工业广场、井下巷道、硐室等在内的建筑物模型群；并对综采工作面上主要生产设备进行动态建模，实现了生产工艺过程的动态演示。
(2)动态人物模型的建立与仿真实现。该环节探讨了人物建模的基本理论与方法；分析了虚拟人物的建模技术及其构造实体几何法；结合实验室所采用的相关技术，归纳了基于Creator的DOF(Degree of Freedom)节点设计方法，并结合实例给出了Vega环境中虚拟人物的DOF节点控制的仿真实现步骤；提出了采用专业人物仿真软件DI-GUY与Vega相结合进行人物仿真的方法。
(3)VC环境下的Vega编程实现虚拟场景驱动引擎。建立了一整套可控漫游与自动漫游相结合的漫游系统，使得操控过程更加便捷；采用基于广义包围盒的碰撞检测算法，解决了Vega中碰撞检测方法占用资源大的问题，有效提高了漫游的速度。
(4)为满足交互真实性方面的需要，采用三维对象拾取技术，用户在虚拟工作场景中仅仅通过直接点击虚拟设备按钮即可实现对设备的操控。实现了便捷的人机互动。
本文在对涉及虚拟现实的几项关键技术分析与综合应用的基础上，合理利用高级建模工具Creator、视景仿真工具Vega等，逼真模拟了矿井复杂的作业环境、真实再现了生产工艺流程，从而为指导现场生产、做好职工安全教育提供了一种崭新模式。
Virtual Reality is a kind of integrative technology related to many high-tech, such asmultimedia technology, artificial intelligence technology, computer graphics and simulation,and so on. VR has attracted lots of attention going with the development of these technologies,and it becomes a new research orientation in computer field. Virtual Reality technology canvividly imitate people's feelings such as watching, listening and touching through theintegration of software, hardware and realated technology. So it makes participants have thethe feelingof immersing into a virtual world. By now, VR has been widely used in scientificresearch, training, business, military affairs, medical science, entertainment, and so on. Theapplication of VR in mining is still being explored.
This article has imitated the circumstance of mine, work equipment and the like adoptingthe procedure of modeling with advanced modeling facility Creator, driving with high-gradeimitate tool Vega and using VC++ as flat roof, and materialized imitate system of visual mine.The main works contain:
(1) Establishes perfect static state models using MultiGen Creator; Erects building modelgroup containing industry square on the top of the mine, laneway and Underground Chamberon the bottom of the mine; Establishes perfect dynamic models of main product facilities onthe mine working face, Actualized dynamic demonstration to production technology;
(2) Establishes and resemble actualized character model. Discusses the basic theories andmethods of character modeling; Analyses the modeling technology and it's construct entitygeometry method of virtual character; Concludes the design methods of DOF node based onCreator combining the correlated technology that adopt in laboratory, and presents theemulational actualization processes of virtual character which was manipulated by DOF nodein Vega; Advances the method of emulating character by combining DI-GUY and Vega whichare Professional softwares;
(3) Drives virtual scene taking VC as flat roof based on programming technology Vega;Erects a roam system combining controllable roam and automatic roam which simplifying thecontrol; Solves the matter of huge resources in arithmetic of collide survey in Vega adoptingarithmetic of collide survey in generalized besiege box; Advances the immersion feeling inroam process;
(4) Adopts the technology of three-dimensional object collection. Operator can do alternatedoperation just nodding buttons of virtual facilities by operating equipments in virtual working scene.
This article has applied the pivotal technology which contain high-tech modeling facilityCreator, imitating tool Vega and the like logically to realistically imitate the perplexingworking surroundings of mine and realized the produce process dramatically. All these workshave offered a brand-new pattern of guiding locale production and safety education.
