CN102163381A - Unmanned aerial vehicle electric power pipeline walking simulation training system - Google Patents
Unmanned aerial vehicle electric power pipeline walking simulation training system Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle electric power pipeline walking simulation training system, comprising an external signal input device, a virtual simulation training computer and an audio/video output device, wherein the virtual simulation training computer contains an external signal identification module which is used for being accessed by the external signal input device so as to acquire and analyze an external command as well as a three-dimensional virtual reality simulation module and a data storing and processing module which are connected with the external signal identification module, the three-dimensional virtual reality simulation module is mutually connected with the data storing and processing module, simulation descriptive data is generated by extracting data of the data storing and processing module according to the received external command so as to describe the current unmanned aerial vehicle field and electric power environment and establish an internal object response mechanism. The system disclosed by the invention is low in cost and can be used for preferably realizing the purpose of training the controller of the unmanned aerial vehicle and the controller of mission equipment.
Description
Technical field
The present invention relates to a kind of unmanned plane electric power line walking simulation training system.
Background technology
Depopulated helicopter is being brought into play more and more important effect in polling transmission line, usually when the electric power line walking, unmanned plane need carry the high instruments of price such as high-resolution digital camera, video camera, thermal infrared imager, ultraviolet imagery instrument, and careless slightly, the loss that can cause is very big.Traditional training mode oil consumption takes time and effort, and has been difficult to satisfy teaching and training mission.
Unmanned plane emulation is a kind of comparatively advanced training means that reduce cost, raise the efficiency.According to the development course of emulation technology, unmanned plane emulation experienced physical simulation, analog machine emulation, teaching machine emulation, based on the emulation of three-dimensional visualization multimedia interaction and five stages such as virtual environment and virtual reality of graphics workstation.
Aspect the unmanned plane simulation training system, there are many patents, paper and other data open both at home and abroad.Such as " based on the unmanned spacecraft simulation training system of virtual reality " that the people such as Zhang Xiong of Tsing-Hua University's computer intellectual technology and National Key Laboratory of system delivered in " system emulation journal " the 8th phase in 2002 (1023 ~ 1025 pages), comparatively detailed elaboration based on the unmanned spacecraft simulation training system of virtual reality.No. 200810240959.7 applications for a patent for invention of China disclose a kind of unmanned coaxal helicopter autonomous navigation system semi-true object emulation technology apparatus, and actual is the unmanned plane semi-true object emulation technology apparatus; No. 200920298779.4 utility model patent of China then discloses a kind of real dress UAS common simulation experimental provision.Above patent or paper all are about the technique device of unmanned plane emulation or software systems, but all do not have to use in electric system, are in theoretical aspect, and perhaps the emulation cost is than higher.
Compare with traditional unmanned plane simulation training system based on virtual reality, the unmanned plane working environment that the electric power line walking is used also needs the electric power line walking with virtual ultra-high-tension power transmission line, shaft tower, gondola, checkout equipment, wireless telecommunications system except the virtual environment scene of needs.In addition during unmanned plane electric power line walking, unmanned plane is controlled hand will be manually or control unmanned plane automatically, task controls hand or the testing staff need control the suitable angle of gondola rotation, utilize checkout equipment (video camera, camera, thermal infrared imager, ultraviolet imagery instrument) that ultra-high-tension power transmission line and shaft tower are patrolled and examined, thus the various potential safety hazards and the fault that exist on discovery ultra-high-tension power transmission line and the shaft tower.Traditional unmanned plane simulation training system based on virtual reality, there are not virtual transmission line of electricity, shaft tower, gondola, checkout equipment and wireless telecommunications system, do not detect yet and use computing machine, can only simulate and control virtual unmanned plane, software systems as the unmanned plane daily workout are used, and can't utilize virtual gondola and checkout equipment that ultra-high-tension power transmission line and shaft tower are patrolled and examined.
Traditional unmanned plane half material object or common simulation test unit, complicated operation, the acquisition expenses height, unmanned plane is controlled operation guide rule that personnel can't utilize the electric power line walking to use, safety standard and ultra-high-tension power transmission line and shaft tower are made a flight test and is trained, and the electric inspection process testing staff also can't utilize this system to detect and daily workout.
