CN107145642A - A kind of method and device of dynamic crash detection - Google Patents
A kind of method and device of dynamic crash detection Download PDFInfo
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- CN107145642A CN107145642A CN201710238845.8A CN201710238845A CN107145642A CN 107145642 A CN107145642 A CN 107145642A CN 201710238845 A CN201710238845 A CN 201710238845A CN 107145642 A CN107145642 A CN 107145642A
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- 238000001514 detection method Methods 0.000 title claims abstract description 115
- 238000000034 method Methods 0.000 title claims abstract description 31
- 239000002775 capsule Substances 0.000 claims abstract description 317
- 238000012423 maintenance Methods 0.000 claims abstract description 133
- 238000012545 processing Methods 0.000 claims abstract description 26
- 239000011800 void material Substances 0.000 claims description 8
- 239000003292 glue Substances 0.000 claims description 7
- 230000008439 repair process Effects 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000005520 cutting process Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 238000004088 simulation Methods 0.000 abstract description 13
- 238000005516 engineering process Methods 0.000 abstract description 9
- 238000013461 design Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 238000004458 analytical method Methods 0.000 abstract description 3
- 230000003993 interaction Effects 0.000 abstract description 3
- 230000004044 response Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000004422 calculation algorithm Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 239000007894 caplet Substances 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 239000000203 mixture Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000003556 assay Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/20—Administration of product repair or maintenance
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2111/00—Details relating to CAD techniques
- G06F2111/04—Constraint-based CAD
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/21—Collision detection, intersection
Abstract
The invention discloses a kind of method and device of dynamic crash detection, it is related to virtual reality technology auxiliary product design analysis technical field, its method is calculated using capsule body model simplification collision detection, a large amount of maintenance objects are quickly rejected using human body range coverage capsule body, and consider the relative instantaneous velocity of maintenance personal and maintenance objects, maintenance objects are carried out with Slice processing and the capsule body group of section interior volume maintenance objects is built, form the capsule body space based on instantaneous velocity, carry out subsequent time maintenance personal's limbs capsule body and the collision detection of capsule body group in maintenance objects capsule body space is calculated, and then judge the collision situation of maintenance personal and maintenance objects.The present invention improves the response speed and precision of interaction in emulation, finally improves Virtual Maintenance Simulation degree of verisimilitude, lifts simulated effect.
Description
Technical field
Product design analysis technical field is aided in the present invention relates to virtual reality technology, more particularly to a kind of dynamic crash inspection
The method and device of survey.
Background technology
Virtual Maintenance refers to use virtual reality technology and computer simulation technique, sets up one and include the virtual sample of equipment
The virtual environment of the information such as machine, maintenance personal, maintenance tool, maintenance of equipment, and the maintenance process of analog equipment in the present context,
Pretreatment is analyzed and repaired to failure to equipment, simulates unloading process, estimates the time of maintenance activity, formulates part of appliance
The order of dismounting and maintenance cost etc. is estimated, in terms of Product maintenance, visuality, parts accessibility in such as maintenance process
And the disassembling operations of parts are analyzed and researched, so that defect and proposition early in the design of discovery Product maintenance changes
Enter.So, Virtual Maintenance Technology is just found the potential problems in terms of article maintainability the design phase early stage
And aid in solving, it can significantly shorten Product maintenance design time, reduce in the production caused by decision-making is improper etc. in advance because of maintenance
Disconnected and expenses.
Collision detection, also referred to as interference detection or contact detection, are the things based on a generally existing in actual life
It is real：Two not transparent objects can not share identical area of space, and the technology occurred.Collision detection is used as virtual reality
A key components in system, whether main task is between judgment object model, occur between model and scene
Collision and provide the information such as position of collision, paracentesis depth.In Virtual Maintenance Simulation, between collision detection processing object
Position and shape data, and the interference information between object is fed back, the work(for carry and realize man-machine interaction, ensureing emulation degree of verisimilitude
Energy.Even, collision depth and directional information can also be used to the size and Orientation information of power during analysis collision, anti-for power in emulation
Feedback technology provides certain reference.Improved constantly with the complication degree of product and maintenance process, user is imitative to Virtual Maintenance
Genuine authenticity, includes the real-time and accuracy of emulation, it is proposed that higher requirement.And Collision Detection is empty as building
Intend one of key technology of maintenance simulation process, its accuracy and rapidity greatly affected the real-time of Virtual Maintenance Simulation
And order of accuarcy.
At present, the algorithm research of collision detection achieves a collection of significant achievement, and obtains extensive in fields such as game
Application.But the Collision Detection Algorithm for Virtual Maintenance based on certain is few, at present in Virtual Maintenance Simulation system generally
Use for reference or the other algorithms of modification are applied, what is had does not have the function of collision detection even.It is imitative yet with Virtual Maintenance
Genuine own characteristic, current conventional collision detection algorithm is not very suitable for Virtual Maintenance Simulation process.Will be to complexity dimension
Repairing many objects progress in environment, fast and accurately collision detection is also highly difficult, and the repair demolition particularly to irregularly shaped object is imitated
Very, thus do not reach the target call of emulation, seriously constrain the development of Virtual Maintenance Technology.Based on this, for Virtual Maintenance
Exclusive the characteristics of, carries out seeming particularly necessary suitable for the Collision Detection Algorithm of Virtual Maintenance Simulation.