本文采用先进建模工具Creator建模、高级视景仿真工具Vega驱动、VC++为平台对矿井环境、工作设备等进行仿真，设计实现了虚拟矿井仿真系统。具体所做工作如下：
(1)利用MultiGen Creator进行静态建模，逼真地构建了包括地面工业广场、井下巷道、硐室等在内的建筑物模型群；并对综采工作面上主要生产设备进行动态建模，实现了生产工艺过程的动态演示。
(2)动态人物模型的建立与仿真实现。该环节探讨了人物建模的基本理论与方法；分析了虚拟人物的建模技术及其构造实体几何法；结合实验室所采用的相关技术，归纳了基于Creator的DOF(Degree of Freedom)节点设计方法，并结合实例给出了Vega环境中虚拟人物的DOF节点控制的仿真实现步骤；提出了采用专业人物仿真软件DI-GUY与Vega相结合进行人物仿真的方法。
(3)VC环境下的Vega编程实现虚拟场景驱动引擎。建立了一整套可控漫游与自动漫游相结合的漫游系统，使得操控过程更加便捷；采用基于广义包围盒的碰撞检测算法，解决了Vega中碰撞检测方法占用资源大的问题，有效提高了漫游的速度。
(4)为满足交互真实性方面的需要，采用三维对象拾取技术，用户在虚拟工作场景中仅仅通过直接点击虚拟设备按钮即可实现对设备的操控。实现了便捷的人机互动。
本文在对涉及虚拟现实的几项关键技术分析与综合应用的基础上，合理利用高级建模工具Creator、视景仿真工具Vega等，逼真模拟了矿井复杂的作业环境、真实再现了生产工艺流程，从而为指导现场生产、做好职工安全教育提供了一种崭新模式。
Virtual Reality is a kind of integrative technology related to many high-tech, such asmultimedia technology, artificial intelligence technology, computer graphics and simulation,and so on. VR has attracted lots of attention going with the development of these technologies,and it becomes a new research orientation in computer field. Virtual Reality technology canvividly imitate people's feelings such as watching, listening and touching through theintegration of software, hardware and realated technology. So it makes participants have thethe feelingof immersing into a virtual world. By now, VR has been widely used in scientificresearch, training, business, military affairs, medical science, entertainment, and so on. Theapplication of VR in mining is still being explored.
This article has imitated the circumstance of mine, work equipment and the like adoptingthe procedure of modeling with advanced modeling facility Creator, driving with high-gradeimitate tool Vega and using VC++ as flat roof, and materialized imitate system of visual mine.The main works contain:
(1) Establishes perfect static state models using MultiGen Creator; Erects building modelgroup containing industry square on the top of the mine, laneway and Underground Chamberon the bottom of the mine; Establishes perfect dynamic models of main product facilities onthe mine working face, Actualized dynamic demonstration to production technology;
(2) Establishes and resemble actualized character model. Discusses the basic theories andmethods of character modeling; Analyses the modeling technology and it's construct entitygeometry method of virtual character; Concludes the design methods of DOF node based onCreator combining the correlated technology that adopt in laboratory, and presents theemulational actualization processes of virtual character which was manipulated by DOF nodein Vega; Advances the method of emulating character by combining DI-GUY and Vega whichare Professional softwares;
(3) Drives virtual scene taking VC as flat roof based on programming technology Vega;Erects a roam system combining controllable roam and automatic roam which simplifying thecontrol; Solves the matter of huge resources in arithmetic of collide survey in Vega adoptingarithmetic of collide survey in generalized besiege box; Advances the immersion feeling inroam process;
(4) Adopts the technology of three-dimensional object collection. Operator can do alternatedoperation just nodding buttons of virtual facilities by operating equipments in virtual working scene.
