CN110765553B - Airport passenger rapid transit system simulation environment construction method based on virtual reality - Google Patents
Airport passenger rapid transit system simulation environment construction method based on virtual reality Download PDFInfo
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Abstract
The invention provides a virtual reality-based airport passenger rapid transit system simulation environment construction method. The method comprises the following steps: a three-dimensional model multi-node seamless coupling step, which is used for reproducing airport passenger rapid transportation environment in a virtual simulation environment; the method comprises the following steps of describing spatial position associated model features, wherein the model features are used for building and expanding a train operation simulation scene based on an airport passenger express environment; the multi-mode train operation control step is used for establishing the motion relation of a train model in a train operation simulation scene and simulating the operation situation of a train on a real line; and a step of scene slice imaging of dynamic visual range, which is used for realizing self-adaptive optimization configuration of display resources. The invention can reproduce airport passenger rapid transit environment, build and expand train operation scene, simulate the operation situation of train on real line, realize self-adaptive optimization configuration of display resources, and provide simulation test environment for train organization, line planning and large-scale passenger flow characteristic analysis of airport passenger rapid transit system.
Description
Technical Field
The invention relates to the technical field of virtual reality, in particular to a method for constructing a simulation environment of an airport passenger rapid transit system based on virtual reality.
Background
Virtual Reality (VR) technology, which utilizes computer simulation to generate a Virtual three-dimensional space, and combines with a display or other devices such as a visual channel and a stereo sound to construct an artificial environment, provides a user with simulation of senses such as vision and hearing. With the increasing power of computer functions, especially the improvement of graphics processing capability, virtual reality technology has been widely applied in many fields such as indoor design, digital exhibition hall, military exercise, traffic simulation, etc.
In recent years, the volume of airline passenger traffic has increased dramatically, airports have increased in size and complexity, and airport passenger agility systems (APM) have been developed for more convenient and rapid passenger transport. The passenger rapid transit system is an unmanned automatic driving and three-dimensional crossing transport system, provides safe, reliable and efficient passenger transport service by relatively closed and independent lines, and can effectively improve the convenience and timeliness of passenger transfer. However, most of the current researches on passenger agility systems mainly focus on the aspects of space planning design, transportation efficiency assessment and the like, and the entire system is rarely analyzed in a visual mode at multiple levels and multiple angles, such as agile train organization, vehicle model selection, route planning, large-scale passenger flow characteristic analysis and the like. Meanwhile, the field test of the passenger rapid transit system in the large airport has the problems of high economic time cost, waste of human resources, influence on passenger transport efficiency and the like.
At present, no airport passenger rapid transit simulation system supported by a virtual reality technology exists.
Disclosure of Invention
The embodiment of the invention provides a virtual reality-based airport passenger rapid transit system simulation environment construction method, so as to realize an airport passenger rapid transit simulation system supported by a virtual reality technology.
In order to achieve the purpose, the invention adopts the following technical scheme.
A virtual reality-based airport passenger rapid transit system simulation environment construction method comprises the following steps: the method comprises the steps of three-dimensional model multi-node seamless coupling, multi-mode train operation control, model feature description related to spatial position and scene slice imaging of dynamic visual range;
the three-dimensional model multi-node seamless coupling step is used for constructing three-dimensional models of passengers, trains, stations, wheels, tracks, trackside equipment and greening facilities, and reproducing a virtual simulation environment of the airport passenger rapid transit system based on the three-dimensional models;
the model feature description step of spatial position association is used for describing the spatial position relationship among the three-dimensional models constructed in the three-dimensional model multi-node seamless coupling step, and building and expanding a train operation simulation scene according to the spatial position relationship among the three-dimensional models;
the multimode train operation control step is used for realizing the motion of a train model based on the virtual simulation environment of the airport passenger rapid transit system and the train operation simulation scene and simulating the operation situation of a train on a real line;
and the scene slice imaging step of the dynamic sight distance is used for realizing the self-adaptive optimization configuration of display resources, supporting the multi-resolution display of the virtual simulation environment of the airport passenger express system and the smooth transition of the train operation simulation scene, wherein the display resources comprise a display card memory space and a stream processor.
