基于虚拟现实的岸吊仿真器研究与设计
|
摘要
基于虚拟现实的岸吊仿真器的培训是当今及未来岸吊培训学习的重要方向之一。国内对于岸吊仿真器的研究和设计还处于起步阶段,有必要设计开发一种实用的多功能岸吊仿真器。
本文在对岸吊仿真器进行功能设计、体系结构设计、数据通讯接口设计、运动仿真建模及优化等基础上,设计和开发了一种实用的岸吊仿真器。研究和设计开发的过程遵循了自底向上建模、并行化开发、由点到面的原则方法,并按照三维实体建模、初始化与设置、运动仿真、仿真效果优化的步骤,完成了岸吊仿真器研究和设计开发。
本文的主要内容包括: (1)提出了一种功能齐全的岸吊仿真器设计方案。(2)设计了岸吊仿真器两种系统结构,即基于数学模型和数学-物理模型的岸吊仿真器。(3)详细设计了模型场景的三维实体造型。(4)对岸吊仿真器进行了详细的运动仿真建模。(5)提出了模型的优化方案。
其中,利用Virtools开发平台进行运动仿真建模是本文的重点。运动仿真建模的技术关键主要在于碰撞检测、多因素的影响和提高模型的真实性与实时性。本文将碰撞检测问题拆分为实时监测、类型判断和分类处理三个子问题分别予以解决;采用建立简化力学模型和运动的动力学模型的方法将多因素的影响抽象化予以解决;真实性和实时性则通过模型优化方案得以保证。本文以岸吊为重点,针对其作业流程的各个环节进行了详细的运动仿真建模。
The quay crane simulator training is an important orientation of quay crane training now and in future. The domestic study and design on quay crane simulator has just begun. So it is necessary to design and develop a kind of practical multi-function quay crane simulator.
This dissertation designed and developed a kind of practical quay crane simulator on the basis of function design, architecture design, data communication interface design, motional simulation modeling and optimization. According to the principle of bottom-up modeling, concurrent design and develop, and design from point to plane, this dissertation accomplished the study and design on quay crane simulator by a develop procedure: (a) 3D entity modeling, (b) Initialization and Setup, (c) motional simulation modeling, (d) optimization.
The Main Solutions of this dissertation are as follow: (1) Designed a functional scheme for quay crane simulator; (2) Designed two kinds of architecture for quay crane simulator: Digital Model and Digital- physical Model; (3) Designed 3D entity models of the terminal scene; (4) Accomplished motional simulation modeling; (5) Designed two optimization schemes.
Motional simulation modeling using the development platform of Virtools Dev. is the focal point among these solutions. Its key techniques contains collision detection, multiple factor effect, reality and real-time. This dissertation split the collision detection problem into there sub problems to solve: (a) real-time collision detection; (b) collision type determination; (c) collision treatments according to collision type. The problem of multiple factor effect can be solved by a method of creating a simple dynamic model. And also the optimization schemes can promise the reality and the model is real-time. This dissertation designed motional simulation modeling against every operation process of the quay crane.
本文在对岸吊仿真器进行功能设计、体系结构设计、数据通讯接口设计、运动仿真建模及优化等基础上,设计和开发了一种实用的岸吊仿真器。研究和设计开发的过程遵循了自底向上建模、并行化开发、由点到面的原则方法,并按照三维实体建模、初始化与设置、运动仿真、仿真效果优化的步骤,完成了岸吊仿真器研究和设计开发。
本文的主要内容包括: (1)提出了一种功能齐全的岸吊仿真器设计方案。(2)设计了岸吊仿真器两种系统结构,即基于数学模型和数学-物理模型的岸吊仿真器。(3)详细设计了模型场景的三维实体造型。(4)对岸吊仿真器进行了详细的运动仿真建模。(5)提出了模型的优化方案。
其中,利用Virtools开发平台进行运动仿真建模是本文的重点。运动仿真建模的技术关键主要在于碰撞检测、多因素的影响和提高模型的真实性与实时性。本文将碰撞检测问题拆分为实时监测、类型判断和分类处理三个子问题分别予以解决;采用建立简化力学模型和运动的动力学模型的方法将多因素的影响抽象化予以解决;真实性和实时性则通过模型优化方案得以保证。本文以岸吊为重点,针对其作业流程的各个环节进行了详细的运动仿真建模。
The quay crane simulator training is an important orientation of quay crane training now and in future. The domestic study and design on quay crane simulator has just begun. So it is necessary to design and develop a kind of practical multi-function quay crane simulator.
This dissertation designed and developed a kind of practical quay crane simulator on the basis of function design, architecture design, data communication interface design, motional simulation modeling and optimization. According to the principle of bottom-up modeling, concurrent design and develop, and design from point to plane, this dissertation accomplished the study and design on quay crane simulator by a develop procedure: (a) 3D entity modeling, (b) Initialization and Setup, (c) motional simulation modeling, (d) optimization.