The content of the invention
The technical problem that the scheme provided according to embodiments of the present invention is solved is the corresponding collision of shortage in Virtual Maintenance Simulation
Detection method.
A kind of method of dynamic crash detection provided according to embodiments of the present invention, including：
By carrying out virtual encapsulated processing to each podomere of maintenance personal and multiple maintenance objects respectively, obtain multiple virtual
Maintenance personal's podomere capsule body and multiple Virtual Maintenance object capsule bodies；
It is virtual by being carried out to the multiple Virtual Maintenance personnel podomere capsule body and multiple Virtual Maintenance object capsule bodies
Collision detection, obtains the virtual collision state between Virtual Maintenance personnel's podomere capsule body and Virtual Maintenance object capsule body；
According to the virtual collision state, the Virtual Maintenance personnel podomere capsule body and the Virtual Maintenance object are determined
The crash space of capsule body；
Slicing treatment is carried out to each Virtual Maintenance object capsule body using the crash space, by the crash space
The sliced section of each Virtual Maintenance object capsule body be used as maintenance objects part；
By to all encapsulated processing of maintenance objects partial virtual, forming the virtual capsule group of maintenance objects；
The Virtual Maintenance personnel podomere capsule body and the virtual capsule group of maintenance objects are subjected to virtual collision detection, obtained
Virtual Maintenance personnel's podomere capsule body and the dynamic crash result of maintenance objects virtual capsule group.
Preferably, it is described by the multiple Virtual Maintenance personnel podomere capsule body and multiple Virtual Maintenance object capsules
Body is carried out before virtual collision detection, in addition to：
By carrying out encapsulated processing to each podomere reachable tree of maintenance personal, obtaining multiple Virtual Maintenance personnel podomeres can
Up to space capsule body；
By traveling through all Virtual Maintenance object capsule bodies, judge whether to be completely in or be partially in described virtual
One or more Virtual Maintenance object capsule bodies in maintenance personal's podomere reachable tree capsule body, and as void to be detected
Intend maintenance objects capsule body；
If judging to be detected in the Virtual Maintenance personnel reachable tree capsule body in the presence of being completely in or being partially in
Virtual Maintenance object capsule body, then enter to the Virtual Maintenance personnel podomere capsule body and Virtual Maintenance object capsule body to be detected
Row virtual collision is detected.
Preferably, it is described by entering to the Virtual Maintenance personnel podomere capsule body and multiple Virtual Maintenance object capsule bodies
Row virtual collision is detected, obtains the virtual collision state between Virtual Maintenance personnel's podomere capsule body and Virtual Maintenance object capsule body
Including：
By traveling through all Virtual Maintenance personnel podomere capsule bodies, judge whether and the Virtual Maintenance pair to be detected
As one or more Virtual Maintenance personnel podomere capsule bodies that capsule body collides, and as Virtual Maintenance people to be detected
Member's podomere capsule body；
If judging there are the Virtual Maintenance personnel to be detected collided with the Virtual Maintenance object capsule body to be detected
Podomere capsule body, then obtain the void between Virtual Maintenance personnel podomere capsule body to be detected and Virtual Maintenance object capsule body to be detected
Intend collision status.
Preferably, the virtual collision state includes the instantaneous velocity of the Virtual Maintenance personnel podomere capsule body to be detected
With the virtual collision point on the Virtual Maintenance object capsule body to be detected.
Preferably, it is described according to the virtual collision state, determine the Virtual Maintenance personnel podomere capsule body with it is described
The crash space of multiple Virtual Maintenance object capsule bodies includes：
According on the instantaneous velocity and the Virtual Maintenance object capsule body of the Virtual Maintenance personnel podomere capsule body
Virtual collision point, the displacement of virtual collision point when calculating virtual collision next time, and according to the displacement, virtually touched
Hit the virtual displacement point of impingement a little；
According to the instantaneous velocity of the Virtual Maintenance personnel podomere capsule body, built the virtual collision point and perpendicular to
The nearly normal plane in the instantaneous velocity direction and the excessively described virtual displacement point of impingement and perpendicular to the remote of the instantaneous velocity direction
Normal plane；
Cutting is carried out to the Virtual Maintenance personnel reachable tree capsule body using the nearly normal plane and remote hair plane, obtained
To the Virtual Maintenance personnel podomere capsule body and the crash space of the multiple Virtual Maintenance object capsule body.
Preferably, it is described by all encapsulated processing of maintenance objects partial virtual, forming the virtual glue of maintenance objects
Sorus includes：
By to all encapsulated processing of maintenance objects partial virtual, obtaining Virtual Maintenance object part capsule body；
According to resulting Virtual Maintenance object part capsule body, the virtual capsule group of maintenance objects is built.