This article has applied the pivotal technology which contain high-tech modeling facilityCreator, imitating tool Vega and the like logically to realistically imitate the perplexingworking surroundings of mine and realized the produce process dramatically. All these workshave offered a brand-new pattern of guiding locale production and safety education.
引文
1．陈鸿章．矿山系统工程的基本方法与信息论的应用[M]．北京：煤炭工业出版社，2000
2．张幼蒂，王玉浚．采矿系统工程及其发展趋势探讨[J]，煤炭学报，1997，22(9)：52-56
3. Denby B, Schofield D, Walsha T. Virtual reality for the real time visuallization of environmental date[M]. London: 27 the APCOM, 1998
4. Schofield D, Denby B, Willams M, etc. New applications of computoer graphics and virtual reality in the miner als insustries[J], Mine IT.1 international conference on information technologies in the minerals industry, Natinal Technical Universit of Athens, Greece, 1997
5. Crawshaw SAM, Denby B, McClarnon D. The use of virtual reality to simulate room and pillar operations [J], Coal international, 1997, 245(1): 20-22
6．李建忠．综采工作面pc机虚拟现实技术的研究[D]，山西：太原理工大学，2003
7. Bise. C. J. Emerging technology for training of miners[J], Mining Engineering, 1997, 49(1): 37-41
8. Chakraborty, Pallab R. Bise, Christopher J. Virtual reality based model for task-training of equipment operators in the mining industry[J], Mineral Resources Engineering, World Sci Publ Co Pte Ltd, 2000, 437-449
9. Squelch, A. P. Virtual reality on mine safety in South Africa[J], The South Africa Institute of Mining and Metallurgy v101 n4, 2001(7): 209-216
10. Li Qing, Han Keqi, Shen Yanchun. Research on controllable visualization of mine surface plant and development of virtual environment[J], China University of Mining & Technology v31 n1, 2002(1): 27-29
11．杨天军．虚拟现实与露天煤矿规划研究[J]，矿业快报，2001(2)：7-9
12．曾建超，俞志和．虚拟现实的技术及其应用[M]．北京：清华大学出版社，1996
13．汪成为等．灵境(虚拟现实)技术的理论、现实及应用[M]．北京：清华大学出版，1996
14．吴家铸，党岗，刘华峰，程志全，阳明．视景仿真技术及应用[M]．陕西：西安电子科技大学出版社，2001
15．张茂军．虚拟现实系统[M]．北京：科学出版社，2001
16．Ron Wodaski，Donna Brow，蔡智明译。多媒体电脑虚拟现实技巧[M]．美国：机械工 业出版社，1996
17．宝民，朱一宁．分布式虚拟现实技术及其应用[M]．北京：科学出版社，2000
18．赵沁平．基于分布交互仿真的虚拟现实系统研究[M]．北京：北京航天航空大学出版社，1999
19．周前祥．虚拟现实技术在航天工效学中的应用进展[J]，计算机仿真，2001，3(2)
20．王乘，周均清，李立军．Creator可视化仿真建模技术[M]．武汉：华中科技大学出版社，2005
21. MultiGen-Paradigm, Inc. The MultiGen creator desktop tutor[J], Version 3.0.1 for Windows and IRIX, 2004(4)
22. MultiGen-Paradigm, Inc. Creator Online Help Summary[J], Version 3.0.1 for Windows and 1RIX, 2004(4)
23．常宏．综采机械虚拟现实三维图形创建及机械运动软件开发[D]，北京：中国矿业大学，2002
24．龚卓蓉．Vega程序设计[M]．北京：国防工业出版社，2002(8)
25．龚卓蓉．Lynx图形界面[M]．北京：国防工业出版社，2002(1)
26．龚卓蓉，可选模块的使用与开发[M]．北京：国防工业出版社，2002(4)
27．孟晓梅，刘文庆．MultiGen Creator教程[M]．北京：国防工业出版社，2005(7)
28．王乘，周均清，李立军．Vega实时视景仿真技术[M]．武汉：华中科技大学出版社，2005
29．张瑞新，任廷祥．虚拟现实技术在矿山工程中的应用[M]．北京：中国科学技术出版社，1998
30．图灵．新概念中文3DS MAX 6.0实用教程[M]．上海：上海科学普及出版社，2004
31．李青，韩可琦，申闫春．矿井工业广场的可控可视化与虚拟环境开发[J]，中国矿业大学学报，2002(1)
32．钟等华．复杂地下洞室群施工交通运输系统仿真与优化研究[J]，系统仿真学报，2002(2)
33．徐丹，潘志庚，石教英．虚拟现实中基于图像的绘制技术[J]，中国图像图形学报，1998(1)
34．熊伟，毛善君，马蔼乃，刘桥喜．煤矿虚拟环境的巷道几何建模及关键算法研究[J]，测绘通报，2002(8)
35．王宝山，魏占营．煤矿虚拟环境的巷道三维建模研究[J]，测绘学院学报，2005(9)
36．徐永圻．煤矿开采学[M]．北京：中国矿业大学出版社，1996
37．洪炳锫，蔡则苏，唐好选．虚拟现实技术及其应用[M]．北京：国防工业出版社，2005，122-133
38．周颖．快速绘制三维人体的软件[J]，多媒体世界，1999，(2)：100
39. DI-Guy. User Manual Version 4[J], Boston Dynamics Inc, 2000
