CN111695234A - Tethered balloon system remote monitoring platform based on digital twin - Google Patents
Tethered balloon system remote monitoring platform based on digital twin Download PDFInfo
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Abstract
The invention provides a remote monitoring platform for a captive balloon system based on digital twins, and relates to the technical field of digital twins. The invention visually displays the digital twin model of the physical captive balloon system on the monitoring platform, synchronously displays various sensor data on the physical captive balloon system on the tethered ball twin model, and fully displays the running state of the captive balloon by simulating the pose of the tethered balloon twin model. The invention has high visualization degree and good interaction means, and can visually display the running state of the captive balloon, thereby realizing the remote running state monitoring of the captive balloon system and ensuring the running safety of the captive balloon system.
Description
Technical Field
The invention relates to the technical field of digital twins, in particular to a captive balloon system remote monitoring platform based on digital twins.
Background
The captive balloon system is mainly used for low-altitude and ultra-low-altitude early warning, sea warning and reconnaissance and monitoring of enemy border line deep areas, is a good supplement to air early warning airplanes and ground radar networks, and is a comprehensive information system taking radars as task systems. The method is widely applied to military and civil fields of early warning detection, communication relay, electronic interference, disaster prevention and reduction, public safety and the like. The digital twin is to fully utilize data such as a physical model, sensor updating, operation history and the like, integrate a multidisciplinary, multi-physical quantity, multi-scale and multi-probability simulation process and complete mapping in a virtual space so as to reflect the actual operation process of corresponding entity equipment.
Along with the gradual increase of the number of products and the aging of captive balloon equipment, the safety problems in the operation process of a captive balloon system are gradually increased, and how to ensure the operation safety of the captive balloon system becomes a problem which needs to be solved urgently. The captive balloon measurement and control system comprises an on-sphere measurement and control part and an off-sphere monitoring part, wherein the on-sphere measurement and control part is responsible for data acquisition, the off-sphere monitoring part is used for comprehensively displaying information, and the remote video monitoring system is used for remotely monitoring the working state of the captive balloon through a plurality of fixed cameras.
However, the inventor of the application finds that both the captive balloon measurement and control platform and the remote video monitoring platform have the technical problem of weak interaction means.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a tethered balloon system remote monitoring platform based on digital twins, and solves the technical problem that the interaction means of the existing monitoring platform is weak.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention provides a tethered balloon system remote monitoring platform based on digital twins, which comprises:
the captive balloon digital twin model building module is used for processing a three-dimensional CAD model of the captive balloon system and building a captive balloon digital twin model, and the captive balloon digital twin model comprises a sphere digital twin model and a ground captive facility digital twin model;
the captive balloon operation state data analysis module is used for analyzing the data stream transmitted through the network to obtain captive balloon operation state data;
the captive balloon digital twin model simulation module is used for realizing the position simulation and the posture simulation of a spherical digital twin model and the rotation simulation of a ground captive facility digital twin model according to the operating state data of the captive balloon;
the tethered balloon omnibearing multi-view visualization module is used for realizing visualization of a tethered balloon twin model in a plurality of states of the tethered balloon;
and the tethered balloon operation state data visualization module is used for realizing visualization of the tethered balloon operation state data.
Preferably, the monitoring platform further comprises: a captive balloon position scene model construction module;
the captive balloon position scene model construction module is used for constructing a captive balloon position patch model, processing the captive balloon position patch model and constructing a captive balloon position scene model.
Preferably, the monitoring platform further comprises: a captive balloon operating state alarm module;
the captive balloon operation state alarm module is used for alarming abnormal data in the captive balloon operation state data.
Preferably, the constructing a tethered balloon position patch model, processing the tethered balloon position patch model, and constructing a tethered balloon position scene model includes:
constructing a position surface patch model according to the actual terrain of the captive balloon position, mapping and rendering the position surface patch model, arranging the center of the captive balloon position at the origin of a world coordinate system, and arranging a captive balloon position sky box to obtain a captive balloon position scene model.
