CN106446452B - The modeling method of arched girder spring deformation model based on power haptic interaction - Google Patents
The modeling method of arched girder spring deformation model based on power haptic interaction Download PDFInfo
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Abstract
The modeling method of the invention discloses a kind of arched girder spring deformation model based on power haptic interaction, first initializes virtual scene；Then position detection is carried out, when virtual protocol collides virtual flexible body surface, under the action of given dummy contact pressure F, is filled using arched girder spring deformation model inside the regional area that virtual protocol is interacted with virtual flexible body；Then, virtual flexible body regional area deflection is calculated using arched girder spring deformation model；Finally according to the deformation refresh graphics on calculated virtual flexible body surface, and feedback output power tactile data.Present invention deformation calculating speed is fast, and calculation amount is few, and by changing corresponding parameter in modeling method, so that it may carry out deformation simulation to different flexible bodies, modeling method applicability is wide.
Description
Technical field
The present invention relates to a kind of modeling methods of the deformation model of power haptic interaction, more particularly to one kind to be used for virtual operation
In simulation process, the modeling method of the arched girder spring deformation model based on power haptic interaction.
Background technique
Virtual operation as virtual reality technology medical domain one of important application, from the 80s and 90s in last century
Concern increasingly by domestic and international educational circles and industry.Due to really performing the operation, at high cost, risk is big, by surgical procedure
Computer Simulation is carried out, virtual operation can be effectively tested the feasibility of surgical planning, assist operative doctor and apprentice's rehearsal
Actual operating process, combining with advanced graph technology can also help sufferer to be linked up with operative doctor.With China
The arrival of aging of population tide and information age, at the time of the development of virtual operation has also been pulled to a key.
Although having more than 20 years till now from the proposition of virtual operation concept, cover cardiopulmonary, liver, face, orthopaedics, tooth
The Surgery Simulation technology of the different fields such as section is widely studied, and application of the system of virtual operation in medical training diagnosis is not yet
Expanded, Major Difficulties are that accurately virtual teach-in needs to consume a large amount of calculating costs.In particular for soft tissue
System of virtual operation, the sense of reality of deformation needs to consume a large amount of modeling resource and computing resource in Surgery Simulation to be reached.
It is therefore proposed that quickly and accurately the modeling method of the deformation model of power haptic interaction is that virtual operation is successfully crucial.Using base
In the modeling method of physical significance, real-time simulation is carried out to the deformation of flexible body, it has also become the hot spot studied in recent years.
In the modeling method of the currently used flexible body deformation model based on physical significance, although finite element is accurate,
It is required that the number of nodes of grid it is more, calculate when consumption it is more, real-time is poor.Spring-mass network struction simple, intuitive, calculation amount is small,
But due to the arbitrariness of spring constant setting, cause the superiority and inferiority of emulated object behavioral trait is more difficult quantitatively to identify.Boundary element
By to model boundary carry out it is discrete reduce problem dimension, simplify and calculate, but there are certain difficulties in terms of stability.Closely
Nian Lai, for the interactivity and real-time for improving virtual teach-in, many finite elements accelerated using GPU and nonlinear finite element
The work of calculating is also carried out in succession, the former is built upon linear description, on the basis of small deformation, though the latter can reach emulation
Requirement of real-time, but simulate effect need to be improved.It is described above, the modeling method of these common flexible body deformation models
Exist and calculates the problems such as more many and diverse and simulation effect is to be improved.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of based on power for defect involved in background technique
The modeling method of the arched girder spring deformation model of haptic interaction.
The present invention uses following technical scheme to solve above-mentioned technical problem:
The modeling method of arched girder spring deformation model based on power haptic interaction comprising the steps of:
Step 1) initializes virtual scene；
Step 2), position detection, when virtual objects collide virtual flexible body surface, in given dummy contact pressure F
Under the action of, it is filled using arched girder spring deformation model inside the regional area that virtual objects are interacted with virtual flexible body；
The arched girder spring deformation model includes N stringcourse girder construction and N-1 layers of spring structure, and N is the nature more than or equal to 2
Number, in which:
Deformation occurs and symmetrical rigid arched girder comprising 1 stress for first layer arched girder structure, and the rigidity arched girder
Vertex be suspended on the points of impingement of virtual objects and virtual flexible body surface；
2 are more than or equal to for each and is less than or equal to the natural number i of N, the i-th stringcourse girder construction includes that i stress is not sent out
Raw deformation and symmetrical rigid arched girder, the bottom end of this i rigid arched girder is sequentially connected to form wave, with i top
With i+1 bottom end；(i-1)-th layer of spring structure includes i spring, corresponds i for being vertically set on the (i-1)-th stringcourse girder construction
Between bottom end and i top of the i-th stringcourse girder construction；
The coefficient of elasticity k of first spring in (i-1)-th layer of spring structurei-1,1With the elasticity of spring in first layer spring structure
Coefficient k1,1Meet following formula:
It is full between the coefficient of elasticity of first spring of coefficient of elasticity and this layer of j-th of spring in (i-1)-th layer of spring structure
The following relational expression of foot:
Wherein, j is the natural number for being less than or equal to i more than or equal to 2；
Step 3) calculates virtual flexible body regional area deflection using arched girder spring deformation model；
Step 3.1) calculates component value suffered by the maximum rigid arched girder of stress in each stringcourse girder construction:
Step 3.2), successively by the suffered component value of the maximum rigid arched girder of stress in each stringcourse girder construction and default
Force threshold f be compared, until in M stringcourse girder construction the suffered component value of the maximum rigid arched girder of stress be less than it is pre-
If force threshold f, M is the natural number for being less than or equal to N more than or equal to 1；
Step 3.3) successively calculates the deformation of first layer spring structure to M-1 layers of spring structure；
Step 3.4) adds up the deformation of first layer spring structure to M-1 layers of spring structure, obtains virtual flexibility
The deformation in body surface face；
Step 4), according to the deformation refresh graphics on calculated virtual flexible body surface.