40．章勤，黄琨，李光明．一种基于OBB的碰撞检测算法的改进[J]，华中科技大学学报，自然科学版，2003，3(11)：46—48
41．魏迎梅，吴泉源，石教英．虚拟环境中的碰撞检测方法[J]，计算机工程与科学，2001，2(32)：44-47
42．罗杰．面向建筑的虚拟漫游系统研究与实现[D]，大庆：大庆石油学院，2000
43．马立元，杨孝平．一种虚拟场景控制方法的研究与实现[J]，计算机应用研究，2004(6)
2．张幼蒂，王玉浚．采矿系统工程及其发展趋势探讨[J]，煤炭学报，1997，22(9)：52-56
3. Denby B, Schofield D, Walsha T. Virtual reality for the real time visuallization of environmental date[M]. London: 27 the APCOM, 1998
4. Schofield D, Denby B, Willams M, etc. New applications of computoer graphics and virtual reality in the miner als insustries[J], Mine IT.1 international conference on information technologies in the minerals industry, Natinal Technical Universit of Athens, Greece, 1997
5. Crawshaw SAM, Denby B, McClarnon D. The use of virtual reality to simulate room and pillar operations [J], Coal international, 1997, 245(1): 20-22
6．李建忠．综采工作面pc机虚拟现实技术的研究[D]，山西：太原理工大学，2003
7. Bise. C. J. Emerging technology for training of miners[J], Mining Engineering, 1997, 49(1): 37-41
8. Chakraborty, Pallab R. Bise, Christopher J. Virtual reality based model for task-training of equipment operators in the mining industry[J], Mineral Resources Engineering, World Sci Publ Co Pte Ltd, 2000, 437-449
9. Squelch, A. P. Virtual reality on mine safety in South Africa[J], The South Africa Institute of Mining and Metallurgy v101 n4, 2001(7): 209-216
10. Li Qing, Han Keqi, Shen Yanchun. Research on controllable visualization of mine surface plant and development of virtual environment[J], China University of Mining & Technology v31 n1, 2002(1): 27-29
11．杨天军．虚拟现实与露天煤矿规划研究[J]，矿业快报，2001(2)：7-9
12．曾建超，俞志和．虚拟现实的技术及其应用[M]．北京：清华大学出版社，1996
13．汪成为等．灵境(虚拟现实)技术的理论、现实及应用[M]．北京：清华大学出版，1996
14．吴家铸，党岗，刘华峰，程志全，阳明．视景仿真技术及应用[M]．陕西：西安电子科技大学出版社，2001
15．张茂军．虚拟现实系统[M]．北京：科学出版社，2001
16．Ron Wodaski，Donna Brow，蔡智明译。多媒体电脑虚拟现实技巧[M]．美国：机械工 业出版社，1996
17．宝民，朱一宁．分布式虚拟现实技术及其应用[M]．北京：科学出版社，2000
18．赵沁平．基于分布交互仿真的虚拟现实系统研究[M]．北京：北京航天航空大学出版社，1999
19．周前祥．虚拟现实技术在航天工效学中的应用进展[J]，计算机仿真，2001，3(2)
20．王乘，周均清，李立军．Creator可视化仿真建模技术[M]．武汉：华中科技大学出版社，2005
21. MultiGen-Paradigm, Inc. The MultiGen creator desktop tutor[J], Version 3.0.1 for Windows and IRIX, 2004(4)
22. MultiGen-Paradigm, Inc. Creator Online Help Summary[J], Version 3.0.1 for Windows and 1RIX, 2004(4)
23．常宏．综采机械虚拟现实三维图形创建及机械运动软件开发[D]，北京：中国矿业大学，2002
24．龚卓蓉．Vega程序设计[M]．北京：国防工业出版社，2002(8)
25．龚卓蓉．Lynx图形界面[M]．北京：国防工业出版社，2002(1)
26．龚卓蓉，可选模块的使用与开发[M]．北京：国防工业出版社，2002(4)
27．孟晓梅，刘文庆．MultiGen Creator教程[M]．北京：国防工业出版社，2005(7)
28．王乘，周均清，李立军．Vega实时视景仿真技术[M]．武汉：华中科技大学出版社，2005
29．张瑞新，任廷祥．虚拟现实技术在矿山工程中的应用[M]．北京：中国科学技术出版社，1998
30．图灵．新概念中文3DS MAX 6.0实用教程[M]．上海：上海科学普及出版社，2004
31．李青，韩可琦，申闫春．矿井工业广场的可控可视化与虚拟环境开发[J]，中国矿业大学学报，2002(1)
32．钟等华．复杂地下洞室群施工交通运输系统仿真与优化研究[J]，系统仿真学报，2002(2)
33．徐丹，潘志庚，石教英．虚拟现实中基于图像的绘制技术[J]，中国图像图形学报，1998(1)
34．熊伟，毛善君，马蔼乃，刘桥喜．煤矿虚拟环境的巷道几何建模及关键算法研究[J]，测绘通报，2002(8)
35．王宝山，魏占营．煤矿虚拟环境的巷道三维建模研究[J]，测绘学院学报，2005(9)
36．徐永圻．煤矿开采学[M]．北京：中国矿业大学出版社，1996
37．洪炳锫，蔡则苏，唐好选．虚拟现实技术及其应用[M]．北京：国防工业出版社，2005，122-133
38．周颖．快速绘制三维人体的软件[J]，多媒体世界，1999，(2)：100
39. DI-Guy. User Manual Version 4[J], Boston Dynamics Inc, 2000
40．章勤，黄琨，李光明．一种基于OBB的碰撞检测算法的改进[J]，华中科技大学学报，自然科学版，2003，3(11)：46—48
41．魏迎梅，吴泉源，石教英．虚拟环境中的碰撞检测方法[J]，计算机工程与科学，2001，2(32)：44-47
42．罗杰．面向建筑的虚拟漫游系统研究与实现[D]，大庆：大庆石油学院，2000
43．马立元，杨孝平．一种虚拟场景控制方法的研究与实现[J]，计算机应用研究，2004(6)