Training Simulation System Of Deck Crane For Bulk Cargo Handling

The deck crane and the marine remote control grab are important loading and unloading equipment for the bulk cargo ship in bulk cargo handling.The working principles and operation methods of the crane and its attachment grab should be mastered by the navigation students and mariners.Navigation colleges and training institutions relatively own a little real equipment of the crane and its attachment grab because of the complex structures,operation risks and high costs of equipment.The teaching and training of the crane and its attachment grab are mainly based on theoretical courses.And the practice courses are taught via video and simple models.The efficiency of teaching and training of the equipment is relatively limited.In addition,there is a lack of uniform evaluation rules and standards for the operation evaluation of the crane and its attachment grab.And it is impossible to make a scientific evaluation of the operation level of operators.Therefore,it is necessary to develop a set of training simulation system of deck crane for bulk cargo handling based on virtual reality technology to meet the above requirements of the teaching,training and evaluating of the crane and its attachment grab.In this paper,the key technologies involved in the training simulation system of deck crane for bulk cargo handling are thoroughly studied.The main work is as follows:1.The improved mass-spring model is used to model and simulate the flexible ropes,such as the cargo ropes and jib ropes with the features of the natural bending and the realistic flexibility simulation.The lifting motion of the cargo ropes is simulated by the deformation function of the flexible rope.The kinetic model of the crane is established via the Lagrange equation of motion to simulate the luffing motion of the boom and the rotating motion of the turret.The simulation of the three major motions of the crane is implemented.2.The kinetic model of the grab is established,and the relationship between the different opening size of the grab bodies and the excavation depth of the low edges of the grab is obtained.The motion control of grab is realized.3.The virtual human operation actions are simulated via the reverse dynamic technology.The interactive operations of the marine equipment such as the crane,the grab,the cargo holds and the deck are simulated via the collision detection technology.4.The intelligent evaluation model of the simulation training of the crane is established based on K-nearest neighbor algorithm.And the intelligent evaluation of the operation training of the crane and its attachment grab is realized.On the basis of the above,with reference of the DK V 50028 40t deck crane of the NMF company and the 40T marine remote control grab,a set of the training simulation system of deck crane for bulk cargo handling is developed,which consists of the operation training subsystem and the intelligent evaluation subsystem.The three-dimensional scene of the system is modeled and dispatched in the operation training subsystem.The scene roaming is completed by the first character controller.The whole human-computer interaction graphic interface of the system is designed.The crane operation platform is simulated.And the interactive operation training of the crane and its attachment grab is realized.The relatively reasonable evaluation elements and projects are designed in the intelligent evaluation subsystem.The relatively fair evaluation is made of the equipment operator through the solution of the intelligent evaluation model.In conclusion,the training simulation system of deck crane for bulk cargo handling has complete functions and simple operation which can be applied for the teaching,training and evaluating of the crane and its attachment grab.