A kind of device of dynamic crash detection provided according to embodiments of the present invention, including：
Virtual encapsulated module, for by carrying out virtual capsule to each podomere of maintenance personal and multiple maintenance objects respectively
Change is handled, and obtains multiple Virtual Maintenance personnel podomere capsule bodies and multiple Virtual Maintenance object capsule bodies, and by all
The encapsulated processing of maintenance objects partial virtual, form maintenance objects virtual capsule group；
Virtual collision detection module, for by the multiple Virtual Maintenance personnel podomere capsule body and multiple virtual dimensions
Repair object capsule body and carry out virtual collision detection, obtain between Virtual Maintenance personnel's podomere capsule body and Virtual Maintenance object capsule body
Virtual collision state, and the Virtual Maintenance personnel podomere capsule body and maintenance objects virtual capsule group are virtually touched
Detection is hit, Virtual Maintenance personnel's podomere capsule body and the dynamic crash result of maintenance objects virtual capsule group is obtained；
Crash space module is determined, for according to the virtual collision state, determining the Virtual Maintenance personnel podomere glue
The crash space of utricule and the Virtual Maintenance object capsule body；
Slicing treatment module, for being carried out using the crash space to each Virtual Maintenance object capsule body at section
Reason, regard the sliced section of each Virtual Maintenance object capsule body in the crash space as maintenance objects part.
Preferably, the virtual encapsulated module to each podomere reachable tree of maintenance personal also particularly useful for by carrying out glue
Encapsulated processing, obtains multiple Virtual Maintenance personnel podomere reachable tree capsule bodies.
Preferably, the virtual collision detection module is also particularly useful for by traveling through all Virtual Maintenance object capsule bodies,
Judge whether to be completely in or be partially in one or many in the Virtual Maintenance personnel podomere reachable tree capsule body
Individual Virtual Maintenance object capsule body, and as Virtual Maintenance object capsule body to be detected, and when judgement is present at all
In or the Virtual Maintenance object capsule body to be detected that is partially in the Virtual Maintenance personnel reachable tree capsule body, then to institute
State Virtual Maintenance personnel's podomere capsule body and Virtual Maintenance object capsule body to be detected carries out virtual collision detection.
Preferably, the virtual collision detection module is also particularly useful for by traveling through all Virtual Maintenance personnel podomere capsules
Body, judges whether the one or more Virtual Maintenance personnel collided with the Virtual Maintenance object capsule body to be detected
Podomere capsule body, and as Virtual Maintenance personnel podomere capsule body to be detected, and when judge to exist with it is described to be detected
The Virtual Maintenance personnel podomere capsule body to be detected that Virtual Maintenance object capsule body collides, then obtain Virtual Maintenance to be detected
Virtual collision state between personnel's podomere capsule body and Virtual Maintenance object capsule body to be detected；
Wherein, the instantaneous velocity of the virtual collision state including the Virtual Maintenance personnel podomere capsule body to be detected and
Virtual collision point on the Virtual Maintenance object capsule body to be detected.
The scheme provided according to embodiments of the present invention, has the following advantages：
A) human body is reduced to capsule tree construction, one side capsule body is fine to body configuration's stickiness, on the other hand, just
Maintenance objects, are processed into capsule body by the capsule body on rapid traversal tree, and test for intersection calculates simple, and amount of calculation is few；
B) reachable tree capsule body is utilized, most of object is just eliminated in the beginning of collision detection each time, reduces
Amount of calculation；
C) section space and capsule body group dynamically are constantly updated using instantaneous velocity, greatly reduces the meter of collision detection
Calculation amount；
D) collision detection precision can easily be controlled using assay intervals time and two grades of collision detection iterationses.
Brief description of the drawings
Fig. 1 is a kind of method flow diagram of dynamic crash detection provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic device of dynamic crash detection provided in an embodiment of the present invention；
Fig. 3 is the dynamic crash detection method technological frame provided in an embodiment of the present invention based on capsule body and instantaneous velocity
Figure；
Fig. 4 is the encapsulated organigram of human body provided in an embodiment of the present invention；
Fig. 5 is people's body capsule tree schematic diagram provided in an embodiment of the present invention；
Fig. 6 is capsule body schematic diagram in region of search provided in an embodiment of the present invention；
Fig. 7 is Slice processing provided in an embodiment of the present invention and secondary capsule body organigram；
Fig. 8 is that collision detection provided in an embodiment of the present invention totally performs frame diagram；
Fig. 9 is type-A collision detection implementation procedure flow chart provided in an embodiment of the present invention；
Figure 10 is B type of collision detection implementation procedure flow chart provided in an embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing to a preferred embodiment of the present invention will be described in detail, it will be appreciated that described below is excellent
Select embodiment to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
Fig. 1 is a kind of method flow diagram of dynamic crash detection provided in an embodiment of the present invention, as shown in figure 1, including：
Step S101：By carrying out virtual encapsulated processing to each podomere of maintenance personal and multiple maintenance objects respectively, obtain
To multiple Virtual Maintenance personnel podomere capsule bodies and multiple Virtual Maintenance object capsule bodies；
Step S102：By to the multiple Virtual Maintenance personnel podomere capsule body and multiple Virtual Maintenance object capsule bodies
Virtual collision detection is carried out, the virtual collision shape between Virtual Maintenance personnel's podomere capsule body and Virtual Maintenance object capsule body is obtained
State；
Step S103：According to the virtual collision state, the Virtual Maintenance personnel podomere capsule body and the void are determined
Intend the crash space of maintenance objects capsule body；
Step S104：Slicing treatment is carried out to each Virtual Maintenance object capsule body using the crash space, will be described
The sliced section of each Virtual Maintenance object capsule body in crash space is used as maintenance objects part；
Step S105：By to all encapsulated processing of maintenance objects partial virtual, forming the virtual capsule of maintenance objects
Group；
Step S106：The Virtual Maintenance personnel podomere capsule body and the virtual capsule group of maintenance objects are subjected to virtual collision
Detection, obtains Virtual Maintenance personnel's podomere capsule body and the dynamic crash result of maintenance objects virtual capsule group.