Preferably, the processing the three-dimensional CAD model of the captive balloon system to construct the digital twin model of the captive balloon comprises:
converting the three-dimensional CAD model of the captive balloon system into a patch model of the captive balloon system, performing mapping rendering on the patch model of the captive balloon system according to the actual appearance of each component of the captive balloon system, and setting the rotation center of the bottom surface of the base of the captive tower at the origin of a world coordinate system; and adjusting the structural hierarchy of the tethered balloon model according to the tethered balloon simulation requirement.
Preferably, the adjusting the structural hierarchy of the tethered balloon model according to the tethered balloon simulation requirements includes: creating a sphere node and creating a ground mooring facility rotation node;
wherein creating a sphere node comprises:
creating a hollow object of a sphere node, setting the position of a local coordinate system of the sphere node as the barycentric coordinate of the sphere in a world coordinate system in a default mooring state, and adding a model moving along with the sphere under the sphere node to realize that the rotation of the sphere can rotate around the barycentric of the mooring balloon;
creating a ground mooring facility rotating node comprises:
and creating a ground mooring facility rotating hollow object, setting the local coordinate system position of the ground mooring facility rotating node as the world coordinate system origin, and adding a model rotating along with the mooring facility to the position below the mooring facility rotating node.
Preferably, the tethered balloon operating state data comprises: the system comprises a pose state, a pressure state, temperature information, a wind speed and direction, a cable state, a power supply state, a working state and fault information, wherein the pose state comprises position data and attitude data.
Preferably, the position simulation of the spherical digital twin model comprises:
converting a horizontal drift distance, an azimuth angle and an absolute altitude of the captive balloon from the center of the captive tower according to the longitude, the latitude and the absolute altitude in the position data; calculating the position coordinates of the sphere in a world coordinate system according to the horizontal drift distance, the azimuth angle and the absolute height, assigning the position coordinates to the sphere, and realizing the position simulation of the tethered balloon sphere;
the posture simulation of the spherical digital twin model comprises the following steps:
setting Euler angles of sphere nodes according to pitch angles, roll angles and course data in the attitude data, and realizing attitude simulation of the captive balloon sphere;
the rotation simulation of the ground mooring facility digital twin model comprises the following steps:
and setting Euler angles of the rotating nodes of the ground mooring facilities according to the acquired azimuth data of the protection cabin so as to realize rotation simulation of the ground mooring facilities.
Preferably, the visualization of the tethered balloon twin model in the tethered balloon multi-state is realized by:
visualization of the captive balloon twin model under the captive balloon multi-state is achieved through the visual angle of ground personnel, the follow-up free visual angle on the balloon and the fixed visual angle.
Preferably, the captive balloon operating state alarm module is configured to alarm abnormal data in the captive balloon operating state data, and includes:
the captive balloon running state alarm module acquires the captive balloon running state data in the captive balloon running state data analysis module in real time, monitors the safety state of the captive balloon in real time, and alarms abnormal data, wherein the alarm types comprise collision monitoring alarm, power supply alarm, attitude angle alarm, wind speed and direction alarm, cable tension alarm, cable deflection angle alarm and ball pressure alarm.
