【作者】 李辉；

【导师】 易朋兴；

【作者基本信息】 华中科技大学 ， 机械工程， 2021， 硕士

【摘要】 随着时代的发展,大型复杂设备对虚拟维修技术的要求日益增高。在现有技术中,量化评估以及快速验证等技术已经接近成熟,但对于人体模型方面的研究还有所欠缺。针对该问题,本文对人体模型在舰船设备狭窄空间中进行路径规划验证、协同搬运时所应该具备的功能进行二次开发。主要内容包括普通人体建模、人体建模参数化、构造人体模型触觉属性和构造人体模型视觉属性。首先,通过了解构造CATIA人体模型所需“.sws”文件的数据结构,通过数学手段进行数据补充,构造在狭窄空间中适用于中国人体特征的普通人体模型;然后通过寻找身高与百分位的数学关系,建立以身高、性别为导向的人体模型,完成人体模型的参数化设计。接着,根据人体模型的应用场景,主要是路径规划验证中,运用基于AABB包围盒的碰撞检测算法对人体模型进行触觉功能的开发,使得人体模型在进行路径验证过程中与周围环境有接触时能够记录接触部位以便后期对环境进行优化;而在协同搬运方面,运用关键点识别分析算法进行视觉属性的构建,使人体模型在相互合作进行搬运时,能够观察对方的搬运姿势,并以之为依据对自身姿势进行快速调整,以缩短仿真实验的时间。最后根据触觉和视觉属性的理论构建方法,通过CAA技术对CATIA人体模型进行二次开发,实现人体模型触觉与视觉的构建,并在一定的环境中进行仿真,验证该智能人体模型在狭窄空间对于路径规划验证和协同搬运的有效性。更多还原

【Abstract】 With the development of the times,the importance of virtual maintenance technology in large and complex equipment is increasing.and the requirements for virtual maintenance technology will also increase.In the existing technology,quantitative evaluation and rapid verification technology are nearly mature,but there is still a lack of research on human model.In order to solve this problem,this paper redevelops the function of the human body model in the narrow space of ship equipment for path planning verification and collaborative handling.The main contents include ordinary human body modeling,human body modeling parameterization,constructing human body model tactile attributes and constructing human body model visual attributes.Firstly,by understanding the data structure of ".SWS" file needed to construct CATIA mannequin,and using mathematical means to supplement the data,a general mannequin suitable for Chinese human characteristics in narrow space is constructed.Then,by finding the mathematical relationship between height and percentile,a height and gender oriented human model is established,and the parametric design of the human model is completed.Next,according to the application scenarios of the human model,mainly in the path planning verification,the AABB bounding box collision detection algorithm is used to develop the tactile function of the human model,so that the human model can avoid spontaneously when it has contact with the surrounding environment in the process of path verification;in the aspect of collaborative transportation,the key point identification analysis method is used to construct the visual attributes,so that it can observe the other’s carrying posture,and adjust its own posture based on it when the mannequin cooperates with each other in carrying,and to keep the balance of the object in the whole process.Finally,according to the theory construction method of tactile and visual attributes,the CATIA human model is redeveloped through CAA technology to realize the construction of tactile and visual human model,and the simulation in a certain environment verifies the effectiveness of the intelligent human model for path planning verification and collaborative transportation in narrow space.更多还原