岸边集装箱起重机驾驶员虚拟培训系统的开发

发布时间：2018-01-09 05:03

本文关键词：岸边集装箱起重机驾驶员虚拟培训系统的开发　出处：《山东建筑大学》2014年硕士论文　论文类型：学位论文

【摘要】：目前,岸边集装箱起重机是港口码头主要的装、卸船设备,随着集装箱运输业的蓬勃发展,迫切需要大量的岸边集装箱起重机驾驶员,然而,培训岸边集装箱起重机驾驶员是一项重要并且耗时的工作。在通常情况下,真实的岸边集装箱起重机主要应用于实践工作,并且从安全性的角度考虑也不便用于初学者练习操作,为此,本课题研究开发了一种基于桌面的岸边集装箱起重机驾驶员虚拟培训系统。文章主要针对如何设计系统结构、确定系统开发流程、创建系统三维模型、驱动模型运动、实现碰撞检测及其响应、分析系统性能六个问题进行了研究,研究内容如下： (1)对真实岸边集装箱起重机的运行机构和装、卸船流程进行了分析,明确了这一虚拟培训系统的功能要求,继而设计了系统的整体结构；对现行主流建模软件的优缺点进行了分析,确定了应用Creator进行系统的三维建模,Vega软件进行模型驱动。 (2)为了更好地建立系统三维模型,文章介绍了Creator软件中常见的建模技巧、DOF技术和模型优化技术,对真实岸边集装箱起重机的基本结构、几何参数和结构特点进行了分析,确定了该系统起重机建模参数,创建了起重机的几何模型；同时,为了使虚拟起重机具备活动能力,文章还讨论了创建起重机DOF节点的方法。另外,文章还分别分析了吊具建模参数和环境模型建模参数,创建了吊具的三维模型和环境模型,完成了系统的三维建模。 (3)为了能更好地理解Vega软件驱动模型的原理,文章介绍了Vega软件的驱动技术,包括：模型驱动原理和应用程序的执行流程；研究了通过控制起重机DOF节点运动和绳索伸长、缩短的方法实现三大机构运动；另外,文章还分析了设置系统多视点和抓取、就位集装箱的方法,讨论了如何实现集卡运动、虚拟人行走和海面波动。为了增强这一仿真训练环境的真实感,文章进一步研究了起重机的动力学模型和载荷摆动模型,根据载荷摆动模型编程,实现了虚拟起重机的载荷摆动。 (4)碰撞检测是开发该虚拟培训系统的一项关键技术。文章分析了基于Vega软件的碰撞检测原理和八种碰撞检测方法,结合吊具在虚拟场景中的碰撞特点,确定了集装箱和吊具的碰撞检测方法,最后,详细讨论了如何实现吊具与集装箱碰撞后的碰撞响应。
[Abstract]:At present, the quayside container crane is the main loading and unloading equipment of the port wharf. With the rapid development of the container transportation industry, there is an urgent need for a large number of quayside container crane drivers, however. Training quayside container crane drivers is an important and time-consuming task. In general, real quayside container cranes are mainly used in practice. And from the point of view of safety, it is inconvenient for beginners to practice. Therefore, a virtual training system of container crane driver based on desktop is developed in this paper. This paper mainly focuses on how to design the system structure, determine the system development process, create a three-dimensional model of the system, drive the movement of the model, achieve collision detection and its response, and analyze the performance of the system. The contents of the study are as follows: 1) the operation mechanism, loading and unloading process of the real container crane are analyzed, the functional requirements of the virtual training system are clarified, and the overall structure of the system is designed. The advantages and disadvantages of the current mainstream modeling software are analyzed, and the 3D modeling software using Creator is determined to be model-driven. In order to set up the 3D model of the system better, this paper introduces the common modeling techniques in Creator software, such as DOF technology and model optimization technology. The basic structure, geometric parameters and structural characteristics of the real container crane are analyzed, the modeling parameters of the crane are determined, and the geometric model of the crane is established. At the same time, in order to make the virtual crane have the ability to move, the paper also discusses the method of creating crane DOF node. In addition, the paper also analyzes the modeling parameters of crane and environment model respectively. The three-dimensional model and environment model of the lifting gear are established, and the three-dimensional modeling of the system is completed. 3) in order to better understand the principle of Vega software driving model, this paper introduces the driving technology of Vega software, including: model driving principle and application execution flow; This paper studies how to realize the movement of three mechanisms by controlling the movement of DOF node and the elongation and shortening of rope. In addition, the paper also analyzes the method of setting up multi-view, grab and position container, and discusses how to realize the motion of card gathering, virtual human walking and sea surface fluctuation, in order to enhance the reality of the simulation training environment. In this paper, the dynamic model and load swing model of crane are studied, and the load swing of virtual crane is realized by programming according to load swing model. Collision detection is a key technology in developing the virtual training system. This paper analyzes the principle of collision detection based on Vega software and eight collision detection methods. Combined with the collision characteristics of the crane in the virtual scene, the collision detection method of the container and the crane is determined. Finally, how to realize the collision response after the collision between the crane and the container is discussed in detail.
【学位授予单位】：山东建筑大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U691;TP391.9

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