起重机吊装仿真中实时碰撞检测的研究与应用  

Research and Application of Real-time Collision Detection in Lifting Simulation Process of Crane

作　　者：邓乾旺[1] 高礼坤 

机构地区：[1]湖南大学汽车车身先进设计制造国家重点实验室,湖南长沙410082

出　　处：《计算机仿真》2013年第12期214-218,共5页Computer Simulation

基　　金：湖南大学汽车车身先进设计制造国家重点实验室自主课题资助项目(60870002)

摘　　要：研究起重机吊装实时碰撞检测技术虚拟仿真问题,为提高起重机吊装过程的真实性和实时性,解决实时碰撞检测过程中层次包围盒节点的实时更新问题,提出了动态层次包围盒法与三维空间分割法相结合的混合算法,在构建起重机运动学模型及其层次包围盒的基础上,通过分割工作区域内障碍物的检测区域,在起重机的回转平面上选择需要碰撞检测的起重机节点进行更新,避免了起重机层次结构的更新。最终在VC++和OSG平台上实现了系统的逼真仿真效果,满足了吊装实时性和精确性的要求。Application of the real - time Collision Detection Technologies in virtual simulation was stated aiming at improving reality of crane＇s lifting simulation. A hybrid algorithm combined with methods of dynamic hierarchical bounding volumes （HBVs） and 3D space partition was proposed to resolute the problem of real -time updates of nodes in hierarchical bounding volumes in the process of real - time collision detection. Based on the construction of kinematics model and HBVs model of crane, a part of crane nodes required for collision detection was updated partially to avoid the real - time updates of crane structure by the partition of obstacles＇ detection area in work area. Finally, realistic simulation results of the system based on VC ＋ ＋ and OSG were obtained, and the real - time property and accuracy were satisfied.

关 键 词：实时碰撞检测 动态层次包围盒 三维空间分割法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]