CN102136204A - Virtual maintenance distribution interactive simulation support platform of large equipment and collaborative maintenance method - Google Patents

Virtual maintenance distribution interactive simulation support platform of large equipment and collaborative maintenance method Download PDF

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CN102136204A
CN102136204A CN 201110046538 CN201110046538A CN102136204A CN 102136204 A CN102136204 A CN 102136204A CN 201110046538 CN201110046538 CN 201110046538 CN 201110046538 A CN201110046538 A CN 201110046538A CN 102136204 A CN102136204 A CN 102136204A
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simulation
maintenance
module
data
step
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CN 201110046538
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张志利
李向阳
高钦和
龙勇
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中国人民解放军第二炮兵工程学院
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Publication of CN102136204A publication Critical patent/CN102136204A/en

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Abstract

The invention relates to a virtual maintenance distribution interactive simulation support platform of large equipment and a collaborative maintenance method. Combined hierarchical structure and modular design are adopted, a general service program is provided for various types of simulation application by a bottom-layer standardized communication protocol to realize data communication and interaction control among different software and hardware function modules; the virtual maintenance distribution interactive simulation support platform is composed of a simulation operation management module, a fault maintenance simulation module, a maintenance operation module and a basic function module for visual scene simulation; the platform captures the operation input, the body gesture and the hand space action data information of each training person by standard peripheral equipment and VR (Virtual Reality) interactive equipment; different collaborative maintenance modes are set, and various three-dimensional solid models in the virtual maintenance environment are driven; and collaborative interactive simulation and state information are updated in real time to realize the operation cooperation and the motor coordination in the collaborative maintenance process. The virtual maintenance distribution interactive simulation support platform has the advantages of good popularity, expansibility, instantaneity and illusion of immersion, and can support the simulation training of collaborative maintenance tasks of multiple maintenance personnel on different stations of large equipment.

Description

大型装备虚拟维修分布交互仿真支撑平台及协同维修方法 Large-scale distributed interactive simulation equipment virtual maintenance and support collaborative platform repair method

技术领域 FIELD

[0001] 本发明属于制造业信息化和数据信息处理技术领域,涉及针对大型装备的虚拟维修分布交互仿真支撑平台及协同维修方法。 [0001] The invention belongs to the field of manufacturing information technology and data processing, distributed interactive simulation involving virtual maintenance support and collaboration platform for large equipment repair methods.

背景技术 Background technique

[0002] 通过对现有文献的检索,与本发明相关的专利有:申请号为201010219159,公开号为101866462的“产品协同维修支撑平台及维修方法”专利申请,该专利申请提供了一种基于Web的协同维修支撑平台及维修方法。 [0002] By retrieving the existing literature and patents relating to the present invention are: Application No. 201010219159, Publication No. 101 866 462 "product support platform cooperative maintenance and repair method" patent application, which patent application is provided based on Web collaboration platform maintenance support and maintenance methods. 该现有技术是以产品协作维修为目标的,支持远程多用户进行产品维修计划、方案的交流、讨论和确定。 The prior art is a product targeted collaboration maintenance, support multi-user remote product maintenance programs, exchange programs, discussions and OK. 但是现有产品协作维修是从产品维修方案探讨和技术指导角度出发,没有考虑如何支持不同工位维修人员的协同维修过程,以及协同维修过程中各工位维修人员之间的操作配合、动作协调、数据通信和交互控制问题。 However, the existing collaboration products from product maintenance and repair program to explore technical guidance point of view, without considering how to support the collaborative process different service station maintenance staff, as well as co-operation with the repair process between each station maintenance personnel, motor coordination , data communications and interactive control issues. 由于协同式虚拟维修过程比产品协作维修过程涉及到的因素和维修实施人员更多, 操作配合过程更复杂,所以现有技术手段不能做到有效支持协同式维修过程。 Because more and more complicated to operate with the process of implementation and maintenance personnel factors collaborative Virtual Maintenance repair process involves collaborative process than the product, so existing techniques do not effectively support collaborative maintenance process.

发明内容 SUMMARY

[0003] 本发明所要解决的技术问题是,克服现有技术手段的不足,提供一种能方便地支持大型装备不同工位的维修人员进行协同式维修操作训练,支持跨地域、整体装备系统和全生命周期的分布交互式维修实施,方便专家成员维修技术指导、降低维修训练成本、提高维修训练和实施水平的大型装备虚拟维修分布交互仿真支撑平台及协同维修方法。 [0003] The present invention solves the technical problem is to overcome the deficiencies of the prior art means, to provide a convenient support for large-scale equipment different stations service personnel for maintenance operations collaborative training, cross-regional support, the overall equipment and systems distributed interactive implement full life cycle maintenance, easy maintenance expert members of the technical guidance, reduce the cost of maintenance training, maintenance training and improve the level of implementation of large-scale distributed interactive simulation equipment virtual maintenance support platform and collaborative maintenance methods.

[0004] 现将本发明构思及技术解决方案叙述如下: [0004] The present invention will now be contemplated and technical solutions described as follows:

[0005] 本发明的基本构思是,为了在大型装备生产制造之前和服务期间都能提供一个协同式虚拟维修分布交互仿真支撑平台,需要通过多种交互外设与多维的虚拟维修信息环境进行交互,从而进行故障现象注入、诊断定位、维修排除过程的动态仿真,对多个操作人员进行多任务、多模式化装备协同式维修任务训练,使得操作人员能够对实际装备运行中出现的故障,做出准确无误的判断并及时进行维修排除,确保大型装备的生存能力和可靠性。 [0005] The basic idea of ​​the invention is that prior to large-scale manufacturing equipment and services can be provided during a Collaborative Virtual Maintenance distributed interactive simulation support platform, need to interact through a variety of peripherals and multi-dimensional interactive virtual maintenance information environment so that the phenomenon of fault injection, fault localization, dynamic simulation of maintenance exclude, operators of multiple multi-tasking, multi-mode technology equipment cooperative training maintenance tasks, enable the operator to fault the actual operation of the equipment appeared to do an accurate judgment and timely maintenance excluded, to ensure the viability and reliability of large-scale equipment. 同时对于如何提高大型装备维修训练水平、改进维修方法和新型虚拟维修技术研究进行方案论证和技术探讨。 Technology demonstration program and at the same time explore how to improve the level of training of large equipment repair, maintenance and new research methods virtual maintenance technology improvements. 该仿真支撑平台可以根据大型装备的复杂程度进行多粒度分布,其规模可以根据具体的维修任务规划和实际需求进行相应配置,能够实现大规模、分布式、全生命周期的复杂协同式虚拟维修操作运行。 The simulation support platform can be equipped according to the complexity of large-scale multi-size distribution, its size can be configured accordingly based on specific maintenance tasks planning and actual demand, to achieve large-scale, distributed, complex collaborative lifecycle of virtual maintenance operations run. 本发明采用组合式层次结构和模块化设计,由基于HLA/RTI技术设计虚拟维修分布交互仿真支撑平台,为各类仿真应用提供通用的服务程序,将不同的软、硬件功能模块进行有机组合,通过底层标准化通信协议实现相互间的数据信息通信和交互操作控制;多个维修操作人员通过键盘、鼠标标准外设以及数据手套、空间位置跟踪系统、三维鼠标VR交互外设进行的操作输入,都能够被仿真支撑平台捕获,从而获取各维修操作人员的操作指令、基本身体姿态和手部空间动作数据信息;各维修操作人员的操作输入数据信息经过仿真支撑平台分析处理后,通过数据分发管理机制发送到相应的功能模块,设置不同的协同式虚拟维修任务模式,从而驱动虚拟维修环境中各类三维实体模型进行协同交互仿真及其状态信息的实时更新,实现各工位维修人员协同维修过程中 The present invention employs a modular and hierarchical modular design, the HLA / RTI based virtual maintenance technical design support distributed interactive simulation platform that provides universal service program for all types of simulation applications, different software and hardware combination of organic functional modules, for data control information, communication and interaction between each normalized by the underlying communication protocol; a plurality of service operator through a keyboard, mouse, and standard peripherals data glove, the spatial position tracking system, interactive 3D mouse VR peripherals operation input are can be captured simulation support platform to obtain the operating instructions for each service operator, the basic body posture and hand space motion data; operation input data information for each service operator through simulation supporting platform for analysis processing, the data distribution management system sent to the appropriate function module, set a different mode of collaborative virtual maintenance tasks to drive all kinds of three-dimensional solid model for real-time interactive simulation and collaborative updated status information of virtual maintenance environment, the realization of the station maintenance personnel co-repair process 操作配合和动作协调。 Operational cooperation and coordination actions.