The Main Solutions of this dissertation are as follow: (1) Designed a functional scheme for quay crane simulator; (2) Designed two kinds of architecture for quay crane simulator: Digital Model and Digital- physical Model; (3) Designed 3D entity models of the terminal scene; (4) Accomplished motional simulation modeling; (5) Designed two optimization schemes.
Motional simulation modeling using the development platform of Virtools Dev. is the focal point among these solutions. Its key techniques contains collision detection, multiple factor effect, reality and real-time. This dissertation split the collision detection problem into there sub problems to solve: (a) real-time collision detection; (b) collision type determination; (c) collision treatments according to collision type. The problem of multiple factor effect can be solved by a method of creating a simple dynamic model. And also the optimization schemes can promise the reality and the model is real-time. This dissertation designed motional simulation modeling against every operation process of the quay crane.
引文
[1]刘刚.基于虚拟现实的集装箱起重机驾驶仿真训练器研究:[硕士学位论文].武汉:武汉理工大学物流工程系,2003
[2]李剑.集装箱起重机仿真训练器的研制开发:[硕士学位论文].上海:上海海运学院机械电子工程系,2003
[3]林泊纬.PC架构的多投影面沉浸式虚拟环境及其应用:[硕士学位论文].浙江:浙江大学计算机科学与技术系,2003
[4]石教英等.虚拟现实基础及实用算法.北京:科学出版社,2002
[5]王少梅,张煜.港口物流系统仿真建模及三维可视化研究.港口装卸,2002(6):1-4
[6]王娟,郑莉,陆愈实.基于虚拟现实技术的起重做业人员培训仿真系统研究.中国安全生产科学技术,2006,2(2):96-98
[7]于海凤,邢桂芬,张凯.虚拟现实技术在视景仿真系统中的应用.计算机工程与设计,2006,27(6):1108-1110
[8]傅廷亮,芦建平,张扬.基于虚拟现实的仿真技术.计算机仿真,2006,23(3):183-186
[9]蒋国仁.港口起重机械.大连:大连海事大学出版社,1995:16-47
[10]吴镇,朱金生,张新艳.虚拟现实技术在港口集装箱码头装卸仿真系统中的应用.系统仿真学报,2001,13:336-340
[11]申蔚等.虚拟现实技术.北京:北京希望电子出版社,2002
[12] C.Cruz-Neira, D.Sandin and T.DeFanti. Surrround-Screen Projection-Based Virtual Reality: The Design and Implementation of the CAVE in Computer Graphics. SIGGRAPH, 1993,135-142
[13] N.Hashimoto, T.Iwata. Ensphered Vision:Spherical Immersive Display using Convex Mirror.Transaction of the Virtual Reality Society of Japan, Vol.4, No.3, 1999,549-554
[14] D.Pape, J.Anstey, G.Dawe. A Low-Cost Projection Based Virtual Reality Display. The Engineering Reality of Virtual Reality, 2002, San Jose, CA,2002
[15] R.Belleman, B.Stolk, R.deVries. Immersive Virtual Reality on community Hardware. ASCI 2001 Conference,Heijen,the Netherlands, 2001
[16]刘晋川,张华勤,洪钐.港机操作模拟器的应用与发展.港口装卸,2005,(2):8-11
[17]孟宪颐,刘勇.虚拟现实技术在塔机司机训练培训中的应用.中国工程机械学报,2006,4(4):444-447
[18]王重华,郝晋兵,梁岗,梁承姬.集装箱桥吊仿真训练系统中碰撞模型的建立与实现.上海海运学院学报,2003,24(2):142-145,149
[19]王重华,梁岗,梁承姬.集装箱起重机仿真驾驶训练器.系统仿真学报,2002,14(7):904-906,921