(III) advantageous effects
The invention provides a remote monitoring platform for a captive balloon system based on digital twins. Compared with the prior art, the method has the following beneficial effects:
the method comprises the steps of processing a three-dimensional CAD model of a captive balloon system through a captive balloon digital twin model building module, and building a captive balloon digital twin model which mainly comprises a ball digital twin model and a ground captive facility digital twin model; acquiring the operation state data of the captive balloon through a captive balloon operation state data analysis module; the position simulation and the posture simulation of the digital twin model of the tethered balloon sphere and the rotation simulation of the digital twin model of the ground tethered facility are realized through the tethered balloon digital twin model simulation module; the tethered balloon omnibearing multi-view visualization module realizes visualization of a tethered balloon twin model in multiple states of the tethered balloon and visualization of the tethered balloon running state data. The invention visually displays the digital twin model of the physical captive balloon system on the monitoring platform, synchronously displays various sensor data on the physical captive balloon system on the tethered ball twin model, and fully displays the running state of the captive balloon by simulating the pose of the tethered balloon twin model. The invention has high visualization degree and good interaction means, and can visually display the running state of the captive balloon, thereby realizing the remote running state monitoring of the captive balloon system and ensuring the running safety of the captive balloon system.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a digital twin based tethered balloon system remote monitoring platform in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a tethered balloon position scene model in an embodiment of the invention;
FIG. 3 is a schematic view of a digital twin model of a captive balloon in an embodiment of the invention;
FIG. 4 is a schematic diagram of a hierarchical relationship of a sphere structure in an embodiment of the present invention;
FIG. 5 is a schematic diagram of a hierarchy of ground mooring facilities according to an embodiment of the present invention;
FIG. 6 is a schematic view of a ground crew in an embodiment of the present invention;
FIG. 7 is a schematic view of a free-following viewing angle on a ball in an embodiment of the present invention;
FIG. 8 is a schematic view of a fixed viewing angle in an embodiment of the present invention;
FIG. 9 is a schematic view of a pitch dial in an embodiment of the invention;
FIG. 10 is a schematic view of a roll angle dial in an embodiment of the present invention;
FIG. 11 is a schematic diagram of a radar azimuth map in an embodiment of the invention;
FIG. 12 is a graphical representation of pressure conditions in an embodiment of the present invention;
FIG. 13 is a schematic view of wind speed and direction in an embodiment of the present invention;
FIG. 14 is a schematic view of a cable tilt angle dial in an embodiment of the present invention;
FIG. 15 is a schematic view of a cable offset angle dial in an embodiment of the present invention;
FIG. 16 is a schematic diagram of a collision monitoring alarm in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the application provides a tethered balloon system remote monitoring platform based on digital twins, solves the technical problem that the interaction means of the existing monitoring platform is weak, can visually display the running state of a tethered balloon, is high in visualization degree and good in interaction means, and therefore the remote running state monitoring of the tethered balloon system is achieved, and the running safety of the tethered balloon system is guaranteed.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
according to the embodiment of the invention, the digital twin model of the physical captive balloon system is visually displayed on the monitoring platform of the captive balloon, various sensor data on the physical captive balloon system is synchronously displayed on the tethered balloon twin model, and the running state of the captive balloon is fully displayed by simulating the pose of the tethered balloon twin model. The embodiment of the invention has high visualization degree and good interaction means, and can visually display the running state of the captive balloon, thereby realizing the remote running state monitoring of the captive balloon system and ensuring the running safety of the captive balloon system.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
The embodiment of the invention provides a tethered balloon system remote monitoring platform based on digital twins, which comprises: the system comprises a captive balloon digital twin model building module, a captive balloon running state data analysis module, a captive balloon digital twin model simulation module, a captive balloon omnibearing multi-view visualization module and a captive balloon running state data visualization module.
Wherein:
the captive balloon digital twin model building module is used for processing a three-dimensional CAD model of a captive balloon system and building a captive balloon digital twin model, and the captive balloon digital twin model mainly comprises a sphere digital twin model and a ground captive facility digital twin model.
And the captive balloon operation state data analysis module is used for analyzing the data stream transmitted through the network to obtain the captive balloon operation state data.
And the captive balloon digital twin model simulation module is used for realizing the position simulation and the posture simulation of the spherical digital twin model and the rotation simulation of the ground captive facility digital twin model according to the captive balloon running state data.
The tethered balloon omnibearing multi-view visualization module is used for realizing visualization of a tethered balloon twin model in a plurality of states of the tethered balloon.
And the tethered balloon operation state data visualization module is used for realizing visualization of the tethered balloon operation state data.
In the specific implementation process, the monitoring platform further comprises a captive balloon position scene model building module and a captive balloon operation state alarm module.
The captive balloon position scene model building module is used for building a captive balloon position patch model, processing the captive balloon position patch model and building a captive balloon position scene model.
And the captive balloon operation state alarm module is used for alarming abnormal data in the captive balloon operation state data.
The embodiment of the invention has high visualization degree and good interaction means, and can visually display the running state of the captive balloon, thereby realizing the remote running state monitoring of the captive balloon system, ensuring the running safety of the captive balloon system, and meanwhile, the embodiment of the invention can give an early warning to major potential safety hazards in the running process, thereby further ensuring the running safety of the captive balloon system.
