塔式起重机虚拟操作系统建模技术研究

发布时间：2018-03-17 09:53

本文选题：塔式起重机　切入点：视景仿真　出处：《山东建筑大学》2012年硕士论文　论文类型：学位论文

【摘要】：塔式起重机因起升高、覆盖面广等特点现在已被广泛使用于建筑施工现场,但是,塔式起重机驾驶员的培训却划存在着很多问题,如安全性低、周期长、成本高等。而起重机的视景仿真由于具有安全性高、再现性好、可开发性强等优点,可以作为驾驶培训的一种重要工具。所以,近年来有关起重机的视景仿真系统的研究与开发也已经成为了一个重要发展方向。视景仿真建模和驱动是进行视景仿真开发最重要的工作,研究与开发塔式起重机的视景仿真系统,首先必须为驾驶员提供虚拟的驾驶环境,让驾驶员有很强的沉浸感。本文以塔式起重机及其周边环境为背景,以塔式起重机为研究对象,在复杂物体建模、虚拟场景设计、实时性优化和系统实现等方面展开了工作,开发出一个桌面级的视景仿真系统,成功实现了塔式起重机实时视景仿真。主要研究内容如下 (1)在对视景仿真建模技术理论分析的基础上,结合塔式起重机的结构及建筑工地的特征,选择专业的视景仿真建模软件Multigen Creator,给出了场景建模实现方法,重点介绍了场景建模技术,并从场景结构优化和模型构建优化两方面,提出了基于软件Multigen Creator的三维虚拟场景建模优化技术,创建出塔式起重机的建筑工地及周边环境,增强了虚拟环境的逼真度,提高了系统的实时渲染和响应速度。 (2)通过分析塔式起重机的运动特性,建立了塔式起重机的动力学模型,基于VC++编程平台,成功模拟了塔式起重机的起升运动、回转运动、变幅运动以及载荷的摆动情况,并利用时滞滤波理论消除载荷摆动,模拟无载荷摆动操作过程,增强了虚拟操作的真实感。最后,基于视景仿真驱动软件Vega的三维场景渲染技术,成功实现了系统的场景显示与实时漫游、模型驱动与实时控制、自然现象仿真等功能。 (3)塔式起重机及货物在运动过程中会与场景发生碰撞,本文采用Vega软件自带的碰撞检测方法实现了对塔式起重机的碰撞检测,并通过编程实现了碰撞检测后的碰撞响应,限制了塔式起重机及货物在发生碰撞方向上的运动,解决了塔式起重机在运动过程中吊钩和货物穿越地面、墙壁的失真现象,体现了用户与虚拟场景的自然交互性。
[Abstract]:Tower crane has been widely used in construction site because of its rising and wide coverage. However, there are many problems in the training of tower crane driver, such as low safety, long period, etc. The visual simulation of crane can be used as an important tool for driving training because of its advantages of high safety, good reproducibility and exploitability. In recent years, the research and development of crane visual simulation system has become an important development direction. Visual simulation modeling and driving is the most important work of visual simulation development. In order to study and develop the visual simulation system of tower crane, it is necessary to provide a virtual driving environment for the driver. This paper takes the tower crane and its surrounding environment as the background, takes the tower crane as the research object, develops the work in the complex object modeling, the virtual scene design, the real-time optimization and the system realization, etc. A desktop level visual simulation system is developed, and the real-time visual simulation of tower crane is successfully realized. The main research contents are as follows. 1) based on the theoretical analysis of visual simulation modeling technology, combined with the structure of tower crane and the characteristics of construction site, this paper selects the professional visual simulation modeling software Multigen Creator, and gives the method of scene modeling. This paper mainly introduces the scene modeling technology, and puts forward the 3D virtual scene modeling optimization technology based on software Multigen Creator from two aspects of scene structure optimization and model construction optimization, and creates the construction site and surrounding environment of tower crane. The fidelity of the virtual environment is enhanced and the real-time rendering and response speed of the system is improved. By analyzing the movement characteristics of tower crane, the dynamic model of tower crane is established. Based on VC programming platform, the lifting motion, rotation motion, amplitude change movement and load swing of tower crane are simulated successfully. The theory of time-delay filtering is used to eliminate the load swing and simulate the operation process of no-load swing, which enhances the reality of virtual operation. Finally, the 3D scene rendering technology based on scene simulation driver software Vega is introduced. The functions of scene display and real-time roaming, model driving and real-time control, natural phenomena simulation and so on are successfully realized. The tower crane and cargo will collide with the scene in the course of movement. The collision detection method of Vega software is used to realize the collision detection of tower crane, and the collision response after collision detection is realized by programming. It limits the movement of tower crane and cargo in collision direction, solves the distortion phenomenon of hooks and goods passing through the ground during the movement of tower crane, and reflects the natural interaction between user and virtual scene.
【学位授予单位】：山东建筑大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH213.3;TP391.7

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