Preferably, the three-dimensional model is subjected to multi-node seamless coupling, and is used for performing customized three-dimensional modeling, material rendering and texture mapping on passengers, trains, stations, wheels, tracks, trackside equipment and greening facilities according to a real airport passenger express environment, so that the shape outline and the color of the model are consistent with those of a real contrast object; carrying out polygon deconstruction on the model in a virtual simulation environment, detecting the number of composition surfaces of the model, marking nodes of deconstructed polygons, completely coinciding corresponding node coordinates of different models needing to be joined through moving, rotating and scaling the model, and realizing seamless joining between the models by utilizing the coupling matching relation between the nodes so as to reproduce the airport passenger express environment in the virtual simulation environment.
Preferably, the wheel model established in the three-dimensional model multi-node seamless coupling step is divided into walking wheels and guide wheels according to functions, the walking wheels are made of rubber, the walking wheels are positioned at the bottom of the vehicle, and the walking wheels are arranged in a row on the left side and the right side of the vehicle respectively; the guide wheels are positioned in the middle of the bottom of the vehicle and are arranged in two rows.
Preferably, the track model established in the three-dimensional model multi-node seamless coupling step is composed of two concrete material walking rails and a steel I-shaped contact rail, the walking rails are positioned on the left side and the right side of the track and used for bearing vehicle walking wheels, and the contact rail is positioned in the middle of the track and used for embedding two rows of vehicle guide wheels.
Preferably, the turntable turnout model in the trackside equipment established in the three-dimensional model multi-node seamless coupling step consists of four fixed guide beams and a movable guide beam, the tail ends of the four fixed guide beams are butted with the contact rail, and the front ends of the four fixed guide beams are suspended or butted with the movable guide beam; when a train passes by, the movable guide beam rotates around a single pivot in the middle of the movable guide beam and is in butt joint with two of the four fixed guide beams to form a continuous guide surface, so that the advancing direction of the train is determined.
Preferably, the model feature description step associated with the spatial location is used to establish a three-dimensional coordinate system with a certain model particle a in a specific scene as an origin according to the location distribution of different models in the simulation environment in the spatial dimension; determining the three-dimensional angle offset and the distance between model particles of other accessory model particles necessary for forming the specific scene under the three-dimensional coordinate system, thereby constructing a scene multi-model topological network taking the model particles A as a central pivot, determining the yaw angle, the pitch angle and the roll angle of each model in the scene multi-model topological network, and finally forming the model space relationship mathematical description of the specific simulation scene; and according to the model space relation mathematical description of the specific simulation scene, the construction and the expansion of the specific simulation scene are realized.
Preferably, the multi-mode train operation control step is used for enabling the train to run along the track by detecting the coupling matching relation between the train wheel pair model nodes and the track model contour nodes in real time; the method comprises the steps of establishing a train dynamic model by analyzing the influence of a line slope and a turning radius on train movement and considering the weight, acceleration and deceleration and friction coefficient factors of a train, and providing three train operation control strategies of an energy-saving emission reduction type, an optimal efficiency type and a multi-target balance type, so that a virtual train conforms to the parameter characteristics of a real train in the aspects of acceleration and deceleration, the highest running speed, climbing resistance and turning resistance; ramp resistance W for force analysis of train movementkThe calculation method comprises the following steps:
wherein: m is train mass; g is the acceleration of gravity; AN is the slope height; AM is the standard elevation; m is train mass; i is the slope in thousandths;
air braking force BmThe calculation method comprises the following steps:
wherein:
the wheel bears pressure; k is a radical ofiIs the coefficient of wheel friction; k is a radical ofmIs the friction calculation effective wheel number; k is a radical ofhIs the assumed coefficient of friction;
train braking distance SdThe calculation method comprises the following steps:
wherein: m is train mass; v. of0Is the initial speed; v is the current real-time speed; b ismIs air braking force; wkIs the ramp resistance; k is a radical ofhIs the assumed coefficient of friction;
the wheel bears pressure; k is a radical ofmIs the friction calculation effective wheel number; i is the slope in thousandths; g is the acceleration of gravity.
