CN103093682A - Isolation bucket arm vehicle simulation practical training method based on six-degree-of-freedom motion control platform - Google Patents
Isolation bucket arm vehicle simulation practical training method based on six-degree-of-freedom motion control platform Download PDFInfo
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- CN103093682A CN103093682A CN2013100084924A CN201310008492A CN103093682A CN 103093682 A CN103093682 A CN 103093682A CN 2013100084924 A CN2013100084924 A CN 2013100084924A CN 201310008492 A CN201310008492 A CN 201310008492A CN 103093682 A CN103093682 A CN 103093682A
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Abstract
The invention discloses an isolation bucket arm vehicle simulation practical training method based on a six-degree-of-freedom motion control platform. Step 1: a trainer operates a main control computer device to start the six-degree-of-freedom motion control platform and a visual simulation system. Step 2: the trainer freely chooses operation and maintenance of distribution network operation projects by the adoption of a method of an isolation bucket arm vehicle. Step 3: in a virtual scene, the trainer starts to operate hot-line work in the on six-degree-of-freedom motion control platform according to an actual operational process of a hot-line work project by the adoption of the isolation bucket arm vehicle method. Step 4: the trainer operates the six-degree-of-freedom motion control platform to simulate operations and forms of motion of the isolation bucket arm vehicle. The trainer watches the forms of motion of the bucket arm vehicle through a screen of the visual simulation system and carries out the simulation operation of the isolation bucket arm vehicle in the simulation scene with the hot-line work. The isolation bucket arm vehicle simulation practical training method based on the six-degree-of-freedom motion control platform enables the trainer to carry out the simulation operation in an approximate actual operating environment and enables an operation and maintenance of distribution network operation training to be more normalized, more standardized and more intelligentized. The training effect is improved.
Description
Technical field
The present invention relates to the training on electric power field, particularly a kind of aerial lift device with insulated arm simulation training system and method for controlling platform based on six-freedom motion.
Background technology
Operation of Electric Systems is the important step that electric power safety is produced, operating personnel as power circuit, not only the GPRS correlation theories knowledge, also will temper practical application and operant level on this basis, therefore carries out lation training course for power system work and have a great deal of practical meanings.
Aerial lift device with insulated arm is as the instrument commonly used of hot line job in distribution line, is used for an operating personnel and equipment to deliver to assigned address, and grasping its hints on operation in operation is the important leverage of completing smoothly distribution fortune inspection operation.Have expensive for the distribution fortune inspection operation training of adopting the aerial lift device with insulated arm method at present, the defective such as be unfavorable for carrying out on a large scale, the trainee need to arrive special training organization and give training, and the training number of times also can be restricted because of the problem such as start-up's quantity, place and training facilities, greatly affected result of training and far can not satisfy the needs of actual electrical production, be badly in need of existing fortune inspection operation training pattern, means are improved upgrading.Therefore, be badly in need of at present a kind of simulation system and change the training present situation.
Summary of the invention
technical matters to be solved by this invention just is to provide a kind of aerial lift device with insulated arm simulation training method of controlling platform based on six-freedom motion, relevant knowwhy and the practical operation of distribution fortune inspection operation combined together, utilize 6-dof motion platform in sense of touch, the practical operation of the emulation aerial lift device with insulated arm that allows the trainee on sense organ in the virtual scene that builds and in concrete distribution fortune inspection events in operation, can effectively improve trainee's theory and operant level, can overcome the problem and shortage that exists in the distribution line distribution fortune inspection operation training process of present employing aerial lift device with insulated arm.
For solving the problems of the technologies described above, the present invention adopts following technical scheme: control the aerial lift device with insulated arm simulation training method of platform based on six-freedom motion, it is characterized in that:
The aerial lift device with insulated arm Simulated training device comprises six-freedom motion control platform, main control computer device and vision emulation system, and wherein, six-freedom motion is controlled platform and is used for the analog insulation bucket arm vehicle; Vision emulation system is used for virtual six-freedom motion and controls the aerial lift device with insulated arm operative scenario that platform simulation goes out, and the main control computer device is used for controlling six-freedom motion and controls platform and vision emulation system;
The method that adopts above-mentioned aerial lift device with insulated arm Simulated training device to carry out the aerial lift device with insulated arm simulation training comprises the steps:
Step 1: the trainer operates the main control computer device and starts 6-dof motion platform and vision emulation system;
Step 2: the trainer freely selects to adopt the distribution fortune inspection events in operation of aerial lift device with insulated arm method;
Step 3: in virtual scene, the trainer begins to carry out the hot line job operation in six-freedom motion control platform according to the actual job flow process of the hot line job project that adopts the aerial lift device with insulated arm method;
Step 4: the trainer operates six-freedom motion and controls platform, after the processing of control information by the main control computer device, six-freedom motion is controlled operation and the forms of motion of platform simulation aerial lift device with insulated arm, watch the movement locus of bucket arm vehicle by vision emulation system, carry out the simulation operations of aerial lift device with insulated arm in the simulating scenes of hot line job;
Step 5: operation is completed, and evaluates achievement according to the handling suggestion that trainer's operational circumstances provides.