[0006] 根据上述构思,本发明所提供的大型装备虚拟维修分布交互仿真支撑平台(见图1),其特征在于:包括仿真运行管理模块、故障维修仿真模块、维修操作人员模块、三维立体视景仿真模块;其中,仿真运行管理模块设计为独立的联邦成员,管理整个仿真支撑平台的初始化设置、仿真运行和状态监控,通过订购和接收加入仿真系统中其他各模块的数据信息和发送相应的交互控制指令,从而获取各联邦成员的仿真运行状态,对维修操作人员的操作过程进行记录,并对其他联邦成员的运行状态进行交互控制,通过相应开发便可以进行协同式虚拟维修训练的考核; [0006] According to the above concept, the present invention provides a large virtual maintenance equipment support platform distributed interactive simulation (see FIG. 1), which is characterized in that: the management module comprises a simulation run, the simulation module fault repair, maintenance operator module, three stereoscopic simulation module; wherein the emulation operation management module is designed to be independent federate, initialization management entire simulation support platform is provided, the simulation operation and status monitoring, the respective ordered and received added data information and sending each other modules simulation system interactive control command, thereby acquiring the status of each simulation run of the members of the federal, operation and maintenance of process operating personnel record, and operational status of other members of the Federal interactive control, will be able to carry out assessment collaborative virtual maintenance training through appropriate development;

[0007] 本发明进一步提供大型装备虚拟维修分布交互仿真支撑平台,其特征在于:故障维修仿真模块作为独立的联邦成员,由装备原型系统仿真模型、故障仿真模型、故障诊断和维修操作知识库及专家系统、故障诊断和维修操作过程仿真模型组成;通过接收仿真运行管理模块的交互控制以及维修人员操作模块的状态更新和数据请求,经过模块底层的各类仿真模型驱动以及相应的数值计算、过程分析和逻辑运算,并将数据更新信息发送至维修人员操作模块和三维立体视景仿真模块,实现大型装备协同式维修不同任务模式下的故障注入、故障检测、故障定位和维修排除过程的实时动态仿真。 [0007] The present invention further provides a large-scale distributed interactive simulation equipment virtual maintenance support platform, wherein: Troubleshooting emulation module as an independent member of the Commonwealth, the equipment simulation model prototype systems, fault simulation model, fault diagnosis and repair operations and knowledge base system, fault diagnosis and repair operation of the process simulation model composition; state by running the simulation management module receives the interactive control and maintenance personnel and the data operation modules update request, the simulation model through various types of driving modules and the corresponding underlying numerical calculation process analysis and logical operations, and data update information to the maintenance personnel operating module and 3D visual simulation module to achieve real-time dynamic fault injection in large equipment different modes collaborative tasks maintenance, fault detection, fault location and repair process of elimination of simulation.

[0008] 本发明进一步提供大型装备虚拟维修分布交互仿真支撑平台,其特征在于:每个维修操作人员模块均包括协同式维修操作模块、数据信息处理模块、可视化操作和演示界面以及RTI服务接口协议模块;维修操作人员模块为1〜N个,每个维修操作人员模块设计为独立的联邦成员,N的数目根据大型装备协同式维修任务的实际需求进行增加或者减少。 [0008] The present invention further provides a major equipment virtual maintenance DIS support platform, wherein: each service operator module includes cooperative service operation module, data processing module, a visual operation and the presentation interface and the RTI service interface protocol module; maintenance operator module 1~N, one for each service operator module is designed to be independent of the federal members, the number N of conduct increase or decrease based on the actual needs of large equipment cooperative maintenance tasks. 协同式维修操作模块通过开发VR外围交互设备的API (Application Programming Interface)接口,捕捉空间位置跟踪系统、数据手套、空间三维鼠标VR(Virtual Reality) 外设的数字信号输入,获取各维修操作人员的操作指令、基本身体姿态和手部空间动作数据信息;数据信息处理模块通过对获取的操作输入数据信息进行分析和处理,驱动虚拟维修环境中各虚拟维修人员的人体运动仿真及其维修操作过程中与装备零部件和维修资源的交互操作;可视化操作和演示界面通过接收故障维修仿真模块和三维立体视景仿真模块的数据信息和状态更新,对大型装备各分系统的工作原理、故障注入、故障检测、故障定位和维修排除操作过程,以及诸过程中维修操作人员的任务模式设置和交互操作控制进行可视化仿真,指导或者考核不同工位维修操作人员的操作步骤和工序流程,并实 Cooperative service operation module API (Application Programming Interface) developed VR peripherals interface interaction device, to capture the spatial position tracking system, data glove, mouse dimensional space VR (Virtual Reality) peripherals input digital signal, acquires each maintenance operator operating instructions, basic hand gestures and body motion data spatial information; data processing module by analyzing and processing operation input data acquisition, simulation, process-driven virtual service environment for each virtual human movement and maintenance personnel in maintenance operations components and equipment operation and maintenance resources interaction; visualization data and presentation information and status maintenance interface emulation module and 3D visual simulation module is updated by the reception failure, the working principle of each major equipment subsystem, fault injection, fault detection, fault location and repair process of elimination operation, and maintenance tasks mode setting operator interaction and control visual simulation, or guidance and evaluation process flow steps different stations of all maintenance operations during personnel, and the solid 时显示当前操作的各种状态信息;RTI服务接口协议模块利用HLA (High Level Architecture)的标准服务功能,根据各维修人员操作模块的具体需求进行相应的仿真开发,通过仿真支撑平台的数据信息发布/更新和订购/接收服务机制,实现与加入仿真运行的其他联邦成员之间的数据通信和交互控制。 When the display status information about the current operation; the RTI service interface protocol module using HLA (High Level Architecture) standard services, simulation development corresponding to the specific needs of each operation of the module maintenance personnel, by publishing data Simulation Support Platform / update and ordering / receiving service mechanism, data communications and interactive control between the members to join with other federal simulation runs.

[0009] 本发明进一步提供大型装备虚拟维修分布交互仿真支撑平台,其特征在于:三维立体视景仿真模块作为独立的视景仿真系统联邦成员,由单通道立体投影系统、立体眼镜、 音响设备、立体视景渲染平台以及底层的三维实体运动仿真模型组成,用于创建具有较好沉浸感的虚拟维修环境;通过接收维修人员操作模块的数据信息和交互控制,以及故障维修仿真模块各类仿真驱动模型数据的计算和更新,对虚拟维修环境中的各类三维实体模型(空间环境、装备零部件、人体、维修资源)进行底层驱动、实时渲染、状态更新、特效处理以及信息显示;并将虚拟维修环境中各类更新后的数据信息和状态参数发送到维修人员操作模块,对其可视化操作和演示界面进行数据信息显示更新。 [0009] The present invention further provides a large virtual maintenance equipment distributed interactive simulation support platform, wherein: the three-dimensional visual simulation module as a separate scene simulation system federation members, by the single-channel stereoscopic projection system, stereoscopic glasses, audio equipment, three-dimensional solid model of three-dimensional motion simulation visual rendering platform and the underlying composition used to create the virtual maintenance environment with good sense of immersion; receiving the maintenance staff by operation of the module information and interactive control data, and breakdown maintenance of various types of simulation-driven simulation module calculate and update model data, various types of three-dimensional solid model (the space environment, equipment, spare parts, humans, maintenance resources) virtual maintenance environment in low-level drivers, real-time rendering, status updates, special effects processing and information display; and virtual maintenance of various types of environment parameters to send data and status information to the maintenance personnel the updated operation module for data display update its presentation and visualization interface.

[0010] 本发明所提供的协同维修方法(见图3),包括以下步骤: [0010] The present invention provides a synergistic method for maintenance (see FIG. 3), comprising the steps of:

[0011] 步骤1 :在基于HLA/RTI(High Level Architecture/Run-Rti Infrastructure)的分布交互式计算机网络的图形工作站和各计算机平台安装RTI运行节点,并进行产品注册和初始化文件配置; [0011] Step 1: based on HLA / RTI (High Level Architecture / Run-Rti Infrastructure) distribution network interactive computer graphics workstations and computer platforms installed RTI nodes run, product registration and initialization and configuration files;

[0012] 步骤2 :启动仿真运行管理模块; [0012] Step 2: Start simulation run management module;

[0013] 步骤3 :启动故障维修仿真模块; [0013] Step 3: Start fault repair emulation module;

[0014] 步骤4 :启动维修人员操作模块; [0014] Step 4: Start maintenance personnel operating module;

[0015] 步骤5 :启动三维立体视景仿真模块; [0015] Step 5: Start three-dimensional visual simulation module;

[0016] 步骤6 :大型装备虚拟维修仿真运行; [0016] Step 6: large equipment virtual maintenance simulation run;

[0017] 步骤7 :大型装备协同维修操作。 [0017] Step 7: maintenance of large equipment co-operation.