The method for calculating the train energy consumption comprises the following steps:
wherein: e1Energy consumption for start and stop, E2For operating energy consumption, E3For uphill energy consumption, Q is the comprehensive loss, n is the number of start-stops in a sector, MlIs the train mass, A is the coefficient of moment of inertia, v is the running speed, S is the road section length, G1G2G3G4The additional coefficient is represented by 4 ramp occupation ratios, and delta is the energy consumption conversion coefficient.
Preferably, the step of imaging the scene slices with dynamic viewing distance is used for dividing the display priorities of different models in the scene according to the functions of the scene, classifying the models with the same display priority into the same layer of scene slices, wherein the slice model of the high-level scene slice has a high display priority in the scene, and the slice model of the low-level scene slice has a low display priority in the scene; preferentially ensuring the model fineness of a high-level scene slice when the scene resolution is adjusted; and dynamically adjusting the resolution of scene slices of different levels according to the size of the scene display visual distance: the self-adaptive optimization configuration of the display resources is realized, so that the complex scene can operate with the picture effect of 60 frames per second under the condition of different visual distances.
The technical scheme provided by the embodiment of the invention can show that the airport passenger rapid transit system can reproduce airport passenger rapid transit environment, build and expand train operation scene, simulate the operation situation of the train on a real line, realize self-adaptive optimization configuration of display resources, and provide simulation test environment for train organization, vehicle model selection, line planning and large-scale passenger flow characteristic analysis of the airport passenger rapid transit system.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram illustrating an implementation principle of a virtual reality-based airport passenger agility system simulation environment construction method according to an embodiment of the present invention;
fig. 2 is a simulation scene diagram of train operation according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating seamless engagement between wheels and rails of a vehicle in a virtual environment according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an implementation process of a train operation control method according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
For the convenience of understanding the embodiments of the present invention, the following description will be further explained by taking several specific embodiments as examples in conjunction with the drawings, and the embodiments are not to be construed as limiting the embodiments of the present invention.
The invention provides a virtual reality-based airport passenger rapid transit system simulation environment construction method, which is used for constructing an airport passenger rapid transit system simulation environment so as to realize an airport passenger rapid transit simulation system supported by a virtual reality technology. The schematic diagram of the implementation principle of the method is shown in fig. 1, and the method comprises the following steps: the method comprises the steps of three-dimensional model multi-node seamless coupling, model feature description associated with spatial positions, multi-mode train operation control and scene slice imaging of dynamic sight distance; the multi-mode train operation control step is associated with the three-dimensional model multi-node seamless coupling step and the model feature description step associated with the space position, and the scene slice imaging step of the dynamic visual range is respectively associated with the three-dimensional model multi-node seamless coupling step, the multi-mode train operation control step and the model feature description step associated with the space position;
the three-dimensional model multi-node seamless coupling step is used for constructing three-dimensional models of passengers, trains, stations, wheels, tracks, trackside equipment and greening facilities, ensuring seamless connection among the three-dimensional models and providing a model foundation for the spatial position associated model feature description step; reproducing a virtual simulation environment of the airport passenger express system based on the three-dimensional model;
the model feature description step of spatial position association is used for describing the spatial position relationship among the three-dimensional models constructed in the three-dimensional model multi-node seamless coupling step, and rapidly constructing and expanding a train operation simulation scene according to the spatial position relationship among the three-dimensional models;
the multi-mode train operation control step is used for realizing the movement of a train model based on the virtual simulation environment of the airport passenger express system and the train operation simulation scene constructed in the two steps and simulating the operation situation of a train on a real line;
the dynamic visual range scene slice imaging step is used for realizing self-adaptive optimization configuration of display resources, wherein the display resources comprise a display card memory space and a stream processor, and the display resource configuration is the allocation of the display card memory space and the stream processor; the step is used for supporting the multi-resolution display of the virtual simulation environment of the airport passenger express system and the smooth transition of the train operation simulation scene, and the smooth operation of the whole simulation system is ensured.
