基于Virtools的桥式起重机仿真训练系统研究

发布时间：2018-05-07 05:44

本文选题：桥式起重机 + 虚拟现实　；参考：《浙江工业大学》2012年硕士论文

【摘要】：桥式起重机是在国民经济中发挥重要作用的装备型产品，在室内外工矿企业、铁路运输、港口码头等部门和场所均得到广泛的运用。然而传统的培训方法已经不能满足目前对桥机司机的需求。基于虚拟现实技术的桥机仿真训练系统将会提供一种新的培训方式，使培训工作规范化和现代化。本文重点介绍了桥式起重机仿真训练系统的实现过程及其中一些关键问题。该系统提供一个虚拟的工作环境，在显示设备上逼真再现桥式起重机驾驶员在操作桥机过程中看到的情况，让驾驶员有一种身临其境的感觉，并通过操作设备控制虚拟起重机，实现与操作者实时的交互，从而达到对桥机驾驶员的培训目的，并能够通过网络接口实现对系统的远程访问。将虚拟现实与仿真技术应用到桥式起重机驾驶训练中，不仅提高了培训工作的安全性，而且缩短了培训周期、降低了培训费用。本文的主要研究内容如下： 1.系统框架的搭建。研究了虚拟现实技术的特点、结构、模式及相关技术，完成了桥机实际工作的仿真模拟，建立了系统工作的基本框架。 2.通过分析桥式起重机结构和性能，，利用SolidWorks软件建立了桥机的实体模型，然后利用3DS MAX对模型进行优化建模，最后导入Virtools软件中进行人机交互的设计。 3.研究了桥机的运动仿真问题,主要对小车运动过程中重物的摆动进行研究，建立了小车重物系统的数学模型，列出了小车运动状态方程，并进行求解，最后利用Virtools软件对小车重物系统仿真运动进行实现。 4.提出了一种基于均匀网格与AABB相结合的碰撞检测算法，实现了一种改进的平衡二叉树对均匀网格的存储。 5.实现了对桥机仿真系统的手柄控制，为进一步完成其他硬件的连接打下基础。
[Abstract]:Bridge crane is a kind of equipment product which plays an important role in the national economy. It is widely used in industrial and mining enterprises, railway transportation, port wharf and other departments and places. However, the traditional training methods can not meet the current needs of bridge drivers. The simulation training system of bridge machine based on virtual reality technology will provide a new training method to standardize and modernize the training work. This paper focuses on the implementation of bridge crane simulation training system and some key problems. The system provides a virtual working environment, which can vividly reproduce the situation seen by the bridge crane driver in the process of operating the bridge crane on the display equipment, so that the driver has a feeling of being on the spot, and controls the virtual crane through the operation equipment. It realizes the real-time interaction with the operator so as to achieve the purpose of training the driver of the bridge machine and can realize the remote access to the system through the network interface. The application of virtual reality and simulation technology to bridge crane driving training not only improves the safety of the training work, but also shortens the training cycle and reduces the training cost. The main contents of this paper are as follows: 1. The construction of the system framework. The characteristics, structure, mode and related technologies of virtual reality technology are studied. The simulation of the actual work of the bridge machine is completed, and the basic framework of the system is established. 2. By analyzing the structure and performance of bridge crane, the solid model of bridge crane is established by using SolidWorks software, and then the model is optimized by 3DS MAX. Finally, the design of man-machine interaction is carried out in Virtools software. 3. This paper studies the motion simulation of the bridge machine, mainly studies the swing of the heavy object in the course of the small car motion, establishes the mathematical model of the vehicle heavy object system, lists the state equation of the vehicle motion, and solves the problem. Finally, Virtools software is used to realize the simulation motion of the vehicle weight system. 4. A collision detection algorithm based on uniform mesh and AABB is proposed, and an improved balanced binary tree is proposed to store uniform grid. 5. The handle control of the bridge machine simulation system is realized, which lays the foundation for the further connection of other hardware.
【学位授予单位】：浙江工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH215;TP391.9

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