船舶狭小空间虚拟人维修姿态建模技术

针对现有虚拟人仿真技术在船舶狭小空间维修作业中存在的效率低下、需要较多人工干预、仿真成本高等问题，提出一种虚拟人姿态混合建模仿真技术。根据狭小空间中人体维修作业的特点，将虚拟人姿态建模分为虚拟人躯干及下肢姿态建模与虚拟人手臂姿态建模两部分。首先，提出一种基于姿态库的狭小空间姿态自动匹配算法，以确定虚拟人在狭小空间中的操作位置与姿态；在此基础上，建立多目标优化模型对手臂姿态进行求解，并实现维修仿真姿态的生成。以某型船舶机舱罐体阀门维修为例的实验结果表明，所提方法可以实现虚拟人姿态的自动定位与生成，且可有效提高维修仿真效率。

Modeling technology for maintenance posture of virtual human in narrow space of ship

To solve the problems of the existing virtual human simulation technology in the ship's narrow space maintenance operations, such as the inefficiency, the need for many manual interventions, and the high cost of simulation, a virtual human posture hybrid modeling and simulation technology was proposed. According to the characteristics of human body maintenance operations in a narrow space, the virtual human posture modeling was divided into two parts:virtual human torso and lower limb posture modeling and virtual human arm posture modeling. Firstly, a narrow space automatic posture matching algorithm based on the posture library was proposed to determine the operation position and posture of the virtual human in narrow space. On this basis, a multi-objective optimization model was established to solve the arm posture and realize the maintenance simulation posture generation. Experimental results with a certain type of ship engine room tank valve maintenance as an example show that the proposed method can realize the automatic positioning and generation of virtual human posture, and can effectively improve the efficiency of maintenance simulation.