Abstract: A virtual-reality technology based on 3D Graphics Rendering Engine（OGRE） is proposed to realize the semi-physical simulation of container crane operation training for the issues of low efficiency and poor security in the field of container handing training. It designs the hardware of crane’s cab for operation training. The 3D virtual scene of container yard is rendered by OGRE. It establishes the mathematical model of the spreader flexible rolling system, simulates the residual swing of crane’s spreader. The physical hardware of crane and virtual reality simulation software are communicated by Ethernet for information exchange. This system takes efforts to solve the key issues in the container crane simulation operating system such as the visual software drivers, the residual swing analog of crane’s spreader, the communication between the physical hardware and real-time virtual software. Experimental results show that the semi-physical simulation system has a strong sense of reality. This system has an important practical significance in both normal crane driver training and disposal training in case of emergency.

Key words: container cranes, virtual reality software, semi-physical simulation, anti-swing, operation training

摘要： 针对集装箱起重机学员培训周期长、安全性差等问题，提出一种基于3D图形渲染引擎（OGRE）的虚拟现实技术，实现集装箱起重机半物理仿真操作培训的方法。设计集装箱起重机司机室硬件操作平台，使用OGRE渲染引擎驱动集装箱货场的三维虚拟场景；建立防摇吊具摆动的动力学模型，模拟起重机吊具的残余摆动；并用以太网通讯实现起重机联动台等实物硬件与虚拟现实仿真软件的信息交互。解决仿真操作系统中的虚拟场景的驱动、吊具残余摆动的模拟、实物硬件与虚拟软件的实时通讯等关键问题。实验结果表明，该半物理仿真系统真实感强，对集装箱起重机驾驶训练有重要价值。

关键词: 集装箱起重机, 虚拟现实软件, 半物理仿真, 防摇, 操作培训