The following describes each module of the remote monitoring platform of the digital twin-based captive balloon system in the embodiment of the present invention in detail.
In a tethered balloon position scene model construction module:
constructing a space surface patch model according to the actual landform, road, house, tree, field and the like of the captive balloon space, and mapping and rendering the space surface patch model. The center of the captive balloon position is arranged at the origin (0, 0, 0) of a world coordinate system (namely a global coordinate system), the position plane is perpendicular to the Y axis of the world coordinate system, the east of the position is consistent with the X axis of the world coordinate system, and the captive balloon position sky box is arranged to be close to the real sky environment, so that the captive balloon position scene model constructed as shown in the figure 2 is constructed.
In the tethered balloon digital twin model building module:
the method comprises the steps of converting a three-dimensional CAD model of a captive balloon system into a patch model of the captive balloon system, performing mapping rendering on the patch model of the captive balloon system according to the actual appearance of each component of the captive balloon system, setting the rotation center of the bottom surface of a base of a captive tower at the origin of a world coordinate system (namely the center of a captive balloon position), adjusting the structural level of the captive balloon model according to the simulation requirements of the captive balloon, and comprises the steps of creating a sphere node, creating a ground captive facility rotation node and constructing a captive balloon digital twin model, wherein the captive balloon digital twin model mainly comprises a sphere digital twin model and a ground captive facility digital twin model. A digital twin model of a captive balloon is shown in figure 3.
The creating of the sphere node is as follows: and (3) creating a hollow object of the sphere node, setting the position of a local coordinate system of the sphere node as the barycentric coordinate (-27.041, 19.64, 0) of the sphere, and adding a balloon model, a nose cone model, an equipment hanger model, a rigging model and other models moving along with the sphere to the position below the sphere node so as to realize that the posture simulation of the tethered balloon sphere can rotate around the barycenter of the tethered balloon sphere.
The above-mentioned creation of the ground mooring facility rotation node means: creating a ground mooring facility rotating hollow object, setting the local coordinate system position of the ground mooring facility rotating node as the origin (0, 0, 0) of the world coordinate system, and adding a model of a mooring tower, a bearing frame, a horizontal beam, a protection room, a control room and the like rotating along with the mooring facility to the position below the mooring facility rotating node, as shown in fig. 5, the mooring equipment rotating node hierarchical relationship diagram is shown.
In the captive balloon operating state data analysis module:
and analyzing the data stream transmitted through the network to obtain the operation state data of the captive balloon. The operation state data comprises a pose state, a pressure state, temperature information, wind speed and direction, a cable state, a power supply state, a working state and fault information. In the specific implementation process, the data stream transmitted through the network is acquired by the tethered balloon system internet of things distributed on the tethered balloon, and the tethered balloon system internet of things is composed of a large number of sensor devices.
The network Transmission modes include, but are not limited to, Transmission Control Protocol (TCP) and User Datagram Protocol (UDP).
In the tethered balloon digital twin model simulation module:
according to position data and posture data in the pose state of the captive balloon in the captive balloon operation state data analysis module, position simulation and posture simulation of a spherical digital twin model are achieved; and according to the azimuth data (azimuth angle) of the protective cabin, the rotation simulation of the digital twin model of the ground mooring facility is realized.
The position data includes longitude, latitude, and absolute altitude of the captive balloon, and the attitude data includes pitch angle, roll angle, and heading of the captive balloon.
The position simulation process of the spherical digital twin model comprises the following steps: firstly, converting the horizontal drift distance, the azimuth angle and the absolute altitude of the captive balloon from the center of the captive tower according to the longitude, the latitude and the absolute altitude of the captive balloon, then calculating the position coordinate of the sphere in a world coordinate system according to the horizontal drift distance, the azimuth angle and the absolute altitude, and assigning the coordinate to the sphere to realize the position simulation of the tethered balloon sphere.
The posture simulation process of the spherical digital twin model comprises the following steps: and setting the Euler angle of the spherical node according to the acquired pitch angle, roll angle and course data so as to realize the attitude simulation of the captive balloon.