Summary of the invention
Therefore, the present invention is in order to overcome traditional unmanned plane simulation training system function singleness, can only be used for training unmanned plane to control hand outward, can't control hand by training mission equipment, and also not have when controlling the hand control unmanned plane during flying outward the technology guide rule and the safety standard of relevant electric power line walking to manage and retrain; Also be poor in addition in order to overcome traditional unmanned plane half material object or common simulation experimental provision fidelity, complicated operation, the defective that expense is high, a kind of unmanned plane electric power line walking simulation training system that can be good at simulating true electric power line walking working environment is provided, cost is low, and can be good at reaching the training unmanned plane and control the purpose that hand and task device are controlled hand.
The present invention is by the following technical solutions:
This invention unmanned plane electric power line walking simulation training system, it comprises:
The external signal input media is the device of external command input;
The virtual emulation training computer, contain and be useful on the external signal identification module of described external signal input media access to obtain external command and to resolve, and the three-dimension virtual reality emulation module and data storage and the data processing module that are connected with this external signal identification module, wherein said three-dimension virtual reality emulation module and described data storage and data processing module are interconnected, the data of extracting described data storage and data processing module according to the external command that receives generate the factoid data, with scene and the electric power environmental of describing current unmanned plane, and set up the internal object response mechanism; And
The audio frequency and video output device connects the output terminal of described three-dimension virtual reality emulation module and described data storage and data processing module, is used to export the scene and the electric power environmental of the current unmanned plane that the virtual emulation training computer describes.
According to the present invention, can utilize three-dimensional artificial and the built-in mandatory technology guide rule of unmanned plane electric power line walking and safety standard that unmanned plane is controlled hand and task device outward and control hand and carry out flight training, be fit to that unmanned plane that unmanned plane electric power line walking uses is controlled hand outward and task device is controlled hand thereby turn out.
Adopt three-dimensional artificial to improve iconicity, the verisimilitude of man-machine interaction, improve unmanned plane and control interest and the work incentive that hand and task device are controlled hand.
Can the part alternative real unmanned plane during flying, reduced the probability that unmanned plane falls, damage, saved a large amount of oil plants and reality the training cost.
Above-mentioned unmanned plane electric power line walking simulation training system, also comprise interconnected virtual detection computing machine and Control Server, and described virtual emulation training computer also be provided be connected in described external signal identification module and with described data storage and the interconnected network connecting module of data processing module, this network connecting module inserts by described virtual detection computing machine and the formed network of Control Server, is used to respond the remote command of described external input device.
Above-mentioned unmanned plane electric power line walking simulation training system, the data processing module in described data storage and the data processing module is built-in with the evaluation module that training process is assessed, and assessment result outputs to described audio frequency and video output device.
Above-mentioned unmanned plane electric power line walking simulation training system, described external signal input media adopts current unmanned plane controlling equipment or is selected from telepilot, anaglyph spectacles, Helmet Mounted Display, displacement tracking equipment, 6-dof motion platform, keyboard, mouse, and links to each other with described external signal identification module by the interface of coupling.
Above-mentioned unmanned plane electric power line walking simulation training system, described audio frequency and video output device comprises audio frequency apparatus and display device, wherein display device is display or hyperchannel ring curtain stereo projection system.
Above-mentioned described unmanned plane electric power line walking simulation training system, described data storage and data processing module preset multiple depopulated helicopter information, and the external signal input equipment is at first selected relevant the training with depopulated helicopter to call relevant emulated data.
Description of drawings
Fig. 1 is the structural principle block diagram according to a kind of unmanned plane electric power line walking simulation training system of the present invention.
Among the figure: 1, external signal input media, 2, virtual emulation training computer, 21, external signal identification module, 22, three-dimensional simulation module, 23, data storage and processing module, 24, network connecting module, 3, audio frequency and video and device displaying result, 4, virtual detection computing machine, 5, Control Server.
Embodiment
With reference to Figure of description 1, the present invention is described further below in conjunction with accompanying drawing.
