直臂式高空作业车虚拟现实教学培训系统设计与研究

发布时间：2018-01-16 06:42

本文关键词：直臂式高空作业车虚拟现实教学培训系统设计与研究　出处：《华东理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：直臂式高空作业车作为船舶行业应用广泛的特种车辆,在船体焊接、涂装和除锈等作业中应用广泛,但由于复杂的操作性,导致事故率较高。因此,对作业车操作技能水平提出了较高要求,而传统教学培训以教材、视频和老师带教的形式,学员直观操作性受限。本论文将虚拟现实技术和半实物仿真技术运用于教学培训中,提高学员学习的主观能动性,提高培训效率。本文通过研究直臂式高空作业车在船厂的日常作业流程,分析培训系统的需求,确立了"教学、练习、考核"三大功能模块;将系统划分为数据操作层、业务管理层和互动表示层;简化作业车变幅机构,运用D-H方法进行了运动学分析,得到各运动关节之间的齐次变换矩阵和速度关系,为虚拟驱动建立数学模型;基于Euler-Bernoulli梁的弯曲振动方程,简化臂架系统为末端有集中质量的箱型截面阶梯梁,为模拟平台振动建立初步振型;以Unity3D、Maya和PhotoShop作为虚拟场景开发工具,完成虚拟模型及场景的搭建;在.NET2.0平台上运用面向对象设计方法,完成MySQL本地数据库搭建及软件功能模块详细设计;根据作业车电液控制原理图,运用SIEMENS S7-226CN PLC完成作业车控制器按钮功能逻辑编程;完成操作者头部角度信息与虚拟场景摄像机位姿映射的蓝牙通讯编程;基于偏振式3D显示原理,研究并测试上下偏振式立体影像对处理方式;最后运用Profiler优化工具,优化培训系统软件。在考核模式下,提出的一种对操作及碰撞体分级编码的方法,运用于主观题的出题和考核评分。本课题的研究成果,将虚拟现实技术引入传统教学培训,结合机电一体技术,增强了培训的趣味性、实操性与互动体验感觉,是对传统教学培训的一个补充与提高。
[Abstract]:As a special kind of vehicle widely used in ship industry, straight-arm aerial vehicle is widely used in hull welding, painting and rust removal, but because of its complex operation, the accident rate is high. Higher requirements are put forward to the operation skill level of the homework cart, while the traditional teaching training is in the form of teaching materials, videos and teachers. This paper applies virtual reality technology and hardware-in-the-loop simulation technology to the teaching training to improve the students' subjective initiative. Improve the efficiency of training. Through the research of the daily operation flow of the straight-arm aerial vehicle in the shipyard, the paper analyzes the demand of the training system, and establishes the three function modules of "teaching, practice and examination"; The system is divided into data operation layer, business management layer and interactive presentation layer. The kinematics analysis is carried out by using D-H method, and the homogeneous transformation matrix and the velocity relation between the motion joints are obtained, and the mathematical model for the virtual drive is established. Based on the bending vibration equation of Euler-Bernoulli beam, the box-shaped stepped beam with concentrated mass at the end of the boom system is simplified, and the initial vibration model is established for simulating the vibration of the platform. Using Unity3D Maya and PhotoShop as virtual scene development tools, the virtual model and scene are built. On the platform of. Net 2.0, the MySQL local database and the software function module are designed by using the object oriented design method. According to the schematic diagram of electro-hydraulic control, SIEMENS S7-226CN PLC is used to complete the logic programming of the button function of the controller. The bluetooth communication programming between the angle information of the operator head and the pose mapping of the virtual scene camera is completed. Based on the principle of polarization 3D display, the processing methods of upper and lower polarization stereo images are studied and tested. Finally, using Profiler optimization tools to optimize the training system software. In the examination mode, a method of classifying the operation and collision volume is proposed. The research results of this subject introduce the virtual reality technology into the traditional teaching and training, combined with mechanical and electrical technology to enhance the interest of the training, practical and interactive experience feeling. It is a supplement and improvement to the traditional teaching and training.
【学位授予单位】：华东理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U671-4;TP391.9

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