Wherein, it is described by the multiple Virtual Maintenance personnel podomere capsule body and multiple Virtual Maintenance object capsule bodies
Before progress virtual collision detection, in addition to：By carrying out encapsulated processing to each podomere reachable tree of maintenance personal, obtain many
Individual Virtual Maintenance personnel podomere reachable tree capsule body；By traveling through all Virtual Maintenance object capsule bodies, judge whether
It is completely in or is partially in one or more Virtual Maintenances pair in the Virtual Maintenance personnel podomere reachable tree capsule body
As capsule body, and as Virtual Maintenance object capsule body to be detected；If judging described in the presence of being completely in or being partially in
Virtual Maintenance object capsule body to be detected in Virtual Maintenance personnel's reachable tree capsule body, then to the Virtual Maintenance personnel limb
Save capsule body and Virtual Maintenance object capsule body to be detected carries out virtual collision detection.
Wherein, it is described by being carried out to the Virtual Maintenance personnel podomere capsule body and multiple Virtual Maintenance object capsule bodies
Virtual collision is detected, obtains the virtual collision state bag between Virtual Maintenance personnel's podomere capsule body and Virtual Maintenance object capsule body
Include：By traveling through all Virtual Maintenance personnel podomere capsule bodies, judge whether and the Virtual Maintenance object glue to be detected
One or more Virtual Maintenance personnel podomere capsule bodies that utricule collides, and as Virtual Maintenance personnel limb to be detected
Save capsule body；If judging there are the Virtual Maintenance personnel to be detected collided with the Virtual Maintenance object capsule body to be detected
Podomere capsule body, then obtain the void between Virtual Maintenance personnel podomere capsule body to be detected and Virtual Maintenance object capsule body to be detected
Intend collision status.
Wherein, the instantaneous velocity of the virtual collision state including the Virtual Maintenance personnel podomere capsule body to be detected and
Virtual collision point on the Virtual Maintenance object capsule body to be detected.
Wherein, it is described according to the virtual collision state, determine the Virtual Maintenance personnel podomere capsule body and described many
The crash space of individual Virtual Maintenance object capsule body includes：According to the instantaneous velocity of the Virtual Maintenance personnel podomere capsule body and
Virtual collision point on the Virtual Maintenance object capsule body, the position of virtual collision point when calculating virtual collision next time
Move, and according to the displacement, obtain the virtual displacement point of impingement of virtual collision point；According to the Virtual Maintenance personnel podomere capsule
The instantaneous velocity of body, built the virtual collision point and nearly normal plane and excessively described void perpendicular to the instantaneous velocity direction
Intend displacement collision point and perpendicular to the remote normal plane in the instantaneous velocity direction；Using the nearly normal plane and remote hair plane to institute
State Virtual Maintenance personnel's reachable tree capsule body carry out cutting, obtain the Virtual Maintenance personnel podomere capsule body with it is the multiple
The crash space of Virtual Maintenance object capsule body.
Wherein, it is described by all encapsulated processing of maintenance objects partial virtual, forming the virtual capsule of maintenance objects
Group includes：By to all encapsulated processing of maintenance objects partial virtual, obtaining Virtual Maintenance object part capsule body；According to
Resulting Virtual Maintenance object part capsule body, builds the virtual capsule group of maintenance objects.
Fig. 2 is a kind of schematic device of dynamic crash detection provided in an embodiment of the present invention, as shown in Fig. 2 including：It is empty
Intend encapsulated module 201, for by the way that respectively each podomere of maintenance personal and multiple maintenance objects are carried out with virtual encapsulated processing,
Multiple Virtual Maintenance personnel podomere capsule bodies and multiple Virtual Maintenance object capsule bodies are obtained, and by all maintenances pair
As the encapsulated processing of partial virtual, the virtual capsule group of maintenance objects is formed；Virtual collision detection module 202, for by institute
State multiple Virtual Maintenance personnel podomere capsule bodies and multiple Virtual Maintenance object capsule bodies carry out virtual collision detection, obtain virtual
Virtual collision state between maintenance personal's podomere capsule body and Virtual Maintenance object capsule body, and by the Virtual Maintenance personnel
Podomere capsule body and the virtual capsule group of maintenance objects carry out virtual collision detection, obtain Virtual Maintenance personnel's podomere capsule body and dimension
Repair the dynamic crash result of the virtual capsule group of object；Crash space module 203 is determined, for according to the virtual collision state,
Determine the crash space of the Virtual Maintenance personnel podomere capsule body and the Virtual Maintenance object capsule body；Slicing treatment module
204, for carrying out slicing treatment to each Virtual Maintenance object capsule body using the crash space, by the crash space
The sliced section of each Virtual Maintenance object capsule body be used as maintenance objects part.