The process of the rotation simulation of the digital twin model of the ground mooring facility comprises the following steps: and setting the Euler angle of the rotating node of the ground mooring facility according to the acquired azimuth data (azimuth angle) of the protective cabin so as to realize the rotation simulation of the digital twin model of the ground mooring facility.
In the captive balloon omni-directional multi-view visualization module:
visualization of the tethered balloon twin model in multiple states of the tethered balloon is achieved through the visual angle of ground personnel, the free visual angle followed by the balloon and the fixed visual angle. The captive balloon multi-state comprises a ground captive state, a flying state, an air mooring state, a recovery and maintenance captive state.
The above-mentioned ground personnel visual angle mainly simulates the visual angle of ground personnel, the direction of the ground personnel visual angle can be controlled by a mouse, and the movement of the position can be controlled by a keyboard according to the ground personnel position, as shown in fig. 6, the ground personnel visual angle is a schematic diagram.
The viewing angle is freely followed on the above-mentioned ball and the viewing of the balloon state of mooring in the air is realized, can realize looking over of the all-round arbitrary viewing angle of mooring balloon through removing mouse, roll through mouse middle key and realize the enlargeing of viewport and reduce to the viewing of the local detail of the balloon system of mooring is realized, if look over the operating condition of fan, valve. Fig. 7 is a schematic view of a free following view angle on a ball.
The ground personnel visual angle is mainly used for ground mooring and maintenance mooring of the captive balloon, and checking of the state of the captive balloon in the near-ground state in the process of flying and recovering the captive balloon.
The above-mentioned ball is followed the visual angle freely mainly used for mooring the balloon in the sky and mooring the balloon and launching and looking over of the state of the mooring the balloon in the recovery process.
The fixed visual angle refers to the state of the captive balloon monitored by arranging a plurality of fixed virtual cameras. In the embodiment of the invention, the virtual cameras are distributed in 3 protection rooms, 1 protection room top, 1 control room around the center of the position at every 120 degrees, and 1 control room is arranged in each of the directions of the gravity center of the sphere, such as east, west, south, north, upper and lower directions, and the total number is 14. Wherein 3 mainly used watch on the operating condition of mooring rope in the guard room, the virtual camera in guard room top mainly used observes the condition of following thick liquid of mooring balloon, 3 virtual cameras around the position are mainly used for the control under the ground mooring state, the camera in the positive east of spheroid focus, west, south, north, top, below etc. department mainly is used for mooring balloon in the air and moors to and mooring balloon is put off and the control of mooring balloon state in the recovery process, fixed visual angle schematic diagram is shown in fig. 8.
In the tethered balloon operating state data visualization module:
and the visualization of the tethered balloon operating state data is realized. The operation state data of the captive balloon comprises a pose state, a pressure state, temperature information, wind speed and direction, a mooring rope state, a power supply state, a working state and fault information.
The position and posture state visualization is visually displayed through the pitch angle dial plate, the roll angle dial plate and the radar azimuth map. Wherein the pitch angle dial plate is updated in real time according to the pitch angle of the captive balloon sphere, and the safety range is-7-23 degrees, as shown in figure 9; the roll angle dial plate is updated in real time according to the roll angle of the captive balloon sphere, the safety range of the roll angle dial plate is-15 degrees, as shown in figure 10, and a radar azimuth map is used for showing the horizontal drift and the azimuth angle of the captive balloon, as shown in figure 11; the altimetric column is used to express the relative altitude of the captive balloon.
The pressure state can reflect helium air bag differential pressure, auxiliary air bag differential pressure, tail wing differential pressure and fairing differential pressure in real time through a pressure curve visually. The horizontal axis of the pressure curve is time, the vertical axis is pressure, the pressure curve dynamically changes and rolls from right to left, and the pressure curve can be zoomed through a mouse wheel, so that the pressure change in a longer period of time can be checked, as shown in fig. 12.