Preferably, described six-freedom motion is controlled platform and is comprised guidance panel, insulated platform and hydraulic system, guidance panel is in the insulated platform front side, guidance panel comprises operation rocking bar and button, guidance panel is used for the operation at simulation training system analog insulation bucket arm vehicle, and is used for controlling 6-dof motion platform in training; Insulated platform is used for the insulation bucket of analog insulation bucket arm vehicle above hydraulic system; Hydraulic system is below insulated platform, and hydraulic system is comprised of six valve control hydraulic cylinders, and the effect of hydraulic system is the true touch feeling that startup is provided in simulation training system, accelerates, brake, turn to; Guidance panel provides operation information, and six valve control hydraulic cylinders drive the insulated platform on top jointly.
Preferably, described vision emulation system comprises screen, projector and human body identifier, and screen is positioned at the place ahead of 6-dof motion platform, is used for showing the virtual work scene; Projector is positioned at the screen rear and is used for output image, and image is thrown on screen; The human body identifier be used for to catch six-freedom motion and controls the gesture of trainer on platform and realize practical operation in operating function and simulation training system operation item above screen.
Preferably, described main control computer device comprises processor, kinetic control system, analogue system and operating platform, and processor is used for receiving the trigger pip from guidance panel and human body identifier, and the signal that receives is processed; Kinetic control system is used for carrying out the instruction of processor and driving six valve control hydraulic cylinders, and analogue system is used for carrying out the instruction of processor, and result is projected on screen by projector with audio-visual form; Operating platform is used for placing processor, and operating platform comprises guidance panel and display screen, and guidance panel is used for operation main control computer device, and display screen is used for the operation information of display operating panel.
The present invention can simulate aerial lift device with insulated arm by controlling platform by six-freedom motion, by emulation technology, real working scene is simulated, allow the trainee carry out simulation operations in approximate real operating environment, the flow process that true reduction operates in aerial lift device with insulated arm, allow distribution fortune examine more standardization of operation training, standardization, intellectuality, enhancement training effect.
Description of drawings
The invention will be further described below in conjunction with the drawings and specific embodiments:
Fig. 1 is the preferred embodiment schematic diagram of distribution fortune inspection operation simulation training system of the present invention;
Fig. 2 is a kind of block diagram of controlling the aerial lift device with insulated arm simulation training system of platform based on six-freedom motion of the embodiment of the present invention;
Fig. 3 is a kind of process flow diagram of controlling the aerial lift device with insulated arm simulation training method of platform based on six-freedom motion of the embodiment of the present invention.
Embodiment
Below in conjunction with drawings and Examples, embodiments of the invention are described in further detail and illustrate.
Consult Fig. 1, a kind of aerial lift device with insulated arm simulation training system based on six-freedom motion control platform of the present invention comprises six-freedom motion control platform 1, main control computer device 2 and vision emulation system 3.
Six-freedom motion is controlled platform 1 and is comprised guidance panel 11, insulated platform 12 and hydraulic system 13, guidance panel 11 is in insulated platform 12 front sides, comprise operation rocking bar and button, be used for the operation at simulation training system analog insulation bucket arm vehicle, and be used for controlling 6-dof motion platform in training; Insulated platform 12 is used for the insulation bucket of analog insulation bucket arm vehicle above hydraulic system; Hydraulic system 13 is comprised of six valve control hydraulic cylinders below insulation bucket, and its Main Function is the various real touch feelings such as provide startup in simulation training system, accelerate, brake, turn to.Provide operation information by guidance panel, control six valve control hydraulic cylinders by the kinetic control system in main control computer device 2, jointly drive the insulated platform on top.