The following specifically describes the functions of each step in fig. 1 by taking the construction of a simulation scenario of the operation of an airport passenger express system train as an example:
fig. 2 is a simulation scene diagram of train operation according to an embodiment of the present invention. First, in a virtual simulation environment, an airport passenger express environment is reproduced using a three-dimensional model multi-node seamless coupling step, as shown in fig. 2 (a). And adjusting the outline appearance, color, relative proportion and position layout of the model in the simulated airport passenger rapid transit environment to ensure that the display effect of the simulated airport passenger rapid transit environment is close to the real airport passenger rapid transit environment as much as possible. The specific implementation process is as follows: 3DMAX software is utilized to carry out customized three-dimensional modeling, material rendering and texture mapping on the passenger shortcut system elements of six kinds of airports, such as passengers, trains, stations, tracks, trackside equipment and greening facilities, so that the constructed three-dimensional model conforms to the outline appearance, color and material characteristics of real contrasts, and meanwhile, the proportional relationship between the models is consistent with the proportional relationship between the real contrasts; carrying out polygon deconstruction on a three-dimensional model in a simulated airport passenger express environment, detecting the number of construction surfaces of the three-dimensional model, marking nodes of the deconstructed polygon, completely coinciding corresponding node coordinates of different three-dimensional models needing to be connected through moving, rotating and scaling the three-dimensional model, and realizing seamless connection between the three-dimensional models by utilizing the coupling matching relationship between the nodes. The wheel model established in the three-dimensional model multi-node seamless coupling step is divided into walking wheels and guide wheels according to functions, the walking wheels and the guide wheels are made of rubber, the walking wheels are positioned at the bottom of the vehicle, and the walking wheels are arranged in a row on the left side and the right side of the vehicle; the guide wheels are positioned in the middle of the bottom of the vehicle and are arranged in two rows. The track model comprises two concrete material walking rails and a steel I shape conductor rail, the walking rail is located the track left and right sides for bear vehicle walking wheel, the conductor rail is located the track positive centre, is used for embedded two rows of vehicle leading wheels. The turntable turnout model consists of four fixed guide beams and a movable guide beam, the tail ends of the four fixed guide beams are butted with the contact rail, and the front ends of the four fixed guide beams are suspended or butted with the movable guide beam; when a train passes by, the movable guide beam rotates around a single pivot in the middle of the movable guide beam and is in butt joint with two of the four fixed guide beams to form a continuous guide surface, so that the advancing direction of the train is determined.
Taking a seamless connection implementation process of a train wheel and a track as an example, fig. 3 is a schematic diagram of seamless connection of the train wheel and the track in a virtual environment provided by the embodiment of the invention, as shown in fig. 3, a longitudinal section of a wheel model is deconstructed into a polygonal shape, equidistant nodes are marked on the edge of the track model according to the side length of the polygon, a corresponding relation between a wheel outline node and a track edge node is established according to the running direction of a train, and the nodes are coupled and matched in a frame animation, so that the seamless connection of the wheel and the track in the motion process is realized, and the fidelity of simulation is improved. The specific calculation method comprises the following steps:
wherein:
the motion vector of the wheel contour node is provided, and the vector direction and the wheel advancing direction form an acute angle;
respectively are position vectors of the wheel outline nodes before and after one simulation step length; delta is an angle factor and is used for correcting the error of the model in the coupling process;
is the position coordinates of two adjacent nodes of the track;
is a unit direction vector of train operation;
and indicating that the wheel profile nodes and the corresponding track nodes are coincided in the next simulation time step after delta t time.
And continuously adjusting the angle of the wheel model in the simulation process to ensure that the associated nodes of the wheel and the track model are overlapped in a given simulation time step length, ensuring that the motion direction vector of the wheel node is vertical to the plane of the track when the associated nodes are overlapped, and finally realizing the self-adaptive seamless coupling of the wheel model and the track model in the motion process.