[0018] 本发明同现有技术相比的优点在于: [0018] The advantages of the present invention compared with the prior art in that:

[0019] 1、通过提供一系列通用的、相互独立的支撑服务程序,使得大型装备各工位维修操作人员模块能够根据具体的仿真功能进行相互独立的开发,同时通过嵌入编写的、符合标准服务协议的用户扩展程序,可以将不同领域的仿真应用和软、硬件功能模块进行有机集成,通过底层标准化通信协议实现各功能模块之间的状态数据更新、交互控制和协同维修操作,保证了该仿真支撑平台具有较好通用性、扩展性和实时性。 [0019] 1, by providing a series of general, independent support service program, so that each major equipment maintenance operator station module can be developed independently of each other depending upon the particular simulation, by embedding simultaneously written standard services user extension protocol, different areas of application and simulation software and hardware modules may be organic functional integration so that the state of data between the underlying functional module updates through standardized communication protocols, interaction and collaboration controlling maintenance operations, ensures that the simulation support platform has good versatility, scalability and real-time.

[0020] 2、通过组建具有较好稳定性、实时性和沉浸感的分布交互式虚拟维修环境,为多工位维修操作人员进行协同虚拟维修训练提供仿真支撑平台。 [0020] 2, provides simulation support platform through the formation of a Distributed Interactive has good stability, real-time maintenance and immersive virtual environment for collaborative virtual maintenance training for multi-station maintenance operator. 减少了经费开支,又可避免训练中误操作对实装的损害,提升操作技能,熟悉正确操作规程;通过训练使得操作人员能够对实装训练和实际作战中武器装备出现的故障,做出准确无误的判断并及时进行维修排除,确保武器系统的生存能力和可靠性;同时对于提高大型装备维修训练水平、改进维修方法和进行虚拟维修技术研究具有极大的促进作用。 Reduce expenditure and avoid misuse training in damage to the real equipment, improve skills, familiar with the correct operating procedures; through training enables operators to fault mounting training and actual combat weaponry that appears, make accurate correct judgment and timely maintenance excluded, to ensure the viability and reliability of weapons systems; at the same time has a great role in promoting the maintenance of large equipment to improve the level of training, improvement and maintenance methods to study virtual maintenance technology.

[0021] 3、利用HLA/RTI提供的联邦管理服务,对其整体方案设计、集成测试、仿真运行和结果分析整个过程进行管理,确保在仿真开发和设计过程中各个环节都处于可控状态, 便于仿真数据的采集和分析,从而及时地对系统进行VV&A(Verification,Validation andAccreditation)、优化和改进。 [0021] 3, the use of federal management services HLA / RTI offers, its overall design, integration testing, simulation run and the results of analysis of the entire process management, simulation development and to ensure that all aspects of the design process are under control, facilitate the acquisition and analysis of simulation data to the system in a timely manner VV & a (Verification, Validation andAccreditation), optimization and improvement. 并且其扩展性能够根据大型装备的复杂程度进行多粒度分布,实现大规模、分布式、全生命周期的复杂协同式虚拟维修操作运行,以确保仿真支撑平台的稳定性和可靠运行。 And its scalability capable of multi-size distribution according to the complexity of large-scale equipment, large-scale, distributed, complex collaborative virtual maintenance operations run full life cycle, in order to ensure the stability of simulation support platform and reliable operation.

附图说明 BRIEF DESCRIPTION

[0022] 图1 :虚拟维修分布交互仿真支撑平台功能模块化设计的总体结构框图 [0022] Figure 1: overall block diagram of virtual maintenance support distributed interactive simulation platform features a modular design

[0023] 图2 :虚拟维修分布交互仿真支撑平台组成及构建框图 [0023] Figure 2: Virtual Maintenance distributed interactive simulation support platform components and building block diagram

[0024] 图3 :协同维修操作流程示意图 [0024] FIG 3: a schematic view of the operation flow synergistic maintenance

具体实施方式 Detailed ways

[0025] 下面结合附图对本发明的具体实施方式作进一步详述。 [0025] The following drawings of specific embodiments of the present invention will be described in further detail in conjunction.

[0026] 实施例:[0027] 本发明综合运用复杂系统建模技术、分布交互式仿真技术、CAD(ComputerAided Design)/CAE(Computer Aided Engineering) VR(Virtual Reality) [0026] Example: [0027] The present invention is the integrated use of complex systems modeling techniques, interactive distributed simulation, CAD (ComputerAided Design) / CAE (Computer Aided Engineering) VR (Virtual Reality)

技术以及系统工程技术,组建具有较好通用性的协同式虚拟维修仿真支撑平台,以及较好沉浸感和交互性的虚拟维修环境,运用于大型装备日常维护、故障检测和维修操作的技术指导和协同操作训练过程中。 Technology and systems engineering technology, the formation of the Collaborative Virtual Maintenance Simulation Support Platform has good versatility, as well as a better sense of immersion and interactivity of the virtual maintenance environment, used in large-scale equipment maintenance, technical guidance and fault detection and repair operation co-operation in the training process. 本发明大型装备协同式虚拟维修分布交互仿真支撑平台的硬件设备包括HPZ800高性能图形工作站、DELL Ϊ580计算机节点、Kibps有线局域网络、 Polhemus空间位置跟踪系统、5DT Data Glove 14 Ultra数据手套、3D Connexion空间三维鼠标、单通道立体投影系统和立体眼镜。 The present invention is equipped with a large synergistic Virtual Maintenance DIS supporting platform hardware devices include HPZ800 high performance graphics workstations, DELL Ϊ580 computer node, Kibps wired local area network, Polhemus spatial position tracking system, 5DT Data Glove 14 Ultra data glove, 3D Connexion space 3D mouse, single-channel stereo projection system and stereo glasses. 软件系统包括仿真运行管理模块、故障维修仿真模块、协同式维修操作模块、数据信息处理模块、可视化操作和演示界面、RTI服务接口协议模块、三维立体视景仿真模块。 Software system management module comprises a simulation run, the simulation module fault repair, maintenance cooperative operation modules, data processing modules, visualization and presentation interface, RTI service interface protocol module, three-dimensional visual simulation module. 该系统支持大型装备不同工位的维修人员进行协同式维修任务操作训练,以及不同地域专家成员的维修技术指导,保证各维修人员动作协调、配合一致地完成维修任务。 The system supports different stations of large-scale equipment maintenance personnel for cooperative maintenance tasks on training, maintenance and technical guidance of expert members of different regions to ensure the coordination of the maintenance personnel action, consistent with the completion of maintenance tasks. 本发明大型装备协同式虚拟维修仿真支撑平台的组建包括以下内容(参见图2): The formation of large equipment present invention Collaborative Virtual Maintenance Simulation Support Platform include the following (see Figure 2):

[0028] 1、充分利用装备数字化设计资源,通过CAD设计软件(如Solid Works、CATIA、 Pro/E,3DS Max)创建大型装备零部件、虚拟维修资源(维修工具、检测仪器设备、零部件备件)的三维模型库,以及虚拟维修环境和虚拟维修人体模型,从而为可视化仿真演示和今后的类似开发提供通用的模型素材。 [0028] 1, take full advantage of digital equipment design resources, through CAD design software (such as Solid Works, CATIA, Pro / E, 3DS Max) to create a large-scale equipment, spare parts, maintenance of virtual resources (maintenance tools, testing equipment, spare parts, spare parts ) three-dimensional model library, and virtual maintenance environment and virtual maintenance human body model, which provides a common material for visual simulation model presentations and similar developments in the future.

[0029] 2、在熟练掌握实际装备故障诊断和维修实施过程的基本原理及其操作流程前提下,根据协同维修的具体任务需求,制定出协同式虚拟维修训练分布交互仿真支撑平台的技术框架和体系结构,并开发仿真运行管理模块对整个仿真支撑平台的运行进行控制、管理和监测。 [0029] 2, master the basic principles of the actual equipment fault diagnosis and repair process implementation and operational processes under the premise, according to the specific needs of collaborative maintenance tasks, to develop a technical framework for Collaborative Distributed Interactive Simulation Virtual Maintenance Training and support platform architecture, operation and management and development of simulation modules to run the entire simulation support platform of control, management and monitoring.

[0030] 3、通过多领域协同仿真软件设计和开发具有较好通用性、扩展性和实时交互性的维修操作和故障维修仿真模块,包括维修操作人员模块中的协同式维修操作模块、数据信息处理模块、可视化操作和演示界面,以及故障维修仿真模块中的原型系统仿真模型、故障仿真模型、故障诊断/维修操作模型、故障及维修知识库/专家系统,实现故障诊断和协同维修操作过程仿真中的故障现象注入、故障检测、故障定位及其维修排除。 [0030] 3, co-simulation software design and development by many areas having good versatility, servicing and maintenance of the fault simulation module and extended real-time interaction, including the maintenance operator module cooperative module maintenance operations, data processing module, a prototype simulation model visualization and presentation interface, and breakdown maintenance emulation module, fault simulation model, troubleshooting / repair operation model, faults and maintenance knowledge / expert system, fault diagnosis and collaborative process maintenance operations simulation the failure phenomenon injection, fault detection, fault location and repair excluded.