Further optimize as a kind of modeling method of the arched girder spring deformation model based on power haptic interaction of the present invention
Scheme calculates component suffered by the maximum rigid arched girder of stress in each stringcourse girder construction in step 3.1) according to the following formula
Value:
When n is even number, the in n-th layer arched girder structureComponent suffered by a rigidity arched girder is maximum, are as follows:
When n is odd number, the in n-th layer arched girder structureComponent suffered by a rigidity arched girder is maximum, are as follows:
N is the natural number for being less than or equal to N more than or equal to 1.
Further optimize as a kind of modeling method of the arched girder spring deformation model based on power haptic interaction of the present invention
Scheme successively calculates the deformation of first layer spring structure to M-1 layers of spring structure according to following equation in step 3.3):
The invention adopts the above technical scheme compared with prior art, has following technical effect that
(1) it is compared with the previous commonly flexible body deformation simulation haptic modeling method based on physical significance, the modeling
Method deforms calculating speed and accelerates, and reduces calculation amount.
(2) by changing corresponding parameter in modeling method, so that it may carry out deformation simulation, modeling side to different flexible bodies
Method applicability is wide.
Detailed description of the invention
Fig. 1 is flexible body deformation simulation flow chart；
Fig. 2 is component size relation schematic diagram suffered by each layer rigidity arched girder in arched girder spring deformation model；
Fig. 3 is the reset condition schematic diagram of arched girder spring deformation model；
Fig. 4 is the status diagram by pressure of arched girder spring deformation model.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
As shown in Figure 1, the modeling method of the invention discloses a kind of arched girder spring deformation model based on power haptic interaction,
It comprises the steps of:
Step 1) initializes virtual scene；
Step 2), position detection, when virtual objects collide virtual flexible body surface, in given dummy contact pressure F
Under the action of, it is filled using arched girder spring deformation model inside the regional area that virtual objects are interacted with virtual flexible body；
The arched girder spring deformation model include N stringcourse girder construction and N-1 layer spring structure, as shown in figure 3, N for greater than
Natural number equal to 2, in which:
Deformation occurs and symmetrical rigid arched girder comprising 1 stress for first layer arched girder structure, and the rigidity arched girder
Vertex be suspended on the points of impingement of virtual objects and virtual flexible body surface；
2 are more than or equal to for each and is less than or equal to the natural number i of N, the i-th stringcourse girder construction includes that i stress is not sent out
Raw deformation and symmetrical rigid arched girder, the bottom end of this i rigid arched girder is sequentially connected to form wave, with i top
With i+1 bottom end；(i-1)-th layer of spring structure includes i spring, corresponds i for being vertically set on the (i-1)-th stringcourse girder construction
Between bottom end and i top of the i-th stringcourse girder construction；
The coefficient of elasticity k of first spring in (i-1)-th layer of spring structurei-1,1With the elasticity of spring in first layer spring structure
Coefficient k1,1Meet following formula:
It is full between the coefficient of elasticity of first spring of coefficient of elasticity and this layer of j-th of spring in (i-1)-th layer of spring structure
The following relational expression of foot:
Wherein, j is the natural number for being less than or equal to i more than or equal to 2；
Step 3) calculates virtual flexible body regional area deflection using arched girder spring deformation model；
Step 3.1), it is assumed that each rigid arch beam stress in each stringcourse girder construction as shown in figure 4, suffered component value such as
Shown in Fig. 2, and meet following equation, according to formula calculate in each stringcourse girder construction it is each rigidity arched girder suffered by component value with
And component value suffered by the maximum rigid arched girder of stress:
Component size suffered by m-th of rigid arched girder in n-th layer arched girder structure are as follows:
When n is even number, the in n-th layer arched girder structureComponent suffered by a rigidity arched girder is maximum, are as follows:
When n is odd number, the in n-th layer arched girder structureComponent suffered by a rigidity arched girder is maximum, are as follows:
N is the natural number for being less than or equal to N more than or equal to 1, and m is the natural number for being less than or equal to n more than or equal to 1.