A kind of unmanned plane electric power line walking simulation training system with reference to shown in the Figure of description 1 comprises:
External signal input media 1, can select the unmanned plane control system as basic signal input device, improve simulation performance, simultaneously, can also select or make up telepilot, anaglyph spectacles, Helmet Mounted Display, displacement tracking equipment, 6-dof motion platform, keyboard, mouse, be configured as required;
Audio frequency and video and device displaying result 3, mainly contain picture output device and audio output apparatus, wherein picture output device can adopt conventional picture output device such as display, hyperchannel ring curtain stereo projection system, perhaps be used in combination, audio output apparatus then can adopt equipment such as stereophony, and perhaps audio frequency, video equipment are integrated into such as the audio frequency and video helmet, show as for the result, also can be embodied in fact on the video equipment, a screen perhaps independently is set show; Audio frequency and video and device displaying result constitute complete human-computer interaction device in described external signal input media, in view of the above, can select such as simple PC or other human-computer interaction device;
Virtual emulation training computer 2, then mainly comprise and be used for the external signal identification module 21 that described external signal input media 1 inserts, be used to provide interface and corresponding integrated circuit board, finish and connect and data parsing, and this virtual emulation training computer 2 also is provided with three-dimensional artificial analog module 22, data storage and data processing module 23, network connecting module 24, wherein three-dimensional artificial analog module and described data storage and data processing module 23 are interconnected and link to each other with described external signal identification module 21, carry out the processing of data and call according to external command.Three-dimensional artificial analog module 22 is according to the instruction of receiving, through data storage and after handling, send to audio frequency and video and device displaying result shows, the virtual detection that simultaneously related data is sent to configuration is as required carried out with computing machine 4 and Control Server 5 alternately
Described external signal input media 1, audio frequency and video and device displaying result 3 are connected with virtual emulation training computer 2 by the interface of coupling.Unmanned plane is controlled hand by the virtual unmanned plane of external signal input media control, reaches the purpose of flight training; Task device is controlled hand by the virtual gondola of external signal input media control, makes checkout equipment aim at transmission line of electricity and shaft tower, thereby reaches the purpose that training mission equipment is controlled hand.
Described external signal identification module 21, the order of external signal input media 1 is formed local instruction and teleinstruction after 21 identifications of external signal identification module, local instruction is sent to three-dimensional artificial analog module 22 or data storage and processing module 23 and handles; Teleinstruction is sent on the Control Server and handles.
Described three-dimensional artificial module 22 is used for describing the residing virtual scene of current unmanned plane line walking.Virtual scene not only comprises the environment scene of virtual unmanned plane during flying training usefulness, also comprises the distinctive electric power environmentals of unmanned plane line walking such as virtual ultra-high-tension power transmission line, shaft tower, the special-purpose gondola of unmanned plane line walking, checkout equipment (video camera, camera, thermal infrared imager, ultraviolet imagery instrument etc.), wireless telecommunications system.When virtual unmanned plane flies on virtual ultra-high-tension power transmission line and shaft tower, various operation guide rules, safety standard and management system in the time of must following actual electric power line walking.Virtual unmanned plane need be simulated the unmanned plane self check, taken off, landing, precedingly fly, retreat, hover, function such as routeing and flight path simulation, the displaying of remote-control romote-sensing information simulation.Virtual gondola can be simulated exercises such as rotation, pitching.Virtual unmanned plane comprises rotor wing unmanned aerial vehicle, fixed-wing unmanned plane, duct formula unmanned plane, dirigible, can be with the data storage of correlation type coupling, and select and call.
Described data storage and processing module 23, as previously mentioned, being mainly used in this locality instruction and teleinstruction that the manipulator is sent responds, and output three-dimensional artificial analog module 22 describes the needed data of current scene, perhaps the result of relevant treatment delivered to audio frequency and video and device displaying result 3 shows; Simultaneously also as the core logic control module of virtual emulation training computer.