[0031] 4、基于单通道立体投影系统和视景仿真软件创建三维立体视景仿真模块,实现虚拟维修环境中实体模型及其状态更新的渲染、人体运动姿态以及操作动作的控制、装备/ 人体/维修资源之间的交互操作,以及协同维修过程中的拆装序列和路径规划、碰撞检测和运动约束,使开发的虚拟维修环境具有较好的逼真度、沉浸感和可感知性。 [0031] 4, to create a three-dimensional visual simulation module based on single-channel stereoscopic projection system and visual simulation software, rendering virtual service environment in the solid model and status updates, control of human movement and gesture operation actions, equipment / body interaction between / maintenance resources, as well as disassembly sequence and path planning collaborative process of repair, collision detection and motion constraints, the development of virtual maintenance environment with good fidelity, immersive and sensory.

[0032] 5、利用HLA/RTI技术提供的通用性服务程序,开发各模块与仿真支撑平台的标准化接口协议和各类外围交互设备的API接口程序,获取各维修操作人员通过键盘、鼠标标准外设以及数据手套、空间位置跟踪系统、三维鼠标VR交互外设进行的操作输入,以及相应的操作指令、基本身体姿态和手部空间动作数据信息。 [0032] 5, using HLA / RTI universal service program provided by technology, development and simulation support platform modules standardized interface protocol and various peripheral devices interact with API interface program, acquires each maintenance operator through a keyboard, mouse, external standard and a data glove is provided, the spatial position tracking system, interactive 3D mouse VR peripherals operation input, and the corresponding operational instructions, the basic body posture and hand operation of spatial data.

[0033] 6、通过本发明的仿真支撑平台底层标准化通信协议,实现各模块相互之间的数据通信和交互控制,并将当前的操作步骤和状态信息反馈到相应维修操作人员模块的可视化操作和演示界面上进行显示。 [0033] 6, the simulation of the present invention the underlying support platform standardized communication protocol, and the interactive control data communication between the modules to each other, and the current operation step and status information back to the respective service operator and visualization module It is displayed on the presentation screen.

[0034] 参见图1、图2: [0034] Referring to FIG 1, FIG 2:

[0035] 本发明协同式虚拟维修分布交互仿真支撑平台包括仿真运行管理模块、故障维修仿真模块、维修操作人员模块、三维立体视景仿真模块;其中,仿真运行管理模块设计为独立的联邦成员,管理整个仿真支撑平台的初始化设置、仿真运行和状态监控,通过订购和接收加入仿真系统中其他各模块的数据信息和发送相应的交互控制指令,从而获取各联邦成员的仿真运行状态,对维修操作人员的操作过程进行记录,并对其他联邦成员的运行状态进行交互控制,通过相应开发便可以进行协同式虚拟维修训练的考核。 [0035] The present invention is a synergistic Virtual Maintenance DIS support platform comprises a simulation run management module, fault repair simulation module, the maintenance operator module, three-dimensional visual simulation module; wherein the emulation operation management module is designed to be independent federate, initialization Manager entire simulation support platform, the simulation operation and status monitoring, ordered and received added data simulation system other modules and sends a corresponding interactive control command, thereby acquiring the simulation status of each federation members, for maintenance operations process operator to record, and operational status of other members of the Federal interactive control, will be able to carry out assessment collaborative virtual maintenance training through the corresponding development.

[0036] 故障维修仿真模块作为独立的联邦成员,由装备原型系统仿真模型、故障仿真模型、故障诊断和维修操作知识库及专家系统、故障诊断和维修操作过程仿真模型组成,通过接收仿真运行管理模块的交互控制以及维修人员操作模块的状态更新和数据请求,经过模块底层的各类仿真模型驱动以及相应的数值计算、过程分析和逻辑运算,并将数据更新信息发送至维修人员操作模块和三维立体视景仿真模块,实现大型装备协同式维修不同任务模式下的故障注入、故障检测、故障定位和维修排除过程的实时动态仿真。 [0036] Troubleshooting emulation module as an independent member of the Commonwealth, the equipment simulation model prototype systems, fault simulation model, fault diagnosis and repair operations knowledge base and expert systems, fault diagnosis and operation of simulation model of the process consisting of maintenance, operation and management of simulation by receiving status update request data and interact with the control module and the maintenance personnel operating module, driven through the various simulation models and corresponding numerical calculation module bottom, process analysis and logical operations, and data update information to the maintenance personnel operating module and three-dimensional dimensional visual simulation module, real-time simulation of the dynamic fault injection in large equipment different modes collaborative tasks maintenance, fault detection, fault location and repair the process of elimination.

[0037] 协同式维修操作模块、数据信息处理模块、可视化操作和演示界面以及RTI服务接口协议模块组成各维修人员操作模块,每个维修人员操作模块设计为独立的联邦成员, 其数目可根据大型装备协同式维修任务的实际需求进行增加或者减少;其中,协同式维修操作模块通过开发VR外围交互设备的API接口,捕捉空间位置跟踪系统、数据手套、空间三维鼠标VR外设的数字信号输入,从而获取各维修操作人员的操作指令、基本身体姿态和手部空间动作数据信息;数据信息处理模块通过对获取的操作输入数据信息进行分析和处理,从而驱动虚拟维修环境中各虚拟维修人员的人体运动仿真及其维修操作过程中与装备零部件和维修资源的交互操作;可视化操作和演示界面通过接收故障维修仿真模块和三维立体视景仿真模块的数据信息和状态更新,对大型装备各 [0037] Collaborative maintenance operation modules, data processing modules, visualization and presentation interface and the RTI service interface protocol module for each service personnel operating module, each maintenance staff operating module is designed as a separate federate, whose number according Large the actual equipment needs maintenance task cooperative be increased or decreased; wherein the collaborative service operation module by developing VR peripheral device API interface interaction, the digital signal input capture spatial position tracking system, data glove, mouse, VR peripherals three-dimensional space, thereby obtaining operation instruction for each service operator, the basic body posture and hand spatial motion data; data processing module for analyzing and processing operating on input data information acquired, to thereby drive the body virtual service environment, each virtual service personnel its motion simulation process operation and equipment maintenance and repair of components of the resource interaction; visualization data and presentation information and status maintenance interface emulation module and 3D visual simulation module updates the failure by receiving, for each major equipment 系统的工作原理,故障注入、 故障检测、故障定位和维修排除操作过程,以及诸过程中维修操作人员的任务模式设置和交互操作控制进行可视化仿真,指导或者考核不同工位维修操作人员的操作步骤和工序流程,并实时显示当前操作的各种状态信息;RTI服务接口协议模块利用HLA的标准服务功能,根据各维修人员操作模块的具体需求进行相应的仿真开发,通过仿真支撑平台的数据信息发布/更新和订购/接收服务机制,实现与加入仿真运行的其他联邦成员之间的数据通信和交互控制。 System works, fault injection, fault detection, fault location and repair process of elimination operation and mission mode service operator to set up and interactive operation control of processes performed visual simulation to guide or assess Procedure different stations of the service operator and the process flow, and display the various states of the current operation; the RTI service interface module using HLA standard protocol services, simulation development corresponding to the specific needs of each operation of the module maintenance personnel, by publishing data simulation support platform / update and ordering / receiving service mechanism, data communications and interactive control between the members to join with other federal simulation runs.

[0038] 三维立体视景仿真模块作为独立的视景仿真系统联邦成员,由单通道立体投影系统、立体眼镜、音响设备、立体视景渲染平台以及底层的三维实体运动仿真模型组成,用于创建具有较好沉浸感的虚拟维修环境,通过订购/接收维修人员操作模块的数据信息和交互控制,以及故障维修仿真模块各类仿真驱动模型数据的计算和更新,对虚拟维修环境中的各类三维实体模型(空间环境、装备零部件、人体、维修资源)进行底层驱动、实时渲染、 状态更新、特效处理以及信息显示,并将虚拟维修环境中各类更新后的数据信息和状态参数发送到维修人员操作模块,对可视化操作和演示界面进行数据信息显示更新。 [0038] The three-dimensional visual simulation module simulation system as an independent member of the Federal scene, single-channel stereoscopic projection system, stereoscopic glasses, audio equipment, stereoscopic visual rendering platform and three-dimensional simulation model of the underlying physical movement, and is used to create data and interactive control has a better sense of immersive virtual maintenance environment, by ordering / receiving operation of the module maintenance personnel, maintenance and fault simulation modules of various types of simulation-driven computing and updating the model data, various types of three-dimensional virtual service environment for solid model (the space environment, equipment, spare parts, humans, maintenance resources) low-level drivers, real-time rendering, status updates, special effects processing and information display, and transmit all kinds of data and status information updated parameters to maintain a virtual service environment personnel operating module, the operating and visualization interface presentation data display update.