Main control computer device 2 comprises processor 21, kinetic control system 22, analogue system 23 and operating platform 24, and processor 21 is used for receiving the trigger pip from guidance panel 11 and human body identifier 33, and the signal that receives is processed; Kinetic control system 22 is used for carrying out the instruction of processor and driving six valve control hydraulic cylinders, and analogue system 23 is used for carrying out the instruction of processor, and result is projected on screen 31 by projector 32 with audio-visual form; Operating platform 24 is used for placing processor, comprises guidance panel and display screen, is used for controlling 6-dof motion platform and vision emulation system.
Consult Fig. 2, six-freedom motion of the present invention is controlled platform 1, main control computer device 2 and vision emulation system 3.wherein main control computer device 2 is controlled 6-dof motion platform 1 and vision emulation system 3, the operating platform 24 of main control computer device 2, be used for controlling six-freedom motion control platform the aerial lift device with insulated arm simulation training system startup and close, the processor 21 of main control computer device 2 is used for deal with data and carry out kinetic control system 22 and analogue system 23, six-freedom motion is controlled platform 1 and is gone to realize concrete operation, human body identifier 33 by guidance panel 11 and vision emulation system passes to processor 21 with corresponding trigger pip, information after processing is controlled insulated platform 12 and hydraulic system 13 motions, simultaneously vision emulation system utilize projector 32 with the analogue system image projecting processed to screen 31.
Consult Fig. 3, a kind of aerial lift device with insulated arm simulation training method based on six-freedom motion control platform of the present invention is:
Step 1: the guidance panel that the trainer operates main control computer device 2 starts 6-dof motion platform 1 and vision emulation system 3;
Step 2: the trainee enters the insulated platform 12 that six-freedom motion is controlled platform 1, human body identifier 33 by vision emulation system 3 carries out human body identification, and the other kind of distribution fortune inspection events in operation list of the employing bucket arm vehicle working system that provides in system by gesture motion is selected distribution fortune inspection events in operation;
Step 3: the databases such as system loads scene, personage, instrument, generate the dummy activity scene of selected task by emulation technology, by projector 32, signal is presented on screen 31;
Step 4: the trainee carries out the selection of work ticket by human body identifier 33 identification human actions, consult job instruction, warning rail be installed, on-the-spot station class meeting, dress safety protective tools,, the preliminary work such as bucket arm vehicle examination operation;
step 5: the trainee operates the guidance panel 11 that six-freedom motion is controlled platform 1, after the processing of control information by main control computer device 2, feed back to hydraulic system 13 and control the action of six valve control hydraulic cylinders, operation rocking bar on the control operation panel is controlled respectively the rising that six-freedom motion is controlled Platform Hydraulic System 13 hydraulic cylinders, descend and insulated platform 12 left-handed, dextrorotation, pressing button on guidance panel controls respectively the elongation of hydraulic system 13 hydraulic cylinders and shortens, the motion state during operation of analog insulation bucket arm vehicle, watch the movement locus of bucket arm vehicle by the screen 31 of vision emulation system 3, finally enter the working position of distribution fortune inspection operation in the simulating scenes of distribution fortune inspection operation,
Step 6: undertaken that electrical verification, installing insulating are covered etc. by the action of human body identifier 33 identification human bodies and carry out concrete distribution fortune inspection events in operation, need the job step of mobile insulation bucket arm truck position to move by guidance panel 11 in events in operation;
Step 7: the trainee operates the guidance panel 11 that six-freedom motion is controlled platform 1, after the processing of control information by main control computer device 2, feed back to hydraulic system 13 and control the action of 6 valve control hydraulic cylinders, operation and forms of motion according to the described analog insulation bucket arm vehicle of step 5, watch the movement locus of bucket arm vehicle by the screen 31 of vision emulation system 3, finally bucket arm vehicle resets in the simulating scenes of distribution fortune inspection operation;
Step 8: show the power cut-off of distribution fortune inspection operation on screen 31, evaluate achievement according to the handling suggestion that trainee's operational circumstances provides;
Step 9: simulation training finishes, and withdraws from events in operation, and the trainee leaves the insulated platform 12 that six-freedom motion is controlled platform 1, and the trainer operates the guidance panel of main control computer device 2 and closes 6-dof motion platform 1 and vision emulation system 3.
In described step 4-8, the operating process in each step of trainee all compares with distribution fortune inspection Job Operations rules and the safety standard of the employing aerial lift device with insulated arm operational method of standard, and wrong, nonstandard content are carried out record, and counted training score;
In described step 5-7, six-freedom motion is controlled platform and is controlled by the kinetic control system 22 of main control computer device 2, can carry out next step operation after entering assigned address, and method of operating is all identical with the practical operation of aerial lift device with insulated arm.