Wherein, the virtual encapsulated module 201 to each podomere reachable tree of maintenance personal also particularly useful for by carrying out
Encapsulated processing, obtains multiple Virtual Maintenance personnel podomere reachable tree capsule bodies.
Wherein, the virtual collision detection module 202 is also particularly useful for by traveling through all Virtual Maintenance object capsule bodies,
Judge whether to be completely in or be partially in one or many in the Virtual Maintenance personnel podomere reachable tree capsule body
Individual Virtual Maintenance object capsule body, and as Virtual Maintenance object capsule body to be detected, and when judgement is present at all
In or the Virtual Maintenance object capsule body to be detected that is partially in the Virtual Maintenance personnel reachable tree capsule body, then to institute
State Virtual Maintenance personnel's podomere capsule body and Virtual Maintenance object capsule body to be detected carries out virtual collision detection.
Wherein, the virtual collision detection module 202 is also particularly useful for by traveling through all Virtual Maintenance personnel podomere glue
Utricule, judges whether the one or more Virtual Maintenance people collided with the Virtual Maintenance object capsule body to be detected
Member's podomere capsule body, and as Virtual Maintenance personnel podomere capsule body to be detected, and when judge to exist with it is described to be checked
The Virtual Maintenance personnel podomere capsule body to be detected that Virtual Maintenance object capsule body collides is surveyed, then obtains virtual dimension to be detected
Repair the virtual collision state between personnel's podomere capsule body and Virtual Maintenance object capsule body to be detected；Wherein, virtual collision state
Instantaneous velocity and the Virtual Maintenance object capsule body to be detected including the Virtual Maintenance personnel podomere capsule body to be detected
On virtual collision point.
Fig. 3 is the dynamic crash detection method technological frame provided in an embodiment of the present invention based on capsule body and instantaneous velocity
Figure, as shown in figure 3, including：
Step one：Before collision detection in Virtual Maintenance space object encapsulated processing；
, it is necessary to carry out encapsulated pretreatment, including maintenance to whole objects in Virtual Maintenance space before emulation starts
Personnel's podomere it is encapsulated, maintenance personal's reachable tree encapsulated and maintenance objects encapsulated.Wherein, maintenance personal's limb
Section is encapsulated to be referred to according to maintenance personal's major limb joint structure maintenance personal's capsule body and forms capsule tree construction, such as Fig. 4, figure
Shown in 5；The encapsulated structure that refers to of maintenance personal's reachable tree follows the region of search capsule body space of human motion as shown in Figure 6；
Encapsulated refer to of maintenance objects carries out encapsulated processing according to product configurations and maintenance requirements to maintenance objects.
Step 2：One-level collision detection based on maintenance personal's reachable tree capsule body；
Collision detection is carried out while the maintenance objects capsule body of structure is traveled through with maintenance personal's reachable tree capsule body, is judged
Whether it is in or is partially in maintenance personal's reachable tree.If there is maintenance objects capsule body in the reachable tree, enter
One step travels through people body capsule tree, carries out collision detection with maintenance objects capsule body in reachable tree, determines whether maintenance objects
Capsule body is collided with human body capsule body, otherwise repeats step 2 in detection moment next time.
If having maintenance objects capsule body to collide with human body capsule body, subsequent step is immediately performed, otherwise next time
Detection moment repeats step 2.
Step 3：Consider that the section space of relative instantaneous velocity is built；
For there is the human body capsule body of collision, it is thus necessary to determine that the movement velocity v of this moment human body capsule body, and push back
Its point of impingement p1 with the maintenance objects capsule body of collision, using the interval time t of collision detection twice, takes on velocity attitude
Apart from the point p2 that p1 is t*v, then p1, p2 can be obtained and perpendicular to the nearly normal plane and remote normal plane of velocity attitude, such as Fig. 7
It is shown.
Step 4：Collision moment section space in maintenance objects capsule body all living creatures into；
Reachable tree capsule body cutting is formed the section space of a very little, to reachable by nearly normal plane and remote normal plane
Maintenance objects itself perform detection operation in space, extracts the maintenance objects part in the section space, and to these
Small part builds new Caplet body respectively, forms capsule body group, as shown in Figure 7.
Step 5：Two grades of collision detections in subsequent time section space；
In next detection moment, human body capsule body is subjected to collision detection with traveling through with capsule body group corresponding thereto,
In the event of colliding, then collision result is returned.
Step 6：The release of capsule body group in section space.
By the resource release of all capsule bodies group of structure, and step 2, so circulation are re-executed, until emulation knot
Beam.
It is enough in assay intervals time t twice for this dynamic crash detection method based on capsule body and instantaneous velocity
In the case of small, it is believed that the collision of human body capsule body and maintenance objects capsule body group is human body in two grades of collision detections
With the collision of maintenance objects in itself.If necessary to more accurate collision detection effect, capsule body can also be carried out by iteration
Group builds and two grades of collision detections；Or after the completion of one-level collision detection, touching between direct progress three-dimensional body tri patch
Detection is hit to obtain more accurate collision result.