[20]汪成为,高文,王行仁.灵镜(虚拟现实)技术理论、实现及应用.北京:清华大学出版社,1996
[21]张新艳,张煜,王少梅,朱金生.基于虚拟现实的港口集装箱码头装卸系统仿真建模技术.武汉理工大学学报,2001,25(4):470-473
[22]林锦尧.基于虚拟现实的集装箱装卸仿真系统:[硕士学位论文] .大连:大连海事大学,2004
[23]潘洋.岸边集装箱起重机仿真训练系统评分模型的建立和实现:[硕士学位论文].上海:上海海事大学,2005
[24]王少梅,王海平.起重机仿真训练器的研制与应用.港口装卸,1999,(04):1-3
[25]郝晋兵.岸边集装箱起重机仿真训练器数学建模与教员控制台设计:[硕士学位论文].上海:上海海事大学,2003
[26]刘刚,董明望,王少梅.岸桥驾驶仿真训练器中偏摆的实时仿真探讨.港口装卸, 2002,(02):8-10
[27]梁承姬,王重华,梁岗.港口集装箱起重机虚拟操作训练系统的小车—吊重运动模型研究.起重运输机械,2005,(12):54-56
[28]蒋晓刚.集装箱起重机仿真训练器座椅振动控制设计研究:[硕士学位论文].上海:上海海事大学,2004
[29]朱雨香.视景仿真技术的研究与实现:[硕士学位论文].南京:南京理工大学,2004
[2]李剑.集装箱起重机仿真训练器的研制开发:[硕士学位论文].上海:上海海运学院机械电子工程系,2003
[3]林泊纬.PC架构的多投影面沉浸式虚拟环境及其应用:[硕士学位论文].浙江:浙江大学计算机科学与技术系,2003
[4]石教英等.虚拟现实基础及实用算法.北京:科学出版社,2002
[5]王少梅,张煜.港口物流系统仿真建模及三维可视化研究.港口装卸,2002(6):1-4
[6]王娟,郑莉,陆愈实.基于虚拟现实技术的起重做业人员培训仿真系统研究.中国安全生产科学技术,2006,2(2):96-98
[7]于海凤,邢桂芬,张凯.虚拟现实技术在视景仿真系统中的应用.计算机工程与设计,2006,27(6):1108-1110
[8]傅廷亮,芦建平,张扬.基于虚拟现实的仿真技术.计算机仿真,2006,23(3):183-186
[9]蒋国仁.港口起重机械.大连:大连海事大学出版社,1995:16-47
[10]吴镇,朱金生,张新艳.虚拟现实技术在港口集装箱码头装卸仿真系统中的应用.系统仿真学报,2001,13:336-340
[11]申蔚等.虚拟现实技术.北京:北京希望电子出版社,2002
[12] C.Cruz-Neira, D.Sandin and T.DeFanti. Surrround-Screen Projection-Based Virtual Reality: The Design and Implementation of the CAVE in Computer Graphics. SIGGRAPH, 1993,135-142
[13] N.Hashimoto, T.Iwata. Ensphered Vision:Spherical Immersive Display using Convex Mirror.Transaction of the Virtual Reality Society of Japan, Vol.4, No.3, 1999,549-554
[14] D.Pape, J.Anstey, G.Dawe. A Low-Cost Projection Based Virtual Reality Display. The Engineering Reality of Virtual Reality, 2002, San Jose, CA,2002
[15] R.Belleman, B.Stolk, R.deVries. Immersive Virtual Reality on community Hardware. ASCI 2001 Conference,Heijen,the Netherlands, 2001
[16]刘晋川,张华勤,洪钐.港机操作模拟器的应用与发展.港口装卸,2005,(2):8-11
[17]孟宪颐,刘勇.虚拟现实技术在塔机司机训练培训中的应用.中国工程机械学报,2006,4(4):444-447
[18]王重华,郝晋兵,梁岗,梁承姬.集装箱桥吊仿真训练系统中碰撞模型的建立与实现.上海海运学院学报,2003,24(2):142-145,149
[19]王重华,梁岗,梁承姬.集装箱起重机仿真驾驶训练器.系统仿真学报,2002,14(7):904-906,921
[20]汪成为,高文,王行仁.灵镜(虚拟现实)技术理论、实现及应用.北京:清华大学出版社,1996
[21]张新艳,张煜,王少梅,朱金生.基于虚拟现实的港口集装箱码头装卸系统仿真建模技术.武汉理工大学学报,2001,25(4):470-473
[22]林锦尧.基于虚拟现实的集装箱装卸仿真系统:[硕士学位论文] .大连:大连海事大学,2004
[23]潘洋.岸边集装箱起重机仿真训练系统评分模型的建立和实现:[硕士学位论文].上海:上海海事大学,2005
[24]王少梅,王海平.起重机仿真训练器的研制与应用.港口装卸,1999,(04):1-3
[25]郝晋兵.岸边集装箱起重机仿真训练器数学建模与教员控制台设计:[硕士学位论文].上海:上海海事大学,2003
[26]刘刚,董明望,王少梅.岸桥驾驶仿真训练器中偏摆的实时仿真探讨.港口装卸, 2002,(02):8-10
[27]梁承姬,王重华,梁岗.港口集装箱起重机虚拟操作训练系统的小车—吊重运动模型研究.起重运输机械,2005,(12):54-56
[28]蒋晓刚.集装箱起重机仿真训练器座椅振动控制设计研究:[硕士学位论文].上海:上海海事大学,2004
[29]朱雨香.视景仿真技术的研究与实现:[硕士学位论文].南京:南京理工大学,2004