Then, based on the simulated airport passenger express environment, building and expanding of a train operation simulation scene is realized by using a model feature description step associated with a spatial position, as shown in fig. 2 (B). The specific implementation process is as follows: establishing a three-dimensional coordinate system by taking a certain model particle A in a train operation scene as an origin according to the position distribution of different models in the airport passenger express transportation environment on the spatial dimension; and determining the three-dimensional angle offset and the distance between model particles of other accessory model particles necessary for forming the train operation scene under the relative coordinate system, thereby forming a train operation scene multi-model topological network with the model particles A as a central pivot, determining the yaw angle, the pitch angle and the roll angle of each model in the train operation scene multi-model topological network, and finally forming the model space relation mathematical description of the train operation scene. When a train operation scene is built and expanded, firstly, the spatial position and the three-dimensional attitude angle of a central pivot are set, and then, according to the mathematical description of the model spatial relationship of the train operation scene, the rapid and accurate positioning of the auxiliary models of the train operation scene and the rapid and accurate adjustment of the three-dimensional attitude angle of each auxiliary model are realized, and finally, the rapid building and expansion of the train operation scene are realized.
Next, in the constructed and expanded train operation simulation scenario, the multi-mode train operation control procedure is used to establish the motion relationship of the train model to simulate the operation situation of the train on the real route, as shown in fig. 2 (C). Fig. 4 is a schematic diagram of an implementation process of the train operation control method provided by the embodiment of the invention, as shown in fig. 4, a train dynamics model is established by analyzing the influence of a line slope and a turning radius on train movement and considering the factors of weight, acceleration, deceleration and friction coefficient of a train, and on the basis, the coupling matching relationship between a wheel pair of a rapid transit train and a track contour node is detected in real time, so that the train runs along a track; and calculating relation parameters between the target remaining distance and the required consumed time in real time in the running process of the train, acquiring the vertical inclination angle, the turning radius and the running speed of the train in real time, considering the influence of the train weight, the acceleration and deceleration and the friction coefficient on the running of the train, and establishing three train running control strategies of an energy-saving and emission-reducing type, an optimal efficiency type and a multi-target balance type so as to meet different test requirements. For the stress analysis of train movement, the invention mainly considers ramp resistance and air braking force, and ramp resistanceWkCan be expressed as:
wherein: m is train mass; g is the acceleration of gravity; AN is the slope height; AM is the standard elevation; m is train mass; i is the slope in thousandths.
Air braking force BmCan be expressed as:
wherein:
the wheel bears pressure; k is a radical ofiIs the coefficient of wheel friction; k is a radical ofmIs the friction calculation effective wheel number; k is a radical ofhIs the assumed friction coefficient.
Train braking distance SdThe calculation method comprises the following steps:
wherein: m is train mass; v. of0Is the initial speed; v is the current real-time speed; b ismIs air braking force; wkIs the ramp resistance; k is a radical ofhIs the assumed coefficient of friction;
the wheel bears pressure; k is a radical ofmIs the friction calculation effective wheel number; i is the slope in thousandths; g is the acceleration of gravity.
The train energy consumption calculation method comprises the following steps:
wherein: e1Energy consumption for start and stop, E2For operating energy consumption, E3For uphill energy consumption, Q is the comprehensive loss, n is the number of start-stops in a sector, MlIs the train mass, A is the coefficient of moment of inertia, v is the running speed, S is the road section length, G1G2G3G4The additional coefficient is represented by 4 ramp occupation ratios, and delta is the energy consumption conversion coefficient.