The temperature information is visualized to reflect the environmental temperature on the sphere, the environmental humidity on the sphere, the temperature in the helium bag, the temperature in the fairing, the helium valve temperature, the emergency helium release valve temperature, the auxiliary air bag valve temperature, the tail wing valve temperature and the fairing valve temperature in real time through a temperature curve. The horizontal axis of the temperature curve is time, the vertical axis of the temperature curve is temperature, the temperature curve dynamically changes and rolls from right to left, and the temperature curve can be zoomed through a mouse wheel, so that the temperature change in a longer period of time can be checked.
The wind speed and direction visualization expresses the wind direction, the heading and the wind speed through a wind speed and direction diagram, the diameter of the wind speed and direction diagram dynamically changes with the wind speed, and the wind direction, the heading and the wind speed and heading difference dynamically change with the wind speed and the heading, as shown in fig. 13.
The cable state visualization comprises visualization of cable length, ball tension, retraction speed, inclination angle, offset angle and the like, wherein the cable length, the ball tension and the ball tension are dynamically expressed through a histogram; the retraction speed is dynamically expressed through a histogram; the inclination angle is dynamically expressed through the cable inclination angle dial, the inclination angle dial is dynamically updated according to the actual cable inclination angle, and the safety range of the inclination angle dial is 0-45 degrees, as shown in fig. 14; the deviation angle is dynamically expressed by a cable deviation angle dial, the deviation angle dial is dynamically updated according to the actual cable deviation angle, and the safety range of the deviation angle dial is-45 degrees to 45 degrees, as shown in figure 15.
The power supply state is visualized to express the states of the power supply system on the ball, the power supply system of the protection cabin and the protection cabin, wherein the power supply system on the ball is a voltage and current state parameter value of each power supply monitored by the sensor on the ball, the power supply system of the protection cabin is a state parameter value of each power supply device on the ground monitored and controlled by the protection cabin, the state of the protection cabin is a working state of the ground mooring facility monitored and controlled by the protection cabin, a red light indicates a fault, a green light indicates normal or effective, and a gray light indicates ineffective.
The working state visualization expresses the switch states of a valve, a communicating valve, a fan, a heating switch, a tearing pair, an anti-collision lamp, a transponder and a power lamp of the captive balloon system.
The fault display expresses the fault state of the control system on the ball and the power supply on the ball of the captive balloon system.
In the captive balloon operating state alarm module:
the safety state of the captive balloon is mastered in real time, and the abnormal immediate alarm comprises a collision detection alarm, a power supply alarm, an attitude angle alarm, a wind speed and direction alarm, a cable tension alarm, a cable deflection angle alarm, a sphere pressure alarm and the like.
The collision detection alarm refers to monitoring the distance between the captive balloon sphere and the captive tower in real time, and when the distance is smaller than 1m, the three-dimensional model window displays red and sends out acousto-optic alarm signals. When a collision occurs, a collision effect is produced as shown in fig. 16, and a particle effect is produced along the collision point normal at the collision point.
The power supply alarm means that an emergency power supply is less than 18V, or the voltage of the phase A, the phase B and the phase C of the ground power supply main loop is less than 90V, and an audible and visual alarm signal is sent out.
The attitude angle alarm means that when the pitch angle exceeds the range of minus 7 degrees to 23 degrees and the roll angle exceeds the range of minus 15 degrees to 15 degrees, the panel displays red and sends an initial acousto-optic alarm signal.
The wind speed and direction alarm means that when the difference value (yaw angle) between the balloon course and the wind direction is larger than 60 degrees and the wind speed is larger than 4m/s or the wind speed is larger than 23m/s in the ground mooring state, an initial sound-light alarm signal is sent.
The cable tension alarm means that when the balloon works in an empty state, when the tension of the cable on the balloon is more than or equal to 8000kg, or the tension of the cable under the balloon is less than or equal to 400kg, the panel displays red, and sends an initial audible and visual alarm signal.
The cable deflection angle alarm means that when the captive balloon works in an empty state, the inclination angle of the cable is larger than or equal to 50 degrees, or the deflection angle of the cable exceeds the range of minus 45 degrees to 45 degrees, the panel displays red, and sends out an audible and visual alarm signal.