Embodiment one：
Fig. 8 is that collision detection provided in an embodiment of the present invention totally performs frame diagram, as shown in figure 8, including：
1) preparation is emulated
Virtual Maintenance scene at the beginning, Virtual Maintenance Simulation system automatic maintenance personal will be carried out it is encapsulated, formed by
The motion structure of multiple capsule body c_human [a] (a is human body capsule body quantity) compositions.It is special due to Virtual Maintenance scene
Property, acquiescence is in maintenance scene, and the object moved at first is maintenance personal's human body, therefore, the collision detection carried out at first, it should
It is to be carried out for movement human.
Although the capsule body on organization of human body can do multifreedom motion, movement human is due to the joint of itself
Limitation, these capsule bodies can not all depart from some region.When the border in this region is that capsule body on human body is taken exercises
The enveloping surface of extreme position composition.It is appreciated that all collisions that human body is produced with other objects, are occurred in the enveloping surface
Within, i.e., the enveloping solid that object must be surrounded with the enveloping surface first is collided, and is possible to produce collision with human body.Cause
This, for the collision detection of human body and other objects, it is only necessary to travel through whether the object within the enveloping solid collides with human body.For
Carry out apparent amount of calculation when defining and reducing detected envelope body to the region of the enveloping solid, the present invention is by the enveloping solid
It is defined as maintenance personal's reachable tree, i.e., one and encloses all composition capsule bodies of human body and all moving regions of these capsule bodies
The large capsule body of set.After human body is encapsulated, Virtual Maintenance Simulation system also need to according to people's body capsule tree build this can
Up to space capsule body c_scope.The capsule body is moved and is updated with maintenance personal's human body, the collision inspection carried out afterwards
Survey, will also be carried out for the capsule body area encompassed.
Then analogue system is by automatic capsule method, according to the structure of maintenance objects, to maintenance pair in maintenance scene
It is encapsulated as carrying out, produce c_LRU [b] (b is maintenance objects capsule body quantity).After above preparation is completed, virtual dimension
Repairing emulation can just start.
2) collision detection implementation procedure is circulated
This collision checking method has aftereffect between detecting each time, and this is mainly reflected in Virtual Maintenance Simulation system
By the value according to enumeration type testType, the type that this collision detection is carried out is determined --- collision detection A or collision
Detect B.Wherein collision detection A is responsible for performing one-level collision detection, and determines whether that performing structure cuts into slices space simultaneously according to result
Maintenance objects capsule body group in generation section space；Collision detection B is responsible for performing two grades of collision detections and capsule body group's resource
Release.
3) detection of end is emulated
After the completion of detecting each time, whether analogue system all terminates Measuring error emulation, the collision detection if terminating
Stop, if not terminating, continue executing with collision detection process circulation, as shown in Figure 8.
It should be noted that real-time and accuracy in order to improve collision detection, it is completed in collision detection B each time
Afterwards, primary collision detection A is further continued to be carried out, to determine collision detection information next time.
Embodiment two：
Fig. 9 is type-A collision detection implementation procedure flow chart provided in an embodiment of the present invention, as shown in figure 9, type-A
Collision detection is substantially the collision detection of first level, mainly determines the maintenance pair within maintenance personal's reachable tree capsule body
As if there is collision in no any capsule body with human body capsule body structure, if not having, need not carry out follow-up collision detection mistake
Journey, i.e. collision detection B types, if so, then making enumeration type testType=B, the value will cause to enter when refreshing detection next time
Row B type of collision is detected.
The collision of type-A is embodied as：
Step A1：All maintenance objects capsule bodies in scene are traveled through, and judged whether and reachable tree capsule body
Collision.If not collided with reachable tree capsule body, then need not carry out next step detection, A detections terminate, and testType according to
It is so constant for " A "；If having maintenance objects capsule body to collide with reachable tree capsule body, step A2 is performed.
Step A2：All maintenance objects capsule bodies collided with reachable tree capsule body of traversal and people body capsule tree, judge
Collided with the presence or absence of maintenance objects capsule body and any human body capsule body c_human [i] ().If it is not present, then without carrying out
Next step detects that A detections terminate, and testType is still constant for " A "；If there is collision, step A3 is performed.
Step A3：Assuming that c_human [i] is collided with a certain maintenance objects capsule body, then it needs to be determined that the collision is in human body
Point of impingement point1 on capsule body and its speed speed now, further according to the refresh time DeltaTime of collision detection,
It is determined that next time collision detection when, point1 possibility point of arrival point2 is determined perpendicular to speed respectively by velocity attitude
And the nearly normal plane and remote normal plane for passing through point1 and point2.Perform step A4.
Step A4：All maintenance objects capsule bodies in reachable tree capsule body are traveled through, are intercepted true in two normal planes
Part in fixed section space, and according to the new Caplet body c_forB [n] of the new object configurations of interception, (n is Caplet body
Quantity), numerous Caplet body formation capsule body groups.Perform step A5.