Step 3.2), successively by the suffered component value of the maximum rigid arched girder of stress in each stringcourse girder construction and default
Force threshold f be compared, until in M stringcourse girder construction the suffered component value of the maximum rigid arched girder of stress be less than it is pre-
If force threshold f, M is the natural number for being less than or equal to N more than or equal to 1；
Step 3.3) successively calculates the deformation of first layer spring structure to M-1 layers of spring structure according to following equation；
Step 3.4) adds up the deformation of first layer spring structure to M-1 layers of spring structure according to following equation,
Obtain the deformation on virtual flexible body surface；
Wherein, Δ xAlwaysFor the sum of the deformation that preceding M-1 layers of spring generates, the deformation on as virtual flexible body surface, Δ xp-1For
The compression deformation that -1 layer of spring structure of pth generates, kp-1,1For the coefficient of elasticity of first spring in -1 layer of spring structure of pth, p
For the natural number for being less than or equal to M more than or equal to 1.
Step 4), according to the deformation refresh graphics on calculated virtual flexible body surface, and feedback output power tactile data.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (3)
1. the modeling method of the arched girder spring deformation model based on power haptic interaction, which is characterized in that comprise the steps of:
Step 1) initializes virtual scene；
Step 2), position detection, when virtual objects collide virtual flexible body surface, in the work of given dummy contact pressure F
Under, filled using arched girder spring deformation model inside the regional area that virtual objects are interacted with virtual flexible body；
The arched girder spring deformation model includes N stringcourse girder construction and N-1 layers of spring structure, and N is the natural number more than or equal to 2,
Wherein:
Deformation occurs and symmetrical rigid arched girder comprising 1 stress for first layer arched girder structure, and the top of the rigidity arched girder
Point is suspended on the point of impingement of virtual objects and virtual flexible body surface；
2 are more than or equal to for each and is less than or equal to the natural number i of N, the i-th stringcourse girder construction includes that shape does not occur for i stress
Become and symmetrical rigid arched girder, the bottom end of this i rigid arched girder are sequentially connected to form wave, there is i top and i+1
A bottom end；(i-1)-th layer of spring structure includes i spring, corresponds i bottom end for being vertically set on the (i-1)-th stringcourse girder construction
And i-th stringcourse girder construction i top between；
The coefficient of elasticity k of first spring in (i-1)-th layer of spring structurei-1,1With the coefficient of elasticity of spring in first layer spring structure
k1,1Meet following formula:
Meet such as between the coefficient of elasticity of first spring of coefficient of elasticity and this layer of j-th of spring in (i-1)-th layer of spring structure
Lower relational expression:
Wherein, j is the natural number for being less than or equal to i more than or equal to 2；
Step 3) calculates virtual flexible body regional area deflection using arched girder spring deformation model；
Step 3.1) calculates component value suffered by the maximum rigid arched girder of stress in each stringcourse girder construction:
Step 3.2), successively by the suffered component value and preset power of the maximum rigid arched girder of stress in each stringcourse girder construction
Amount threshold value f is compared, until the suffered component value of the maximum rigid arched girder of stress is less than preset in M stringcourse girder construction
Force threshold f, M are the natural number for being less than or equal to N more than or equal to 1；
Step 3.3) successively calculates the deformation of first layer spring structure to M-1 layers of spring structure；
Step 3.4) adds up the deformation of first layer spring structure to M-1 layers of spring structure, obtains virtual Flexible body surface
The deformation in face；
Step 4), according to the deformation refresh graphics on calculated virtual flexible body surface.
2. the modeling method of the arched girder spring deformation model according to claim 1 based on power haptic interaction, feature exist
In component value suffered by the maximum rigid arched girder of stress in each stringcourse girder construction is calculated in step 3.1) according to the following formula:
When n is even number, the in n-th layer arched girder structureComponent suffered by a rigidity arched girder is maximum, are as follows:
When n is odd number, the in n-th layer arched girder structureComponent suffered by a rigidity arched girder is maximum, are as follows:
N is the natural number for being less than or equal to N more than or equal to 1.
3. the modeling method of the arched girder spring deformation model according to claim 1 based on power haptic interaction, feature exist
In the deformation of first layer spring structure to M-1 layers of spring structure is successively calculated in step 3.3) according to following equation；
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| CN102207997A (en) * | 2011-06-07 | 2011-10-05 | 哈尔滨工业大学 | Force-feedback-based robot micro-wound operation simulating system |
| CN103869983A (en) * | 2014-03-26 | 2014-06-18 | 南京信息工程大学 | Flexible object deformation simulation method for force haptic human-computer interaction |
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| CN101976298A (en) * | 2010-09-27 | 2011-02-16 | 南京信息工程大学 | Modeling method of symmetrical type plate spring virtual model enhancing haptic feedback |
| CN101976298B (en) * | 2010-09-27 | 2012-06-27 | 南京信息工程大学 | Modeling method of symmetrical type plate spring virtual model enhancing haptic feedback |
| CN102207997A (en) * | 2011-06-07 | 2011-10-05 | 哈尔滨工业大学 | Force-feedback-based robot micro-wound operation simulating system |
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