The sphere pressure alarm means that the working pressure of the main airbag, the fairing or the tail wing is more than 65mmH2O, or the working pressure of the main airbag, fairing or tail wing is less than 7mmH2And when the alarm is turned on, the panel displays red and sends out an acousto-optic alarm signal.
It should be noted that, in the specific implementation process, the visualization functions of the captive balloon omnibearing multi-view visualization module and the captive balloon operation state data visualization module are realized by the display screen of the monitoring platform. The remote monitoring platform of the captive balloon system based on the digital twin is installed and operated on a computer.
The digital twinning technology is applied to more production and manufacturing links, such as an intelligent factory and a production line. The application of the digital twin technology and the product life cycle at the rear end, namely the operation and maintenance stages are fewer. The embodiment of the invention applies the array twin to the operation and maintenance stages of the life cycle of the product. The digital twin technology is applied to remote operation and maintenance of the captive balloon, the problems that a traditional captive balloon system is low in visualization degree, weak in interaction means and the like are mainly solved, the running state of the captive balloon system can be visually displayed through the twin model of the captive balloon system, the visualization degree is high, and a user can interactively operate the digital twin three-dimensional model.
The embodiment of the invention applies the digital twinning technology to the remote operation and maintenance of the captive balloon, and has the following advantages:
the method comprises the following steps of setting a captive balloon system model, mainly adjusting the hierarchical structure of the captive balloon system model, and setting a sphere model and a local coordinate system of a ground captive facility so as to facilitate the simulation of the pose of a sphere and the rotation of the ground captive facility. For example, the local coordinate system of the original sphere is at the center of the bottom of the mooring tower, it is difficult to directly drive the collected position data and attitude data (pitch angle, roll angle, course, etc.) to simulate the sphere, and a series of coordinate system conversions, usually operations of 4 × 4 matrix, are required in the middle of the simulation, and the process is complicated. In the embodiment of the invention, a sphere node is newly established, and the position of the local coordinate system of the sphere node is arranged at the gravity center of the sphere, so that the acquired attitude data can be directly assigned to the Euler angle of the sphere, and the attitude simulation of the sphere is realized.
Secondly, the visual angle of ground personnel and the definition of the free visual angle on the balloon are defined, the position and the direction of the visual angle of the ground personnel are controlled in real time according to the input of a keyboard and a mouse, and the all-round any visual angle and the local detail of the balloon tethered in the air are checked according to the input of the mouse.
In summary, compared with the prior art, the method has the following beneficial effects:
1. the embodiment of the invention has high visualization degree and good interaction means, and can visually display the running state of the captive balloon, thereby realizing the remote running state monitoring of the captive balloon system and ensuring the running safety of the captive balloon system.
2. The embodiment of the invention can give early warning to major potential safety hazards in the operation process, and further ensures the operation safety of the captive balloon system.
It should be noted that, through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable 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 methods described in the embodiments or some parts of the embodiments.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A tethered balloon system remote monitoring platform based on digital twinning, comprising:
the captive balloon digital twin model building module is used for processing a three-dimensional CAD model of the captive balloon system and building a captive balloon digital twin model, and the captive balloon digital twin model comprises a sphere digital twin model and a ground captive facility digital twin model;
the captive balloon operation state data analysis module is used for analyzing the data stream transmitted through the network to obtain captive balloon operation state data;
the captive balloon digital twin model simulation module is used for realizing the position simulation and the posture simulation of a spherical digital twin model and the rotation simulation of a ground captive facility digital twin model according to the operating state data of the captive balloon;
the tethered balloon omnibearing multi-view visualization module is used for realizing visualization of a tethered balloon twin model in a plurality of states of the tethered balloon;
and the tethered balloon operation state data visualization module is used for realizing visualization of the tethered balloon operation state data.
2. The digitally twin based tethered balloon system remote monitoring platform of claim 1, further comprising: a captive balloon position scene model construction module;
the captive balloon position scene model construction module is used for constructing a captive balloon position patch model, processing the captive balloon position patch model and constructing a captive balloon position scene model.
3. The digitally twin based tethered balloon system remote monitoring platform of claim 1, further comprising: a captive balloon operating state alarm module;
the captive balloon operation state alarm module is used for alarming abnormal data in the captive balloon operation state data.