[0039] 参见图3 : [0039] Referring to Figure 3:

[0040] 本发明的协同虚拟维修方法,具体步骤为: [0040] collaborative virtual maintenance method of the present invention, the specific steps:

[0041] 步骤1 :首先组建基于HLA/RTI的分布交互式计算机网络:在图形工作站和各计算机平台安装RTI运行节点,并进行产品注册和初始化文件配置; [0041] Step 1: First, the formation of an interactive computer network-based distribution of HLA / RTI of: mounting RTI nodes running graphics workstations and computer platforms, product registration and initialization and configuration files;

[0042] 步骤2 :启动仿真运行管理模块: [0042] Step 2: Start the simulation run management module:

[0043] 步骤2. 1 :通过系统界面、模块数据的定义和初始化来创建并加入仿真支撑平台,对整个平台进行初始化设置和运行控制; [0043] Step 2.1: to create the emulation and support platform added through system interface, data definition and initialization module that initializes the settings and operation control of the whole platform;

[0044] 步骤2. 2 :设置仿真时间管理策略、注册协同式维修操作同步点、获取模块数据注册信息、设置并创建数据通信和交互控制策略; [0044] Step 2.2: setting time management policy, registration service cooperative operation in synchronization point, data acquisition module registration information, and creates a set of data communication and interactive control strategy;

[0045] 步骤2. 3 :通过订购和接收加入仿真系统中其他各模块的数据信息,以及按钮事件发送相应的交互控制指令,对加入仿真支撑平台的所有成员进行管理、监测和控制。 [0045] Step 2.3: transmitting the interactive control command corresponding to an ordered and received added data simulation system information of each of the other modules, and a button event, was added to all members of the supporting platform simulation management, monitoring and control.

[0046] 步骤3 :启动故障维修仿真模块: [0046] Step 3: Start fault repair simulation modules:

[0047] 步骤3. 1 :在完成本模块的通用服务操作后,通过处理故障及维修数据信息请求, 发送和更新故障及维修数据信息;所述的通用服务操作是指适用于除仿真运行管理模块外各模块的系统界面、模块数据的定义和初始化、加入仿真支撑框架系统、设置仿真时间管理策略、响应协同式维修操作同步点、获取模块数据注册信息、设置并创建数据通信和交互控制策略; [0047] Step 3.1: In the general service operation after the completion of the module by the processing faults and maintenance data request, and sending an updated fault and maintenance data information; according to the general service operation means applicable to other management simulation run outer modules each module of the system interface module data definition and initialization added simulation support frame system, setting time management policy, in response to cooperative maintenance operations synchronization point acquisition module data registration information, settings and create a data communication, and interactive control strategy ;

[0048] 步骤3. 2 :执行仿真运行管理模块的相应控制; [0048] Step 3.2: performing a simulation run respective control management module;

[0049] 步骤3.3 :处理平台中其他成员模块的数据信息请求,并将更新后的数据信息发送到相应的成员模块。 [0049] Step 3.3: data processing platform a request module other members, and transmits data corresponding to the updated information module members.

[0050] 步骤4 :启动维修人员操作模块: [0050] Step 4: Start maintenance personnel operating module:

[0051] 步骤4. 1 :在完成本模块的通用服务操作后,通过接收维修人员操作/交互外设数据,设置和请求故障及维修数据信息; [0051] Step 4.1: In the general service operation after the completion of this module, by receiving an operation maintenance personnel / peripheral interactive data, and setting information request failure and maintenance data;

[0052] 步骤4. 2 :获取和更新故障及维修数据信息,更新视景帧刷新和操作界面数据; [0052] Step 4.2: acquiring and updating fault and maintenance data, and updates the frame refresh visual user interface data;

[0053] 步骤4.3 :实现协同式维修过程中各类数据的实时通信和交互处理,并对多个维修操作人员的动作协调进行管理和控制,保证协同式维修操作过程的真实感和准确性。 [0053] Step 4.3: real-time communications and cooperative interaction processing each type of data during repair, maintenance and operation of the plurality of operator coordinated management and control process to ensure the accuracy and realism of Cooperative maintenance operations.

[0054] 步骤5 :启动三维立体视景仿真模块: [0054] Step 5: Start three-dimensional visual simulation module:

[0055] 步骤5. 1 :在完成本模块的通用服务操作后,进行虚拟维修环境数据初始化和配置, [0055] Step 5.1: After completion of the general service operation of the module, a virtual service environment for data initialization and configuration,

[0056] 步骤5.2 :开启多线程,使得视景帧刷新和仿真时间推进同步进行,并通过接收视景帧刷新数据,底层数据分析和处理,进行协同式维修过程的视景仿真。 [0056] Step 5.2: Open multithreading, such visual simulation time frame refresh and simultaneously advancing, and refresh the data frame received by the scene, and processing the underlying data analysis, for the maintenance process collaborative visual simulation.

[0057] 步骤6 :大型装备虚拟维修仿真运行: [0057] Step 6: large equipment virtual maintenance simulation run:

[0058] 步骤6. 1 :等待所有模块都成功加入该仿真支撑平台后,各模块一致运行到同步点——“仿真应用初始化”; [0058] Step 6.1: Wait for all modules have successfully joined the simulation support platform, each of the modules to run consistently synchronization point - "Simulation application initialization";

[0059] 步骤6. 2 :对各模块的仿真应用程序中各类数据进行初始化,并创建数据通信和交互控制策略; [0059] Step 6.2: initializing the emulation application module for each of various types of data and create and interact with the data communication control strategy;

[0060] 步骤6. 3 :然后再运行到同步点——“准备协同式维修操作”; [0060] Step 6.3: and then run to the synchronization point - "Preparation cooperative maintenance operations";

[0061] 步骤6.3 :根据仿真支撑平台的时间推进机制,按照一定的仿真步长推进仿真运行; [0061] Step 6.3: advancing mechanism according to a time simulation support platform, according to certain advance simulation step the simulation run;

[0062] 步骤6. 4 :当所有的虚拟维修任务完成后,各模块会一致地运行到同步点——“协同式维修任务结束”,退出仿真支撑平台结束仿真运行。 [0062] Step 6.4: Once all virtual maintenance task is completed, the modules will consistently run into synchronization point - "Collaborative maintenance tasks end" to exit simulation support platform end of the simulation run.

[0063] 步骤7 :大型装备协同维修操作: [0063] Step 7: maintenance of large equipment co-operation:

[0064] 步骤7. 1 :所有模块同步到“准备协同式维修操作”,在仿真步长推进下各模块相互协调地进行协同式虚拟维修操作; [0064] Step 7.1: all modules synchronize to "ready maintenance operations cooperative" coordination modules to perform maintenance operations Collaborative virtual simulation time step in advance;

[0065] 步骤7. 2 :仿真运行管理模块通过订购和接收其他各模块仿真运行中的数据信息更新,并通过按钮事件发送相应的交互控制指令,对加入仿真支撑平台的所有成员进行管理、监测和控制; [0065] Step 7.2: Usually simulation run by the management module and receiving data information of each simulation run other modules is updated, and sends a corresponding interactive control command via a button event, was added to all members of the supporting platform simulation management, monitoring and control;

[0066] 步骤7. 3 :各维修人员操作模块利用仿真支撑平台的数据信息发布/更新和订购/接收服务机制,通过获取、分析、处理和发送操作输入数据信息,并接收故障维修仿真模块和三维立体视景仿真模块的数据信息和状态更新,实现与其他联邦成员之间的数据通信和交互控制; [0066] Step 7.3: maintenance personnel operating the respective support platform modules using simulation data information publish / subscribe and updating / receiving service mechanism, by obtaining, analyzing, processing, and transmitting information data input operation, maintenance and fault emulation module and receiving data information and three-dimensional visual simulation status update module, data communication between the control and interaction with other members of the federation;

[0067] 步骤7. 4 :故障维修仿真模块不断接收仿真运行管理模块的交互控制以及维修人员操作模块的状态更新和数据请求,经过模块底层的各类仿真模型驱动以及相应的数值计算、过程分析和逻辑运算,将数据更新信息发送至维修人员操作模块和三维立体视景仿真模块; [0067] Step 7.4: update and maintenance data request emulation module continuously receives fault simulation run interactive control and management module of the operating module maintenance personnel, and driven through the various simulation models underlying the corresponding numerical calculation module, process analysis and logic operations, data update information to the maintenance personnel operating module and 3D visual simulation module;

[0068] 步骤7. 5 :三维立体视景仿真模块对虚拟维修环境中的各类三维实体模型进行底层驱动、实时渲染、状态更新、特效处理以及信息显示; [0068] Step 7.5: three-dimensional visual simulation module on various solid model in a virtual service environment is bottom-driven, real-time rendering, status updates, special effect processing, and an information display;

[0069] 步骤7. 6 :三维立体视景仿真模块将虚拟维修环境中各类更新后的数据信息和状态参数发送到维修人员操作模块, [0069] Step 7.6: three-dimensional visual simulation module maintenance virtual environment of various types of transmission data and status information updated parameters to the service personnel operating module,

[0070] 步骤7. 7 :各维修人员操作模块对可视化操作和演示界面进行数据信息显示更新,最终实现多个维修人员进行大型装备协同式维修操作以及该过程中的各类信息提示和技术指导。 [0070] Step 7.7: Each operating module maintenance personnel and presentation of the visualization data display update interface, ultimately a plurality of information presentation service personnel for various large-scale equipment and technical guidance and maintenance operations cooperative process .

