基于虚拟现实的集装箱岸吊仿真培训系统的集成与研究
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摘要
基于虚拟现实的岸吊仿真系统的培训是当今及未来岸吊培训学习的重要方向之一。国内对于岸吊仿真系统的研发还处在起步阶段,有的虽在实验阶段已获得成功,但是系统集成性有待提高,民用推广方面尚有欠缺,有必要设计开发一种高效实用的多功能岸吊仿真系统。
清华大学深圳研究生院现代物流中心物流与仿真实验室于2008年成功研制出一套岸吊仿真系统,该系统在软、硬件研发方面都取得较大突破。同年9月份我实验室在充分吸收该套系统科研成果的基础上,再次组织人员独立开发一套功能完整的、更具工业用途的岸吊仿真系统。本文正是围绕这一系统的设计研发展开。首先对仿真系统进行新的功能定位及总体设计,之后对前任成员研制的软件部分进行完善和修改,优化了系统结构及仿真模型,然后结合软件功能设计出配套的硬件方案,最终集成软、硬件,开发出我实验室第二套岸吊仿真系统。研究和设计开发的过程遵循了从整体到局部、并行化开发、由点到面的原则方法,并按照完善功能、优化仿真效果、调试修改、硬件支持软件的步骤,完成了岸吊仿真系统研究和设计开发。系统具有采用真实的岸吊操作台、单投影斜屏幕显示、多种环境模拟等特点。
本文的主要内容包括:
(1)提出了一种功能齐全的岸吊仿真系统设计方案。
(2)分别设计了软件集成及软硬件的集成方法。
(3)完善软件系统功能、优化仿真模型。
(4)设计并比较了几种硬件设计方案。
(5)指出系统的可扩展性及未来开发设计方向。
其中,利用系统集成及Virtools开发平台进行仿真优化是本文的重点。优化仿真模型的技术关键主要在于振动仿真、空气阻尼等因素的影响和提高模型的真实性与实时性。本文将振动仿真问题转化为视景抖动来解决,分别分析空气阻力、天气状况及光线明暗等因素对模型的影响。
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. Although some have been successful in the experimental stage, but the system integration needs to be improved, and there is a lack of civilian promotion.
It is necessary to develop an efficient, practical and multifunctional quay crane simulator training system.
Modern Logistics Center Logistics and Simulation Laboratory , Graduate School at Shenzhen, Tsinghua University, successfully developed a set of quay cranes simulation system in 2008, the system hardware and software have made great breakthroughs in research and development. In the same year in September I fully absorb the laboratory of the system based on scientific research, more re-organizations have developed a new quay cranes industrial use simulation system. This article is designed around the development of this new system started. First of all, the new simulation system location and design of new features, then some of the original system software changes to improve and optimize the system structure and the simulation model, and then combined with software features to design the hardware supporting the program, the final integration of software and hardware, I developed a second set of quay cranes laboratory simulation system. Research and design development process followed the bottom-up modeling , parallel development , the principle point to a plane of methods and improve the functionality, optimization simulation results, debug changes, hardware support software, the steps to complete the simulation system of quay cranes research and design development.
The Main Solutions of this dissertation are as follow:
(1) Designed a functional scheme for quay crane simulator;
(2) Designed the method of software integrated, software and hardware integration;
(3) Improved the software system functions, optimize the simulation model;
(4) Designed and compared several hardware design;
(5) Pointed out that the system scalability and future development and design direction.
Among them, the use of systems integration and development platform, Virtools simulation optimization is the focus of this article. The key technology optimization simulation model is the vibration of the main simulation, air damping influence and improve the model's authenticity and real-time. This article vibration is transformed into visual simulation to solve the jitter, respectively, of air resistance, weather conditions and light shade and so on models.
清华大学深圳研究生院现代物流中心物流与仿真实验室于2008年成功研制出一套岸吊仿真系统,该系统在软、硬件研发方面都取得较大突破。同年9月份我实验室在充分吸收该套系统科研成果的基础上,再次组织人员独立开发一套功能完整的、更具工业用途的岸吊仿真系统。本文正是围绕这一系统的设计研发展开。首先对仿真系统进行新的功能定位及总体设计,之后对前任成员研制的软件部分进行完善和修改,优化了系统结构及仿真模型,然后结合软件功能设计出配套的硬件方案,最终集成软、硬件,开发出我实验室第二套岸吊仿真系统。研究和设计开发的过程遵循了从整体到局部、并行化开发、由点到面的原则方法,并按照完善功能、优化仿真效果、调试修改、硬件支持软件的步骤,完成了岸吊仿真系统研究和设计开发。系统具有采用真实的岸吊操作台、单投影斜屏幕显示、多种环境模拟等特点。
本文的主要内容包括:
(1)提出了一种功能齐全的岸吊仿真系统设计方案。
(2)分别设计了软件集成及软硬件的集成方法。
(3)完善软件系统功能、优化仿真模型。
(4)设计并比较了几种硬件设计方案。
(5)指出系统的可扩展性及未来开发设计方向。
其中,利用系统集成及Virtools开发平台进行仿真优化是本文的重点。优化仿真模型的技术关键主要在于振动仿真、空气阻尼等因素的影响和提高模型的真实性与实时性。本文将振动仿真问题转化为视景抖动来解决,分别分析空气阻力、天气状况及光线明暗等因素对模型的影响。
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. Although some have been successful in the experimental stage, but the system integration needs to be improved, and there is a lack of civilian promotion.