Step A5：TestType is set to " B ", A detections terminate.
Embodiment three：
Figure 10 is B type of collision detection implementation procedure flow chart provided in an embodiment of the present invention, as shown in Figure 10, B types
Collision detection is substantially two grades of collision detections, main executor's body capsule body and maintenance objects capsule body group's corresponding thereto
Collision detection.
The collision of B types is embodied as：
Step B1：People body capsule tree is traveled through, the information stored according to human body capsule body in type-A test, it is determined whether
Carry out secondary detection.For the human body capsule body with corresponding maintenance objects capsule body group, step B2 is performed.
Step B2：Traversal ground carries out the collision detection of maintenance objects capsule body group and corresponding human body capsule body.If some touch
Establishment is hit, then exports corresponding collision information and gives Virtual Maintenance Simulation system, system will be handled these information, to realize people
Machine interactive function.After being completed to the traversal test of owner's body capsule body, step B3 is performed.
Step B3：Release capsule body group's resource, and testType is set to " A " again, B tests terminate.
The scheme provided according to embodiments of the present invention, improves the response speed and precision of interaction in emulation, final to improve
Virtual Maintenance Simulation degree of verisimilitude, lifts simulated effect.
Although the present invention is described in detail above, the invention is not restricted to this, those skilled in the art of the present technique
Various modifications can be carried out according to the principle of the present invention.Therefore, all modifications made according to the principle of the invention, all should be understood to
Fall into protection scope of the present invention.
Claims (10)
1. a kind of method of dynamic crash detection, it is characterised in that including：
By carrying out virtual encapsulated processing to each podomere of maintenance personal and multiple maintenance objects respectively, multiple Virtual Maintenances are obtained
Personnel's podomere capsule body and multiple Virtual Maintenance object capsule bodies；
By carrying out virtual collision to the multiple Virtual Maintenance personnel podomere capsule body and multiple Virtual Maintenance object capsule bodies
Detection, obtains the virtual collision state between Virtual Maintenance personnel's podomere capsule body and Virtual Maintenance object capsule body；
According to the virtual collision state, the Virtual Maintenance personnel podomere capsule body and the Virtual Maintenance object capsule are determined
The crash space of body；
Slicing treatment is carried out to each Virtual Maintenance object capsule body using the crash space, will be every in the crash space
The sliced section of individual Virtual Maintenance object capsule body is used as maintenance objects part；
By to all encapsulated processing of maintenance objects partial virtual, forming the virtual capsule group of maintenance objects；
The Virtual Maintenance personnel podomere capsule body and the virtual capsule group of maintenance objects are subjected to virtual collision detection, obtain virtual
Maintenance personal's podomere capsule body and the dynamic crash result of maintenance objects virtual capsule group.
2. according to the method described in claim 1, it is characterised in that described by the multiple Virtual Maintenance personnel podomere glue
Utricule and multiple Virtual Maintenance object capsule bodies are carried out before virtual collision detection, in addition to：
By carrying out encapsulated processing to each podomere reachable tree of maintenance personal, multiple Virtual Maintenance personnel podomeres are obtained up to empty
Between capsule body；
By traveling through all Virtual Maintenance object capsule bodies, judge whether to be completely in or be partially in the Virtual Maintenance
One or more Virtual Maintenance object capsule bodies in personnel's podomere reachable tree capsule body, and as virtual dimension to be detected
Repair object capsule body；
If judging to be detected virtual in the Virtual Maintenance personnel reachable tree capsule body in the presence of being completely in or being partially in
Maintenance objects capsule body, then carried out empty to the Virtual Maintenance personnel podomere capsule body and Virtual Maintenance object capsule body to be detected
Intend collision detection.
3. method according to claim 1 or 2, it is characterised in that described by the Virtual Maintenance personnel podomere glue
Utricule and multiple Virtual Maintenance object capsule bodies carry out virtual collision detection, obtain Virtual Maintenance personnel's podomere capsule body and virtual
Virtual collision state between maintenance objects capsule body includes：
By traveling through all Virtual Maintenance personnel podomere capsule bodies, judge whether and the Virtual Maintenance object glue to be detected
One or more Virtual Maintenance personnel podomere capsule bodies that utricule collides, and as Virtual Maintenance personnel limb to be detected
Save capsule body；
If judging there is the Virtual Maintenance personnel podomere to be detected collided with the Virtual Maintenance object capsule body to be detected
Capsule body, then obtain virtually touching between Virtual Maintenance personnel podomere capsule body to be detected and Virtual Maintenance object capsule body to be detected
Hit state.
4. method according to claim 3, it is characterised in that the virtual collision state includes the virtual dimension to be detected
Repair the virtual collision point on the instantaneous velocity and the Virtual Maintenance object capsule body to be detected of personnel's podomere capsule body.