Described data storage and processing module 23 preferably can be described following a few part: first, this locality instruction that external signal input media 1 forms through external signal identification module 21 identification backs, learn true algorithm through data storage and processing module 23 built-in unmanned plane kinematics and controls, after unmanned aerial vehicle (UAV) control mode and control rate algorithm decompose, form unmanned plane Three Degree Of Freedom control component, control virtual unmanned plane and in virtual scene, carry out various flare maneuvers, second portion, the remote-control romote-sensing information exhibition, the various attitudes and the status information of on virtual training computing machine 2, showing virtual unmanned plane, have in virtual detection and can control gondola and carry out various rotations with computing machine, actions such as pitching show visible light information, infrared information, UV information, unmanned plane GPS information of living in, transmission line of electricity and shaft tower detect information; Third part, electric power line walking fault simulation can the analog line breakage, disconnected strand; Damaged or the be full of cracks of insulator cluster parachute, the insulator securing member gets loose or unusually, insulator dodges; Heatings such as the splicing sleeve on the overhead transmission line, strain insulator pipe, jumper clamp, lead wire and earth wire wire clamp, gold utensil, damper, insulator; Arboreal growth in the circuit corridor, geographical environment, scissors crossing etc. influence overhead transmission line safety; On the shaft tower gold utensil unusual, get loose or line fault such as come off; The 4th part, evaluation function, data processing module 23 comprise and can assess according to built-in evaluation module virtual unmanned plane manipulator and testing staff's manipulation effect, and provide rational mark.
Described network connecting module 24 is used for network is connected.When external signal identification module 21 needs to send remote command to Control Server 5, whether network connecting module 24 just detects current computer and can be connected on the network, and be connected to Control Server 5, if connection failure then can send to data storage and processing module 23 with connecting the result.Described network comprises LAN (Local Area Network) and internet.
Described Control Server 5, be used to handle the teleinstruction that virtual unmanned plane manipulator and virtual gondola manipulator send, and returning corresponding data and result, described virtual emulation training computer 2 is visited with computing machine 4, Control Server 5 mutually by wired or wireless network and virtual detection.
Claims (6)
1. unmanned plane electric power line walking simulation training system is characterized in that it comprises:
External signal input media (1) is the device of external command input;
Virtual emulation training computer (2), contain and be useful on the external signal identification module (21) of described external signal input media (1) access to obtain external command and to resolve, and the three-dimension virtual reality emulation module (22) that is connected with this external signal identification module (21) and data storage and data processing module (23), wherein said three-dimension virtual reality emulation module and described data storage and data processing module are interconnected, the data of extracting described data storage and data processing module according to the external command that receives generate the factoid data, with scene and the electric power environmental of describing current unmanned plane, and set up the internal object response mechanism; And
The audio frequency and video output device connects the output terminal of described three-dimension virtual reality emulation module (22) and described data storage and data processing module (23), is used to export the scene and the electric power environmental of the current unmanned plane that the virtual emulation training computer describes.
2. unmanned plane electric power line walking simulation training system according to claim 1, it is characterized in that: also comprise interconnected virtual detection computing machine (4) and Control Server (5), and described virtual emulation training computer (2) also be provided be connected in described external signal identification module (21) and with described data storage and the interconnected network connecting module (24) of data processing module (23), this network connecting module inserts by described virtual detection computing machine (4) and the formed network of Control Server, is used to respond the remote command of described external input device (1).
3. unmanned plane electric power line walking simulation training system according to claim 1 and 2, it is characterized in that: the data processing module in described data storage and the data processing module (23) is built-in with the evaluation module that training process is assessed, and assessment result outputs to described audio frequency and video output device.
4. unmanned plane electric power line walking simulation training system according to claim 1, it is characterized in that: described external signal input media (1) adopts current unmanned plane controlling equipment or is selected from telepilot, anaglyph spectacles, Helmet Mounted Display, displacement tracking equipment, 6-dof motion platform, keyboard, mouse, and links to each other with described external signal identification module by the interface of coupling.
5. described unmanned plane electric power line walking simulation training system according to claim 1, it is characterized in that: described audio frequency and video output device comprises audio frequency apparatus and display device, wherein display device is display or hyperchannel ring curtain stereo projection system.
6. described unmanned plane electric power line walking simulation training system according to claim 1, it is characterized in that: described data storage and data processing module (23) preset multiple depopulated helicopter information, and the external signal input equipment is at first selected relevant the training with depopulated helicopter to call relevant emulated data.
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| CN102324196A (en) * | 2011-10-18 | 2012-01-18 | 南京大学 | Simulation training and evaluation semi-physical simulation system of aviation hydraulic oil pump vehicle |
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Application publication date: 20110824 |