Finally, considering the limitation of system display resources, a scene slice imaging step of dynamic visual range is needed to be utilized to realize the self-adaptive optimal configuration of the display resources, and the multi-resolution display and smooth transition of the train operation simulation scene are supported, so that the simulation scene can smoothly operate under different visual range conditions, and the best display effect is achieved on the basis, as shown in fig. 2 (D). The display resources include graphics card memory space and stream processors. The specific implementation process is as follows: the method comprises the steps that the resolution of a scene is adjusted according to the size of a displayed visual range, when the visual range is large, model nodes are combined, the number of model surfaces is reduced, model details are hidden, when the visual range is small, the model details are highlighted, and the model fineness is improved; when the scene resolution is adjusted, firstly, the display priorities of different models in a scene are divided according to the functions of the scene, and the models with the same display priority are classified into scene slices on the same layer, wherein the scene slices on the high layer mean that the slice models have high display priorities in the scene, and the scene slices on the low layer mean that the slice models have low display priorities in the scene; dynamically adjusting the fineness of a slice model according to the contribution weight of different levels of scene slices to the scene function, namely preferentially ensuring the model fineness of high-level scene slices and carrying out resolution reduction processing to a greater extent on lower-level scene slices; the resolution ratios of scene slices of different levels are adjusted to enable the whole scene display load to reach a balanced state, namely, display resources are not excessive and not overloaded, so that the self-adaptive optimization configuration of the display resources is realized, and the complex scene can smoothly run with the picture effect of 60 frames per second under the condition of different visual distances.
In summary, the invention provides a simulation environment construction method for an airport passenger rapid transit system by using a virtual reality technology, so as to realize the airport passenger rapid transit simulation system supported by using the virtual reality technology. The simulation system constructed based on the method can accurately reproduce airport passenger rapid transit environments, rapidly build and expand train operation scenes, simulate the operation situation of trains on real lines, realize self-adaptive optimization configuration of display resources, provide three-dimensional scene display of the airport passenger rapid transit system for users, provide simulation test environments for train organization, vehicle model selection, line planning and large-scale passenger flow analysis of the airport passenger rapid transit system, replace airport field test with virtual environment tests, and effectively save relevant resources such as road resources, human resources and the like.
Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the method or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described method and system embodiments are merely illustrative, wherein the steps described as separate components may or may not be physically separate, and the components shown as steps may or may not be physical steps, may be located in one place, or may be distributed over a plurality of network steps. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (3)
1. A virtual reality-based airport passenger rapid transit system simulation environment construction method is characterized by comprising the following steps: the method comprises the steps of three-dimensional model multi-node seamless coupling, model feature description associated with spatial positions, multi-mode train operation control and scene slice imaging of dynamic sight distance;
the three-dimensional model multi-node seamless coupling step is used for constructing three-dimensional models of passengers, trains, stations, wheels, tracks, trackside equipment and greening facilities, and reproducing a virtual simulation environment of the airport passenger rapid transit system based on the three-dimensional models;
the model feature description step of spatial position association is used for describing the spatial position relationship among the three-dimensional models constructed in the three-dimensional model multi-node seamless coupling step, and building and expanding a train operation simulation scene according to the spatial position relationship among the three-dimensional models;
the multimode train operation control step is used for realizing the motion of a train model based on the virtual simulation environment of the airport passenger rapid transit system and the train operation simulation scene and simulating the operation situation of a train on a real line;
the scene slice imaging step of the dynamic sight distance is used for realizing the self-adaptive optimization configuration of display resources, supporting the multi-resolution display of the virtual simulation environment of the airport passenger express system and the smooth transition of the train operation simulation scene, wherein the display resources comprise a display card memory space and a stream processor;
the three-dimensional model multi-node seamless coupling step is used for carrying out customized three-dimensional modeling, material rendering and texture mapping on passengers, trains, stations, wheels, tracks, trackside equipment and greening facilities according to the real airport passenger express environment, so that the shape outline and the color of the model are consistent with those of a real contrast object; carrying out polygon deconstruction on the model in a virtual simulation environment, detecting the number of composition surfaces of the model, marking nodes of deconstructed polygons, completely coinciding corresponding node coordinates of different models needing to be joined through moving, rotating and scaling the model, and realizing seamless joining between the models by utilizing the coupling matching relation between the nodes so as to reproduce the airport passenger express environment in the virtual simulation environment;