Claims (12)

1.大型装备虚拟维修分布交互仿真支撑平台,其特征在于:包括仿真运行管理模块、 故障维修仿真模块、维修操作人员模块、三维立体视景仿真模块;其中,仿真运行管理模块设计为管理整个仿真支撑平台的初始化设置、仿真运行和状态监控、对维修操作人员的操作过程进行记录和协同式虚拟维修训练考核并对其他联邦成员的运行进行交互控制的独立联邦成员,通过订购和接收加入仿真系统中其他各模块的数据信息和发送相应的交互控制指令,实现该联邦成员的相应功能;维修操作人员模块为1〜N个,每个维修操作人员模块设计为独立的联邦成员,N的数目根据大型装备协同式维修任务的实际需求进行增加或者减少。 Virtual Maintenance Equipment 1. Large distributed interactive simulation support platform, wherein: the management module comprises a simulation run, the simulation module fault repair, maintenance operator module, three-dimensional visual simulation module; wherein the emulation operation management module for managing the entire design simulation initial setup support platform, simulation runs and status monitoring, operation and maintenance of process technicians performing the recording and collaborative virtual maintenance training assessment and operation of other members of the independent federal federate interactive control, order and receive by adding simulation system transmitting data information and a corresponding interactive control command corresponding function of other members of the federation of each module; 1~N service operator modules, one for each operator module is designed to service independent federal member, according to the number N the actual needs of large equipment cooperative maintenance tasks will be to increase or decrease.
2.根据权利要求1所述的大型装备虚拟维修分布交互仿真支撑平台,其特征在于:故障维修仿真模块设计为独立的联邦成员,由装备原型系统仿真模型、故障仿真模型、故障诊断和维修操作知识库及专家系统、故障诊断和维修操作过程仿真模型组成;通过接收仿真运行管理模块的交互控制以及维修人员操作模块的状态更新和数据请求,经过模块底层的各类仿真模型驱动以及相应的数值计算、过程分析和逻辑运算,并将数据更新信息发送至维修人员操作模块和三维立体视景仿真模块,实现大型装备协同式维修不同任务模式下的故障注入、故障检测、故障定位和维修排除过程的实时动态仿真。 2. The major equipment according to claim 1 DIS virtual maintenance support platform, wherein: Troubleshooting simulation module designed to be independent federate, the equipment simulation model prototype system, the fault simulation model, troubleshooting and maintenance operations and expert system knowledge base, troubleshooting and maintenance operations consisting of process simulation model; simulation run by the state of the received interactive control and management module of the maintenance staff and the operating module update request data, the simulation model through various kinds of drive module and the corresponding value of the underlying computing, process analysis and logical operations, and data update information to the maintenance personnel operating module and 3D visual simulation module, fault injection in large cooperative equipment maintenance tasks in different modes, fault detection, fault location and repair process of elimination real-time dynamic simulation.
3.根据权利要求1〜2任一所述的大型装备虚拟维修分布交互仿真支撑平台,其特征在于:每个维修操作人员模块均包括协同式维修操作模块、数据信息处理模块、可视化操作和演示界面以及RTI服务接口协议模块; 3. The major equipment according to any of claims 1 to 2 DIS virtual maintenance support platform, wherein: each module includes operator service cooperative operation maintenance module, data processing module, visualization and presentation RTI service interface and interface protocol module;
4.根据权利要求1〜3任一所述的大型装备虚拟维修分布交互仿真支撑平台,其特征在于:协同式维修操作模块通过捕捉空间位置跟踪系统、数据手套、空间三维鼠标VR外设的数字信号输入,获取各维修操作人员的操作指令、基本身体姿态和手部空间动作数据信息;数据信息处理模块通过对获取的操作输入数据信息进行分析和处理,驱动虚拟维修环境中各虚拟维修人员的人体运动仿真及其维修操作过程中与装备零部件和维修资源的交互操作;可视化操作和演示界面通过接收故障维修仿真模块和三维立体视景仿真模块的数据信息和状态更新,对大型装备各分系统的工作原理、故障注入、故障检测、故障定位和维修排除操作过程,以及诸过程中维修操作人员的任务模式设置和交互操作控制进行可视化仿真,指导或者考核不同工位维修操作人员的操作步骤和 Major equipment according to claim any one of claims 1 ~ 3 DIS virtual maintenance support platform, wherein: the collaborative service operation module capturing a digital spatial position tracking system, data glove, mouse, VR peripherals three-dimensional space a signal input, acquiring the operation instruction for each service operator, the basic body posture and hand spatial motion data; data processing module for analyzing and processing operating on input data information acquired driving virtual service environment of each virtual service personnel human motion simulation and interaction during maintenance operations and equipment parts and maintenance resources; visualization and presentation data interface status information and emulation module and a three-dimensional visual simulation module updates received by fault repair of large equipment sub system works, fault injection, fault detection, fault location and repair process of elimination operation and mission mode service operator to set up and interactive operation control of processes performed visual simulation to guide or assess procedure different stations of the service operator with 序流程,并实时显示当前操作的各种状态信息;RTI服务接口协议模块利用HLA的标准服务功能,根据各维修人员操作模块的具体需求进行相应的仿真开发,通过仿真支撑平台的数据信息发布/更新和订购/接收服务机制,实现与加入仿真运行的其他联邦成员之间的数据通信和交互控制。 The program flow, and display the various states of the current operation; the RTI service interface module using HLA standard protocol services, simulation development corresponding to the specific needs of each operation of the module maintenance personnel, published by data simulation support platform / updates and subscribe / receive service mechanism, data communications and interactive control between the members to join with other federal simulation runs.
5.根据权利要求1〜4任一所述的大型装备虚拟维修分布交互仿真支撑平台,其特征在于:三维立体视景仿真模块作为独立联邦成员,由单通道立体投影系统、立体眼镜、音响设备、立体视景渲染平台以及底层的三维实体运动仿真模型组成;通过订购/接收维修人员操作模块的数据信息和交互控制,以及故障维修仿真模块各类仿真驱动模型数据的计算和更新,对虚拟维修环境中的各类三维实体模型进行底层驱动、实时渲染、状态更新、特效处理以及信息显示,并将虚拟维修环境中各类更新后的数据信息和状态参数发送到维修人员操作模块,对其可视化操作和演示界面进行数据信息显示更新。 The major equipment according to any one of claim 1 ~ 4 DIS virtual maintenance support platform, wherein: the three-dimensional visual simulation module as an independent member of the federation, single-channel stereoscopic projection system, stereoscopic glasses, audio equipment , stereoscopic visual three-dimensional solid model of the movement simulation rendering platform and the underlying composition; by ordering / receiving data information and interactive control operation of the module maintenance personnel, maintenance, and fault simulation module to calculate and update the driving various simulation model data, the virtual maintenance various types of three-dimensional solid model of the environment of low-level drivers, real-time rendering, status updates, special effect processing, and an information display, and virtual service data and status information in various types of environment parameter updates are sent to maintenance personnel operating module, its visualization data handling and presentation interface display update.
6.基于大型装备虚拟维修分布交互仿真支撑平台的协同维修方法,其特征在于:基于虚拟维修分布交互仿真支撑平台所提供通用的服务程序,利用底层标准化通信协议实现各模块之间的数据信息通信和交互操作控制,以及各工位维修人员协同维修过程中的操作配合和动作协调,具体步骤如下:步骤1 :在基于HLA/RTI的分布交互式计算机网络的图形工作站和各计算机平台安装RTI运行节点,并进行产品注册和初始化文件配置; 步骤2 :启动仿真运行管理模块; 步骤3 :启动故障维修仿真模块; 步骤4 :启动维修人员操作模块; 步骤5 :启动三维立体视景仿真模块; 步骤6 :大型装备虚拟维修仿真运行; 步骤7 :大型装备协同维修操作。 6. Cooperative Virtual Maintenance Based major equipment maintenance method of distributed interactive simulation support platform, wherein: Distributed Interactive Simulation based Virtual Maintenance support platform to provide a common service program, using the standardized communication protocol underlying data communication between the modules interaction and control, and the operation with the operation of each station and maintenance personnel during maintenance of cooperative coordination, the following steps: step 1: installation RTI based on HLA / RTI distribution network interactive computer graphics workstations and computer platforms running node, and product registration and initialization file configuration; step 2: start simulation run management module; step 3: start fault repair emulation module; step 4: start maintenance personnel operating module; step 5: start three-dimensional visual simulation module; step 6: large equipment virtual maintenance simulation run; step 7: maintenance of large equipment co-operation.
7.根据权利要求6所述的基于大型装备虚拟维修分布交互仿真支撑平台的协同维修方法,其特征在于:步骤2中所述的启动仿真运行管理模块的运行过程为:步骤2. 1 :通过系统界面、模块数据的定义和初始化来创建并加入仿真支撑平台,对整个平台进行初始化设置和运行控制;步骤2. 2 :设置仿真时间管理策略、注册协同式维修操作同步点、获取模块数据注册信息、设置并创建数据通信和交互控制策略;步骤2. 3 :通过订购和接收加入仿真系统中其他各模块的数据信息,以及按钮事件发送相应的交互控制指令,对加入仿真支撑平台的所有成员进行管理、监测和控制。 7. Based Cooperative Virtual Maintenance of large equipment repair method of distributed interactive simulation support platform, wherein according to claim 6: operation process starts running the simulation of the management module in step 2 as follows: Step 2.1: By system interface, define and initialize the data module is created and added to the simulation support platform, initialization settings and operation control of the whole platform; step 2.2: setting time management policy, registration service cooperative operation in synchronization point, the data acquisition module register information, and creates a set of data communication and interactive control strategy; step 2.3: transmitting the interactive control command corresponding to an ordered and received added data simulation system information of each of the other modules, and a button event, all members of the supporting platform simulation added management, monitoring and control.