5. method according to claim 4, it is characterised in that described according to the virtual collision state, determines the void
Intending the crash space of maintenance personal's podomere capsule body and the multiple Virtual Maintenance object capsule body includes：
According to virtual on the instantaneous velocity and the Virtual Maintenance object capsule body of the Virtual Maintenance personnel podomere capsule body
The point of impingement, the displacement of virtual collision point when calculating virtual collision next time, and according to the displacement, obtain virtual collision point
The virtual displacement point of impingement；
According to the instantaneous velocity of the Virtual Maintenance personnel podomere capsule body, the virtual collision point was built and perpendicular to described
The nearly normal plane in instantaneous velocity direction and the excessively described virtual displacement point of impingement and perpendicular to the instantaneous velocity direction remote method put down
Face；
Cutting is carried out to the Virtual Maintenance personnel reachable tree capsule body using the nearly normal plane and remote hair plane, institute is obtained
State the crash space of Virtual Maintenance personnel's podomere capsule body and the multiple Virtual Maintenance object capsule body.
6. according to the method described in claim 1, it is characterised in that described by all maintenance objects partial virtual capsules
Change is handled, and forming the virtual capsule group of maintenance objects includes：
By to all encapsulated processing of maintenance objects partial virtual, obtaining Virtual Maintenance object part capsule body；
According to resulting Virtual Maintenance object part capsule body, the virtual capsule group of maintenance objects is built.
7. a kind of device of dynamic crash detection, it is characterised in that including：
Virtual encapsulated module, for by carrying out virtual encapsulated place to each podomere of maintenance personal and multiple maintenance objects respectively
Reason, obtains multiple Virtual Maintenance personnel podomere capsule bodies and multiple Virtual Maintenance object capsule bodies, and by all dimensions
The virtual encapsulated processing of object part is repaiied, the virtual capsule group of maintenance objects is formed；
Virtual collision detection module, for by the multiple Virtual Maintenance personnel podomere capsule body and multiple Virtual Maintenances pair
As capsule body carries out virtual collision detection, the void between Virtual Maintenance personnel's podomere capsule body and Virtual Maintenance object capsule body is obtained
Intend collision status, and the Virtual Maintenance personnel podomere capsule body and the virtual capsule group of maintenance objects are subjected to virtual collision inspection
Survey, obtain Virtual Maintenance personnel's podomere capsule body and the dynamic crash result of maintenance objects virtual capsule group；
Crash space module is determined, for according to the virtual collision state, determining the Virtual Maintenance personnel podomere capsule body
With the crash space of the Virtual Maintenance object capsule body；
Slicing treatment module, will for carrying out slicing treatment to each Virtual Maintenance object capsule body using the crash space
The sliced section of each Virtual Maintenance object capsule body in the crash space is used as maintenance objects part.
8. device according to claim 7, it is characterised in that the virtual encapsulated module is also particularly useful for by dimension
Repair each podomere reachable tree of personnel and carry out encapsulated processing, obtain multiple Virtual Maintenance personnel podomere reachable tree capsule bodies.
9. device according to claim 8, it is characterised in that the virtual collision detection module also particularly useful for by time
All Virtual Maintenance object capsule bodies are gone through, judging whether to be completely in or be partially in the Virtual Maintenance personnel podomere can
Up to one or more Virtual Maintenance object capsule bodies in the capsule body of space, and as Virtual Maintenance object capsule to be detected
Body, and when judgement has the void to be detected being completely in or be partially in the Virtual Maintenance personnel reachable tree capsule body
Intend maintenance objects capsule body, then the Virtual Maintenance personnel podomere capsule body and Virtual Maintenance object capsule body to be detected are carried out
Virtual collision is detected.
10. device according to claim 9, it is characterised in that the virtual collision detection module is also particularly useful for passing through
All Virtual Maintenance personnel podomere capsule bodies are traveled through, judge whether occur with the Virtual Maintenance object capsule body to be detected
One or more Virtual Maintenance personnel podomere capsule bodies of collision, and as Virtual Maintenance personnel podomere capsule to be detected
Body, and when judgement has the Virtual Maintenance personnel limb to be detected collided with the Virtual Maintenance object capsule body to be detected
Capsule body is saved, then obtains virtual between Virtual Maintenance personnel podomere capsule body to be detected and Virtual Maintenance object capsule body to be detected
Collision status；
Wherein, the instantaneous velocity of the virtual collision state including the Virtual Maintenance personnel podomere capsule body to be detected and described
Virtual collision point on Virtual Maintenance object capsule body to be detected.
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| CN111581840A (en) * | 2020-05-15 | 2020-08-25 | 中国人民解放军32181部队 | Equipment maintenance characteristic simulation test and evaluation system |
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| CN104156068A (en) * | 2014-08-04 | 2014-11-19 | 北京航空航天大学 | Virtual maintenance interaction operation method based on virtual hand interaction feature layer model |
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| CN104156068A (en) * | 2014-08-04 | 2014-11-19 | 北京航空航天大学 | Virtual maintenance interaction operation method based on virtual hand interaction feature layer model |
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| MENGYING ZHANG等: "Collision detection technology based on capsule model in virtual maintenance", 《2014 10TH INTERNATIONAL CONFERENCE ON RELIABILITY, MAINTAINABILITY AND SAFETY》 * |
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| CN111581840A (en) * | 2020-05-15 | 2020-08-25 | 中国人民解放军32181部队 | Equipment maintenance characteristic simulation test and evaluation system |
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