the track model established in the three-dimensional model multi-node seamless coupling step consists of two concrete traveling rails and a steel I-shaped contact rail, wherein the traveling rails are positioned on the left side and the right side of the track and used for bearing vehicle traveling wheels, and the contact rail is positioned in the middle of the track and used for embedding two rows of vehicle guide wheels;
the turntable turnout model in the trackside equipment established in the three-dimensional model multi-node seamless coupling step consists of four fixed guide beams and a movable guide beam, the tail ends of the four fixed guide beams are butted with the contact rail, and the front ends of the four fixed guide beams are suspended or butted with the movable guide beam; when a train passes by, the movable guide beam rotates around a single fulcrum in the middle of the movable guide beam and is in butt joint with two of the four fixed guide beams to form a continuous guide surface, so that the advancing direction of the train is determined;
the model feature description step associated with the spatial position is used for establishing a three-dimensional coordinate system by taking a certain model particle A in a specific scene as an origin according to the position distribution of different models in a simulation environment on the spatial dimension; determining the three-dimensional angle offset and the distance between model particles of other accessory model particles necessary for forming the specific scene under the three-dimensional coordinate system, thereby constructing a scene multi-model topological network taking the model particles A as a central pivot, determining the yaw angle, the pitch angle and the roll angle of each model in the scene multi-model topological network, and finally forming the model space relationship mathematical description of the specific simulation scene; according to the model space relation mathematical description of the specific simulation scene, the construction and the expansion of the specific simulation scene are realized;
the multi-mode train operation control step is used for enabling a train to run along a track by detecting the coupling matching relation between the train wheel pair model nodes and the track model contour nodes in real time; the method comprises the steps of establishing a train dynamic model by analyzing the influence of a line slope and a turning radius on train movement and considering the weight, acceleration and deceleration and friction coefficient factors of a train, and providing three train operation control strategies of an energy-saving emission reduction type, an optimal efficiency type and a multi-target balance type, so that a virtual train conforms to the parameter characteristics of a real train in the aspects of acceleration and deceleration, the highest running speed, climbing resistance and turning resistance; ramp resistance W for force analysis of train movementkThe calculation method comprises the following steps:
wherein: m is the overall mass of the train; g is the acceleration of gravity; AN is the slope height; AM is the standard elevation; i is the slope in thousandths;
air braking force BmThe calculation method comprises the following steps:
wherein:
the wheel bears pressure; k is a radical ofiIs the coefficient of wheel friction; k is a radical ofmIs the friction calculation effective wheel number; k is a radical ofhIs the assumed coefficient of friction;
train braking distance SdThe calculation method comprises the following steps:
wherein: v. of0Is the initial speed; v is the current real-time speed of the train; b ismIs air braking force; wkIs the ramp resistance; is the assumed coefficient of friction; the wheel bears pressure; is the friction calculation effective wheel number; i is the slope in thousandths; g is the acceleration of gravity
The method for calculating the train energy consumption comprises the following steps:
wherein: e1Energy consumption for start and stop, E2For operating energy consumption, E3For uphill energy consumption, Q is the comprehensive loss, n is the number of start-stops in a sector, MlThe mass of a single carriage of the train, A is a rotational inertia coefficient, v is the current real-time speed of the train, S is the length of a road section, and G is the mass of the single carriage of the train1G2G3G4The additional coefficient is represented by 4 ramp occupation ratios, and delta is the energy consumption conversion coefficient.
2. The method according to claim 1, wherein the wheel model established in the three-dimensional model multi-node seamless coupling step is divided into walking wheels and guide wheels according to functions, the walking wheels are made of rubber, the walking wheels are positioned at the bottom of the vehicle, and the walking wheels are arranged in a row on the left side and the right side of the vehicle; the guide wheels are positioned in the middle of the bottom of the vehicle and are arranged in two rows.
3. The method of claim 1, wherein:
the scene slice imaging step of the dynamic visual range is used for dividing the display priorities of different models in a scene according to the functions of the scene, classifying the models with the same display priority into the scene slices of the same layer, wherein the slice model of the scene slice of the high level has the high display priority in the scene, and the slice model of the scene slice of the low level has the low display priority in the scene; preferentially ensuring the model fineness of a high-level scene slice when the scene resolution is adjusted; and dynamically adjusting the resolution of scene slices of different levels according to the size of the scene display visual distance: the self-adaptive optimization configuration of the display resources is realized, so that the complex scene can operate with the picture effect of 60 frames per second under the condition of different visual distances.
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