8.根据权利要求6所述的基于大型装备虚拟维修分布交互仿真支撑平台的协同维修方法,其特征在于:步骤3中所述的启动故障维修仿真模块的运行过程为:步骤3. 1 :在完成本模块的通用服务操作后,通过处理故障及维修数据信息请求,发送和更新故障及维修数据信息;所述的通用服务操作是指适用于除仿真运行管理模块外各模块的系统界面、模块数据的定义和初始化、加入仿真支撑框架系统、设置仿真时间管理策略、响应协同式维修操作同步点、获取模块数据注册信息、设置并创建数据通信和交互控制策略;步骤3. 2 :执行仿真运行管理模块的相应控制;步骤3. 3:处理平台中其他成员模块的数据信息请求,并将更新后的数据信息发送到相应的成员模块。 According to claim 6 major equipment based collaborative virtual maintenance repair method DIS supporting platform, characterized by: fault repair process starts running simulation module in the step 3 is as follows: Step 3.1: In after the completion of the present general service operation module faults and maintenance data by processing the information request, and transmitting an updated fault and maintenance data information; according to the general service operation is intended to apply in addition to running the simulation modules in the system management interface module, the module define and initialize the data, added simulation support frame system, setting time management strategy, a maintenance operation in response to cooperative synchronization point, data acquisition module registration information, and creates a data set for communication and interaction control strategy; step 3.2: performing a simulation run corresponding control management module; step 3.3: data processing platform in other members of the module request, and transmits the data updated information to the respective module members.
9.根据权利要求6所述的基于大型装备虚拟维修分布交互仿真支撑平台的协同维修方法,其特征在于:步骤4中所述的启动维修人员操作模块的运行过程为:步骤4. 1 :在完成本模块的通用服务操作后,通过接收维修人员操作/交互外设数据, 设置和请求故障及维修数据信息;步骤4. 2 :获取和更新故障及维修数据信息,更新视景帧刷新和操作界面数据; 步骤4. 3 :实现协同式维修过程中各类数据的实时通信和交互处理,并对多个维修操作人员的动作协调进行管理和控制,保证协同式维修操作过程的真实感和准确性。 According to claim 6 based on the virtual maintenance synergistic large equipment repair method DIS supporting platform, characterized in that: said operation process step 4 starting maintenance personnel operation modules: Step 4.1: In after the completion of the present general service operation module, by receiving an operation maintenance personnel / peripheral interactive data, and setting information request failure and maintenance data; step 4.2: acquiring and updating fault and maintenance data, update and visual frame refresh operations interface data; step 4.3: real-time communications and cooperative interaction processing each type of data during repair, maintenance and operation of the plurality of operator coordinated management and control process to ensure accurate and realistic maintenance operations collaborative sex.
10.根据权利要求6所述的基于大型装备虚拟维修分布交互仿真支撑平台的协同维修方法,其特征在于:步骤5中所述的启动三维立体视景仿真模块运行过程为:步骤5. 1 :在完成本模块的通用服务操作后,进行虚拟维修环境数据初始化和配置, 步骤5. 2 :开启多线程,使得视景帧刷新和仿真时间推进同步进行,并通过接收视景帧刷新数据,底层数据分析和处理,进行协同式维修过程的视景仿真。 10. The method of claim 6 based on collaborative virtual maintenance of large equipment repair method of distributed interactive simulation support platform, wherein: the three-dimensional visual simulation module starts operating procedure described in step 5 as follows: Step 5.1: after the completion of the present general service operation module, a virtual service environment for data initialization and configuration, step 5.2: open multithreading, such visual simulation time frame refresh and simultaneously advancing, and refresh the data frame received by the scene, the bottom data analysis and treatment, maintenance of visual collaborative process simulation.
11.根据权利要求6所述的基于大型装备虚拟维修分布交互仿真支撑平台的协同维修方法,其特征在于:步骤6中所述的大型装备虚拟维修仿真运行的具体步骤为:步骤6. 1 :等待所有模块都成功加入该仿真支撑平台后,各模块一致运行到同步点—— “仿真应用初始化”;步骤6. 2 :对各模块的仿真应用程序中各类数据进行初始化,并创建数据通信和交互控制策略;步骤6. 3 :然后再运行到同步点——“准备协同式维修操作”;步骤6. 3 :根据仿真支撑平台的时间推进机制,按照一定的仿真步长推进仿真运行;步骤6. 4 :当所有的虚拟维修任务完成后,各模块会一致地运行到同步点——“协同式维修任务结束”,退出仿真支撑平台结束仿真运行。 According to claim 6 based on collaborative virtual maintenance of large equipment repair method of distributed interactive simulation support platform, wherein: the specific procedure described in step 6 of large equipment virtual maintenance simulation runs as follows: Step 6.1: after waiting all modules are successfully joined the simulation supporting platform, each module to run the same synchronization point - "simulation application initialization"; step 6.2: simulation application modules in various types of data to initialize and create data communication and interactive control strategies; step 6.3: and then run to the synchronization point - "preparing collaborative maintenance operations"; step 6.3: advancing mechanism based on time simulation support platform, according to certain simulation step to promote the simulation run; step 6.4: Once all virtual maintenance task is completed, the modules will consistently run into synchronization point - "collaborative maintenance tasks end" to exit simulation support platform end of the simulation run.
12.根据权利要求6所述的基于大型装备虚拟维修分布交互仿真支撑平台的协同维修方法,其特征在于:步骤7中所述的大型装备协同维修操作的具体步骤为:步骤7. 1 :所有模块同步到“准备协同式维修操作”,在仿真步长推进下各模块相互协调地进行协同式虚拟维修操作;步骤7. 2 :仿真运行管理模块通过订购和接收其他各模块仿真运行中的数据信息更新,并通过按钮事件发送相应的交互控制指令,对加入仿真支撑平台的所有成员进行管理、 监测和控制;步骤7. 3 :各维修人员操作模块利用仿真支撑平台的数据信息发布/更新和订购/接收服务机制,通过获取、分析、处理和发送操作输入数据信息,并接收故障维修仿真模块和三维立体视景仿真模块的数据信息和状态更新,实现与其他联邦成员之间的数据通信和交互控制;步骤7. 4 :故障维修仿真模块不 According to claim 6 major equipment based collaborative virtual maintenance repair method DIS supporting platform, characterized by: a maintenance operation coordinated specific step large equipment is described in Step 7: Step 7.1: All synchronization module to "repair operation collaborative ready" coordination modules to perform maintenance operations collaborative virtual simulation time step in advance; step 7.2: Usually simulation run by the management module and receiving data of each simulation run other modules update information, and send appropriate control commands via the interactive button event, was added to all members of the supporting platform simulation management, monitoring and control; step 7.3: each module uses the service personnel operate the simulation data supporting platform publish / update and Usually / reception service mechanism, by obtaining, analyzing, processing, and transmitting the operation data input, and receives fault information and status data service emulation module and a three-dimensional visual simulation module updates, to achieve data communication between members and other federal and interactive control; step 7.4: Troubleshooting emulation module is not 断接收仿真运行管理模块的交互控制以及维修人员操作模块的状态更新和数据请求,经过模块底层的各类仿真模型驱动以及相应的数值计算、 过程分析和逻辑运算,将数据更新信息发送至维修人员操作模块和三维立体视景仿真模块;步骤7. 5 :三维立体视景仿真模块对虚拟维修环境中的各类三维实体模型进行底层驱动、实时渲染、状态更新、特效处理以及信息显示;步骤7. 6 :三维立体视景仿真模块将虚拟维修环境中各类更新后的数据信息和状态参数发送到维修人员操作模块,步骤7. 7 :各维修人员操作模块对可视化操作和演示界面进行数据信息显示更新,最终实现多个维修人员进行大型装备协同式维修操作以及该过程中的各类信息提示和技术指导。 Simulation runs off state management module receives the interactive control and maintenance personnel and the data operation modules update request, the simulation model through various types of driving modules and the corresponding underlying numerical calculation, process analysis and logical operations, transmits the data to the update information maintenance personnel operating module and 3D visual simulation module; step 7.5: three-dimensional visual simulation module on various solid model in a virtual service environment is bottom-driven, real-time rendering, status updates, special effect processing, and an information display; step 7 . 6: three-dimensional visual simulation module transmits data and status information parameter in a virtual environment of various types of maintenance personnel to the service operation module update, step 7.7: each maintenance personnel operating the operating module visualization and presentation data interfaces display update, and ultimately more service personnel for all kinds of information and technical guidance prompted large-scale equipment maintenance operations and collaborative process.
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CN102289552A (en) * 2011-09-09 2011-12-21 中国运载火箭技术研究院 A combined test systems and methods of physical and mathematical model of the device
CN102360535A (en) * 2011-10-26 2012-02-22 河海大学常州校区 Three-dimensional visual simulation training system and method
CN102682214A (en) * 2012-05-14 2012-09-19 于永利 Conservative-mechanism-based small-step time advance algorithm
CN102779436A (en) * 2012-06-28 2012-11-14 中国民航大学 Collaborative and intelligent training method for aircraft maintenance
CN102800223A (en) * 2012-07-19 2012-11-28 中国科学院软件研究所 Collaborative entity programming method
CN103020332A (en) * 2012-10-22 2013-04-03 南京航空航天大学 Intelligent virtual maintenance training system for civil aircraft
CN103093663A (en) * 2013-02-24 2013-05-08 天生桥二级水力发电有限公司 Hydropower station three-dimensional precise modeling and visualization simulation training system and implementation method thereof
CN103280147A (en) * 2013-05-21 2013-09-04 常州市科佳软件开发有限公司 Mechanical device maintenance training system and method by using 3D (three-dimensional) technology
CN103310668A (en) * 2013-06-09 2013-09-18 国家电网公司 Method for realizing electric equipment maintenance multi-task multi-role collaborative interaction
CN104091476A (en) * 2014-07-25 2014-10-08 中国石油化工股份有限公司 Real-time immersion training method
CN104503442A (en) * 2014-12-25 2015-04-08 中国人民解放军军械工程学院 Fault diagnosis training method for ordnance equipment
WO2015166509A1 (en) * 2014-04-30 2015-11-05 Hewlett-Packard Development Company, L.P. Support action based self learning and analytics for datacenter device hardware/firmware fault management
CN105096694A (en) * 2015-09-17 2015-11-25 中国人民解放军海军工程大学 Electrical equipment virtual maintenance training system simulation method
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CN106707810A (en) * 2016-12-02 2017-05-24 大连海事大学 Auxiliary system and method for ship remote fault diagnosis and maintenance based on mixed reality glasses
CN107123157A (en) * 2017-03-14 2017-09-01 华南理工大学 A kind of 3 d modeling system and method based on motion capture
CN107731023A (en) * 2017-09-26 2018-02-23 宁波奏功信息科技有限公司 Intelligent equipment Training Management Information System and method