The above is only the preferred embodiments of the present invention, is not limited to the present invention.The content that is not described in detail in this instructions belongs to the known prior art of this area professional and technical personnel.
Claims (4)
1. control the aerial lift device with insulated arm simulation training method of platform based on six-freedom motion, it is characterized in that:
The aerial lift device with insulated arm Simulated training device comprises six-freedom motion control platform, main control computer device and vision emulation system, and wherein, six-freedom motion is controlled platform and is used for the analog insulation bucket arm vehicle; Vision emulation system is used for virtual six-freedom motion and controls the aerial lift device with insulated arm operative scenario that platform simulation goes out, and the main control computer device is used for controlling six-freedom motion and controls platform and vision emulation system;
The method that adopts above-mentioned aerial lift device with insulated arm Simulated training device to carry out the aerial lift device with insulated arm simulation training comprises the steps:
Step 1: the trainer operates the main control computer device and starts 6-dof motion platform and vision emulation system;
Step 2: the trainer freely selects to adopt the distribution fortune inspection events in operation of aerial lift device with insulated arm method;
Step 3: in virtual scene, the trainer begins to carry out the hot line job operation in six-freedom motion control platform according to the actual job flow process of the hot line job project that adopts the aerial lift device with insulated arm method;
Step 4: the trainer operates six-freedom motion and controls platform, after the processing of control information by the main control computer device, six-freedom motion is controlled operation and the forms of motion of platform simulation aerial lift device with insulated arm, watch the movement locus of bucket arm vehicle by vision emulation system, carry out the simulation operations of aerial lift device with insulated arm in the simulating scenes of hot line job;
Step 5: operation is completed, and evaluates achievement according to the handling suggestion that trainer's operational circumstances provides.
2. aerial lift device with insulated arm simulation training method according to claim 1, it is characterized in that: described six-freedom motion is controlled platform and is comprised guidance panel, insulated platform and hydraulic system, guidance panel is in the insulated platform front side, guidance panel comprises operation rocking bar and button, guidance panel is used for the operation at simulation training system analog insulation bucket arm vehicle, and is used for controlling 6-dof motion platform in training; Insulated platform is used for the insulation bucket of analog insulation bucket arm vehicle above hydraulic system; Hydraulic system is below insulated platform, and hydraulic system is comprised of six valve control hydraulic cylinders, and the effect of hydraulic system is the true touch feeling that startup is provided in simulation training system, accelerates, brake, turn to; Guidance panel provides operation information, and six valve control hydraulic cylinders drive the insulated platform on top jointly.
3. aerial lift device with insulated arm simulation training method according to claim 2, it is characterized in that: described vision emulation system comprises screen, projector and human body identifier, and screen is positioned at the place ahead of 6-dof motion platform, is used for showing the virtual work scene; Projector is positioned at the screen rear and is used for output image, and image is thrown on screen; The human body identifier be used for to catch six-freedom motion and controls the gesture of trainer on platform and realize practical operation in operating function and simulation training system operation item above screen.
4. aerial lift device with insulated arm simulation training method according to claim 3, it is characterized in that: described main control computer device comprises processor, kinetic control system, analogue system and operating platform, processor is used for receiving the trigger pip from guidance panel and human body identifier, and the signal that receives is processed; Kinetic control system is used for carrying out the instruction of processor and driving six valve control hydraulic cylinders, and analogue system is used for carrying out the instruction of processor, and result is projected on screen by projector with audio-visual form; Operating platform is used for placing processor, and operating platform comprises guidance panel and display screen, and guidance panel is used for operation main control computer device, and display screen is used for the operation information of display operating panel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310008492.4A CN103093682B (en) | 2013-01-09 | 2013-01-09 | Isolation bucket arm vehicle simulation practical training method based on six-degree-of-freedom motion control platform |
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| CN201310008492.4A CN103093682B (en) | 2013-01-09 | 2013-01-09 | Isolation bucket arm vehicle simulation practical training method based on six-degree-of-freedom motion control platform |
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| CN106781827A (en) * | 2017-03-14 | 2017-05-31 | 长江涪陵航道管理处 | Ship-handling training system and method |
| CN109992118A (en) * | 2019-02-18 | 2019-07-09 | 杭州同绘科技有限公司 | Aerial lift device with insulated arm emulating operating system based on virtual reality technology |
| CN110910706A (en) * | 2019-12-20 | 2020-03-24 | 福建省亿鑫海信息科技有限公司 | Insulating bucket arm car teaching aid |
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