抓斗挖泥船水下作业可视化实时仿真系统研究与开发

发布时间：2018-06-19 05:16

本文选题：抓斗挖泥船 + 监测　；参考：《武汉理工大学》2015年硕士论文

【摘要】：目前国内外对抓斗挖泥船施工时的工作状况监测主要采用图形、曲线、数字的方式,如通过在司机室操纵台旁用仪表显示抓斗开度和施工深度,这种监测方式可视化程度不高,本文基于这种现状,对抓斗挖泥船水下作业可视化实时仿真系统的开发进行了探索,并尝试通过实时通信技术、计算机图形技术及程序设计来实现抓斗挖泥机施工作业的可视化实时仿真。在现有挖泥机电气控制系统和施工定位系统的硬件配置、软件功能要求的指导下,开发一套抓斗水下作业实时仿真系统。本文首先针对18m3抓斗挖泥机产品样机,设计抓斗挖泥船可视化实时仿真系统方案。对可视化系统实现过程中关键问题进行研究与解析,包括臂架俯仰和船倾对抓斗深度补偿数学模型、抓斗开度和形态实时显示数学模型,以及挖泥机相关三维模型建立。其次,详细阐述抓斗挖泥船可视化实时仿真系统软件的实现,通过OpenGL和VC++程序编程,对挖泥机施工过程中有相对运动的构件三维模型进行实时的坐标变换,对抓斗挖掘的泥土模型以及挖掘标记作出判断,并且实时渲染和重绘,实现抓斗挖泥机的整体和抓斗独立的三维图形可视化实时仿真,同时实现数据的实时数字显示。通过18m3抓斗挖泥机产品样机的岸上挖泥试运行试验,验证抓斗挖泥船可视化实时仿真系统各功能模块的实现效果,包括数据显示和图形显示的准确性、实时性和稳定性,进一步对系统提出改进和优化措施。本文最后总结本课题,提出研究不足之处并对下一步工作的跟进提出展望。
[Abstract]:At present, at home and abroad, the working condition of grab dredger is mainly monitored by graphics, curves and figures. For example, the degree of opening of grab bucket and the depth of construction are displayed by means of instruments next to the driver's control table. The degree of visualization of this kind of monitoring method is not high. Based on this situation, this paper explores the development of visual real-time simulation system for grab dredger underwater operation, and attempts to use real-time communication technology. Computer graphics technology and program design are used to realize visual real-time simulation of dredger construction. Under the guidance of the hardware configuration and software function requirement of the existing dredger electrical control system and construction positioning system, a real-time simulation system for grab underwater operation is developed. Firstly, aiming at the prototype of 18m3 grab dredger, the visual real-time simulation system of grab dredger is designed in this paper. The key problems in the realization of the visualization system are studied and analyzed, including the mathematical models of depth compensation for boom pitching and tilting bucket, the real-time display mathematical model of grab opening and shape, and the establishment of relevant 3D model of dredger. Secondly, the realization of visual real-time simulation system software for grab dredger is described in detail. Through OpenGL and VC programming, the 3D model of dredger with relative motion is transformed into real time coordinate. The soil model and the excavating mark of grab excavating are judged, and the real-time rendering and redrawing are carried out to realize the 3D graphics visualization and real-time simulation of grab dredger and grab independently, and to realize the real-time digital display of data at the same time. In this paper, the experiment of shore-based dredging test of 18m3 grab dredger product prototype is carried out to verify the realization effect of each functional module of grab dredger visual real-time simulation system, including the accuracy, real-time and stability of data display and graphic display. Further improve and optimize the system. Finally, this paper summarizes the subject, puts forward the deficiencies of the research and prospects for the follow-up work.
【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U616.21

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