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CN102289552B (en) 2011-09-09 2012-12-26 中国运载火箭技术研究院 Combined test system and method adopting material object devices and mathematical models
CN102289552A (en) * 2011-09-09 2011-12-21 中国运载火箭技术研究院 A combined test systems and methods of physical and mathematical model of the device
CN102360535A (en) * 2011-10-26 2012-02-22 河海大学常州校区 Three-dimensional visual simulation training system and method
CN102682214A (en) * 2012-05-14 2012-09-19 于永利 Conservative-mechanism-based small-step time advance algorithm
CN102682214B (en) * 2012-05-14 2015-01-21 于永利 Conservative-mechanism-based small-step time advance algorithm
CN102779436A (en) * 2012-06-28 2012-11-14 中国民航大学 Collaborative and intelligent training method for aircraft maintenance
CN102779436B (en) * 2012-06-28 2014-06-25 中国民航大学 Collaborative and intelligent training method for aircraft maintenance
CN102800223B (en) * 2012-07-19 2014-08-20 中国科学院软件研究所 Collaborative entity programming method
CN102800223A (en) * 2012-07-19 2012-11-28 中国科学院软件研究所 Collaborative entity programming method
CN103020332A (en) * 2012-10-22 2013-04-03 南京航空航天大学 Intelligent virtual maintenance training system for civil aircraft
CN103093663B (en) * 2013-02-24 2014-09-24 天生桥二级水力发电有限公司 Hydropower station three-dimensional precise modeling and visualization simulation training system and implementation method thereof
CN103093663A (en) * 2013-02-24 2013-05-08 天生桥二级水力发电有限公司 Hydropower station three-dimensional precise modeling and visualization simulation training system and implementation method thereof
CN103280147B (en) * 2013-05-21 2015-05-27 江苏通睿信息科技发展有限公司 Mechanical device maintenance training system and method by using 3D (three-dimensional) technology
CN103280147A (en) * 2013-05-21 2013-09-04 常州市科佳软件开发有限公司 Mechanical device maintenance training system and method by using 3D (three-dimensional) technology
CN103310668A (en) * 2013-06-09 2013-09-18 国家电网公司 Method for realizing electric equipment maintenance multi-task multi-role collaborative interaction
CN103310668B (en) * 2013-06-09 2015-10-14 国家电网公司 Electric equipment maintenance multi-task multi-role collaborative interaction implementation method
US9515879B2 (en) 2014-01-09 2016-12-06 Lenovo Enterprise Solutions (Singapore) Pte. Ltd. Establishing an action list for reconfiguration of a remote hardware system
WO2015166509A1 (en) * 2014-04-30 2015-11-05 Hewlett-Packard Development Company, L.P. Support action based self learning and analytics for datacenter device hardware/firmware fault management
US10157100B2 (en) 2014-04-30 2018-12-18 Hewlett Packard Enterprise Development Lp Support action based self learning and analytics for datacenter device hardware/firmare fault management
CN104091476A (en) * 2014-07-25 2014-10-08 中国石油化工股份有限公司 Real-time immersion training method
CN104503442A (en) * 2014-12-25 2015-04-08 中国人民解放军军械工程学院 Fault diagnosis training method for ordnance equipment
CN104503442B (en) * 2014-12-25 2017-06-27 中国人民解放军军械工程学院 Armament equipment fault diagnosis training method
CN105096694A (en) * 2015-09-17 2015-11-25 中国人民解放军海军工程大学 Electrical equipment virtual maintenance training system simulation method
CN105565103A (en) * 2016-03-16 2016-05-11 广州日滨科技发展有限公司 Method and device for detecting elevator failures
CN105565103B (en) * 2016-03-16 2018-10-16 日立楼宇技术(广州)有限公司 Elevator faults detection method and device
CN106707810A (en) * 2016-12-02 2017-05-24 大连海事大学 Auxiliary system and method for ship remote fault diagnosis and maintenance based on mixed reality glasses
CN106707810B (en) * 2016-12-02 2019-04-05 大连海事大学 Ship remote fault diagnosis and maintenance auxiliary system and method based on mixed reality glasses
CN107123157A (en) * 2017-03-14 2017-09-01 华南理工大学 A kind of 3 d modeling system and method based on motion capture
CN107731023A (en) * 2017-09-26 2018-02-23 宁波奏功信息科技有限公司 Intelligent equipment Training Management Information System and method

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