It is necessary to develop an efficient, practical and multifunctional quay crane simulator training system.
Modern Logistics Center Logistics and Simulation Laboratory , Graduate School at Shenzhen, Tsinghua University, successfully developed a set of quay cranes simulation system in 2008, the system hardware and software have made great breakthroughs in research and development. In the same year in September I fully absorb the laboratory of the system based on scientific research, more re-organizations have developed a new quay cranes industrial use simulation system. This article is designed around the development of this new system started. First of all, the new simulation system location and design of new features, then some of the original system software changes to improve and optimize the system structure and the simulation model, and then combined with software features to design the hardware supporting the program, the final integration of software and hardware, I developed a second set of quay cranes laboratory simulation system. Research and design development process followed the bottom-up modeling , parallel development , the principle point to a plane of methods and improve the functionality, optimization simulation results, debug changes, hardware support software, the steps to complete the simulation system of quay cranes research and design development.
The Main Solutions of this dissertation are as follow:
(1) Designed a functional scheme for quay crane simulator;
(2) Designed the method of software integrated, software and hardware integration;
(3) Improved the software system functions, optimize the simulation model;
(4) Designed and compared several hardware design;
(5) Pointed out that the system scalability and future development and design direction.
Among them, the use of systems integration and development platform, Virtools simulation optimization is the focus of this article. The key technology optimization simulation model is the vibration of the main simulation, air damping influence and improve the model's authenticity and real-time. This article vibration is transformed into visual simulation to solve the jitter, respectively, of air resistance, weather conditions and light shade and so on models.
引文
[1]蒋国仁.岸边集装箱起重机.武汉:湖北科技出版社,2001
[2]申蔚等.虚拟现实技术.北京:北京希望电子出版社,2002
[3]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
[4]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
[5]石教英等.虚拟现实基础及实用算法.北京:科学出版社,2002
[6]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
[7]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
[8]刘明昆.三维游戏设计师宝典[M].四川:四川电子音像出版中心,2005
[9]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
[10]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
[11]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
[12]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
[13]蒋国仁.港口起重机械.大连:大连海事大学出版社,1995:16-47
[14]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
[15] 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
[16] 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
[17] 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
[18] R.Belleman, B.Stolk, R.deVries. Immersive Virtual Reality on community Hardware. ASCI 2001 Conference,Heijen,the Netherlands, 2001
[19] BoHuLi,etc.System Simulation Seienee and Technology in China.1st Joint Conference ofInternational Software.Asim 96,10.Symposium Simulationstechnik,1996
[20] OrenT.l.Directions of the Future of Modeling and simulation:A Normative view .Syst.Anal.Model.Simul.1984,1(4):265-308
[21] Operating Instructions Compax3.I10.T10
[22]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
[23]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
[24]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
[25]王乐,陈定方,尹念东.基于VIRTOOLS的分布式虚拟现实技术研究.湖北工业大学学报,2005,(6) :22-25
[26]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
[27]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
[28]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
[29]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
[30]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
[31]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
[32]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
[33]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
[34]孙勋武.岸边集装箱起重机仿真训练系统吊具运动碰撞分析:[硕士学位论文].上海:上海海事大学,2005
[35]薛涵.基于Virtools的汽车驾驶仿真系统研究:[硕士学位论文].哈尔滨:哈尔滨工程大学,2007
[36]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
[37]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
[38]李勋祥,饶成,陈定方.基于Virtools的视景系统优化技术研究.武汉理工大学学报,2008,(2)
[2]申蔚等.虚拟现实技术.北京:北京希望电子出版社,2002
[3]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
[4]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
[5]石教英等.虚拟现实基础及实用算法.北京:科学出版社,2002
[6]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
[7]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
[8]刘明昆.三维游戏设计师宝典[M].四川:四川电子音像出版中心,2005
[9]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
[10]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
[11]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
[12]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
[13]蒋国仁.港口起重机械.大连:大连海事大学出版社,1995:16-47
[14]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
[15] 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
[16] 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
[17] 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
[18] R.Belleman, B.Stolk, R.deVries. Immersive Virtual Reality on community Hardware. ASCI 2001 Conference,Heijen,the Netherlands, 2001
[19] BoHuLi,etc.System Simulation Seienee and Technology in China.1st Joint Conference ofInternational Software.Asim 96,10.Symposium Simulationstechnik,1996
[20] OrenT.l.Directions of the Future of Modeling and simulation:A Normative view .Syst.Anal.Model.Simul.1984,1(4):265-308
[21] Operating Instructions Compax3.I10.T10
[22]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
[23]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
[24]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
[25]王乐,陈定方,尹念东.基于VIRTOOLS的分布式虚拟现实技术研究.湖北工业大学学报,2005,(6) :22-25
[26]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
[27]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
[28]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
[29]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
[30]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
[31]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
[32]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
[33]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
[34]孙勋武.岸边集装箱起重机仿真训练系统吊具运动碰撞分析:[硕士学位论文].上海:上海海事大学,2005
[35]薛涵.基于Virtools的汽车驾驶仿真系统研究:[硕士学位论文].哈尔滨:哈尔滨工程大学,2007
[36]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
[37]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
[38]李勋祥,饶成,陈定方.基于Virtools的视景系统优化技术研究.武汉理工大学学报,2008,(2)