4. The remote monitoring platform for a tethered balloon system based on digital twins as claimed in claim 1 wherein said constructing a tethered balloon position patch model, processing the tethered balloon position patch model, and constructing a tethered balloon position scene model comprises:
constructing a position surface patch model according to the actual terrain of the captive balloon position, mapping and rendering the position surface patch model, arranging the center of the captive balloon position at the origin of a world coordinate system, and arranging a captive balloon position sky box to obtain a captive balloon position scene model.
5. The remotely monitorable platform for a digitally-twin based tethered balloon system of claim 1 wherein said processing of the three-dimensional CAD model of the tethered balloon system to construct the tethered balloon digital twin model comprises:
converting the three-dimensional CAD model of the captive balloon system into a patch model of the captive balloon system, performing mapping rendering on the patch model of the captive balloon system according to the actual appearance of each component of the captive balloon system, and setting the rotation center of the bottom surface of the base of the captive tower at the origin of a world coordinate system; and adjusting the structural hierarchy of the tethered balloon model according to the tethered balloon simulation requirement.
6. The digitally twin based tethered balloon system remote monitoring platform of claim 5, wherein said adjusting the structural hierarchy of the tethered balloon model as per the tethered balloon simulation requirements comprises: creating a sphere node and creating a ground mooring facility rotation node;
wherein creating a sphere node comprises:
creating a hollow object of a sphere node, setting the position of a local coordinate system of the sphere node as the barycentric coordinate of the sphere in a world coordinate system in a default mooring state, and adding a model moving along with the sphere under the sphere node to realize that the rotation of the sphere can rotate around the barycentric of the mooring balloon;
creating a ground mooring facility rotating node comprises:
and creating a ground mooring facility rotating hollow object, setting the local coordinate system position of the ground mooring facility rotating node as the world coordinate system origin, and adding a model rotating along with the mooring facility to the position below the mooring facility rotating node.
7. The digitally twin based tethered balloon system remote monitoring platform of claim 1, wherein the tethered balloon operating state data comprises: the system comprises a pose state, a pressure state, temperature information, a wind speed and direction, a cable state, a power supply state, a working state and fault information, wherein the pose state comprises position data and attitude data.
8. The digitally twin based tethered balloon system remote monitoring platform of claim 1,
the position simulation of the spherical digital twin model comprises the following steps:
converting a horizontal drift distance, an azimuth angle and an absolute altitude of the captive balloon from the center of the captive tower according to the longitude, the latitude and the absolute altitude in the position data; calculating the position coordinates of the sphere in a world coordinate system according to the horizontal drift distance, the azimuth angle and the absolute height, assigning the position coordinates to the sphere, and realizing the position simulation of the tethered balloon sphere;
the posture simulation of the spherical digital twin model comprises the following steps:
setting Euler angles of sphere nodes according to pitch angles, roll angles and course data in the attitude data, and realizing attitude simulation of the captive balloon sphere;
the rotation simulation of the ground mooring facility digital twin model comprises the following steps:
and setting Euler angles of the rotating nodes of the ground mooring facilities according to the acquired azimuth data of the protection cabin so as to realize rotation simulation of the ground mooring facilities.
9. The remote digital twin-based tethered balloon system monitoring platform of claim 1 wherein said enabling visualization of the tethered balloon twin model in tethered balloon multi-states comprises:
visualization of the captive balloon twin model under the captive balloon multi-state is achieved through the visual angle of ground personnel, the follow-up free visual angle on the balloon and the fixed visual angle.
10. The digitally twin based tethered balloon system remote monitoring platform of claim 3, wherein the tethered balloon operational status alarm module is configured to alarm for abnormal data in the tethered balloon operational status data, comprising:
the captive balloon running state alarm module acquires the captive balloon running state data in the captive balloon running state data analysis module in real time, monitors the safety state of the captive balloon in real time, and alarms abnormal data, wherein the alarm types comprise collision monitoring alarm, power supply alarm, attitude angle alarm, wind speed and direction alarm, cable tension alarm, cable deflection angle alarm and ball pressure alarm.
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