CN103093682B - 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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- CN103093682B CN103093682B CN201310008492.4A CN201310008492A CN103093682B CN 103093682 B CN103093682 B CN 103093682B CN 201310008492 A CN201310008492 A CN 201310008492A CN 103093682 B CN103093682 B CN 103093682B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 72
- 238000012549 training Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004088 simulation Methods 0.000 title claims abstract description 35
- 238000002955 isolation Methods 0.000 title abstract 7
- 230000008569 process Effects 0.000 claims abstract description 14
- 230000000694 effects Effects 0.000 claims abstract description 5
- 238000007689 inspection Methods 0.000 claims description 17
- 238000009413 insulation Methods 0.000 claims description 17
- 230000006870 function Effects 0.000 claims description 4
- 238000011156 evaluation Methods 0.000 claims description 3
- 230000035807 sensation Effects 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract 2
- 230000000007 visual effect Effects 0.000 abstract 2
- 230000009471 action Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 210000000697 sensory organ Anatomy 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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 training on electric power field, particularly a kind of aerial lift device with insulated arm simulation training system based on six-freedom motion parametric controller and method.
Background technology
Operation of Electric Systems is the important step that electric power safety is produced, as the operating personnel of power circuit, not only 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 has a great deal of practical meanings.
Aerial lift device with insulated arm is as the conventional instrument of livewire work in distribution line, and being used for an operating personnel and equipment delivers to assigned address, and grasping its hints on operation in operation is the important leverage completing distribution fortune inspection operation smoothly.At present for adopting the distribution of aerial lift device with insulated arm method fortune inspection operation training to have expensive, be unfavorable for defects such as carrying out on a large scale, trainee needs to give training to special training organization, and train number of times to be also restricted because of problems such as start-up's quantity, place and training facilities, greatly have impact on the needs that result of training far can not meet actual power generation, be badly in need of carrying out improvement upgrading to existing fortune inspection operation training pattern, means.Therefore, be badly in need of a kind of simulation system at present and change training present situation.
Summary of the invention
Technical problem to be solved by this invention is just to provide a kind of aerial lift device with insulated arm simulation training method based on six-freedom motion parametric controller, knowwhy relevant for distribution fortune inspection operation and practical operation are combined together, utilize 6-dof motion platform in sense of touch, sense organ allow trainee in the virtual scene built and in concrete distribution fortune inspection events in operation, emulate the practical operation of aerial lift device with insulated arm, effectively can improve trainee's theory and operant level, Problems existing and deficiency in the distribution line distribution fortune inspection operation training process adopting aerial lift device with insulated arm at present can be overcome.
For solving the problems of the technologies described above, the present invention adopts following technical scheme: based on the aerial lift device with insulated arm simulation training method of six-freedom motion parametric controller, it is characterized in that:
Aerial lift device with insulated arm Simulated training device comprises six-freedom motion parametric controller, main control computer device and vision emulation system, and wherein, six-freedom motion parametric controller is used for analog insulation bucket arm vehicle; Vision emulation system is used for the aerial lift device with insulated arm operative scenario that virtual six-freedom motion parametric controller simulates, and main control computer device is for controlling six-freedom motion parametric controller and vision emulation system;
The method adopting above-mentioned aerial lift device with insulated arm Simulated training device to carry out aerial lift device with insulated arm simulation training comprises the steps:
Step 1: trainer operates main control computer device and starts 6-dof motion platform and vision emulation system;
Step 2: trainer's unrestricted choice adopts the distribution fortune inspection events in operation of aerial lift device with insulated arm method;
Step 3: in virtual scene, trainer starts to carry out livewire work operation in six-freedom motion parametric controller according to the actual job flow process of the livewire work project adopting aerial lift device with insulated arm method;
Step 4: trainer operates six-freedom motion parametric controller, control information is by after the process of main control computer device, the operation of six-freedom motion parametric controller analog insulation bucket arm vehicle and forms of motion, by the movement locus of vision emulation system viewing bucket arm vehicle, in the simulating scenes of livewire work, carry out the simulation operations of aerial lift device with insulated arm;
Step 5: operation completes, according to the handling suggestion evaluation achievement that trainer's operational circumstances provides.
Preferably, described six-freedom motion parametric controller comprises guidance panel, insulated platform and hydraulic system, guidance panel is on front side of insulated platform, guidance panel comprises operation rocking bar and button, guidance panel is used for the operation of analog insulation bucket arm vehicle in simulation training system, and is used for controlling 6-dof motion platform in training; Insulated platform, above hydraulic system, is used for the insulation bucket of analog insulation bucket arm vehicle; Hydraulic system is below insulated platform, and hydraulic system is made up of six valve control cylinder mode, and the effect of hydraulic system is the genuine haptic sensation impression providing startup in simulation training system, accelerate, brake, turn to; Guidance panel provides operation information, and six valve control cylinder mode drive the insulated platform on top jointly.
Preferably, described vision emulation system comprises screen, projecting apparatus and human bioequivalence instrument, and screen is positioned at the front of 6-dof motion platform, for showing virtual work scene; Projecting apparatus is positioned at screen rear for output image, is thrown on screen by image; The gesture of human bioequivalence instrument for catching trainer on six-freedom motion parametric controller above screen realizes the practical operation in operating function and simulation training system in operation item.
Preferably, described main control computer device comprises processor, kinetic control system, analogue system and operating platform, and processor for receiving from the triggering signal in guidance panel and human bioequivalence instrument, and processes the signal received; Kinetic control system for performing the instruction of processor and driving the motion of six valve control cylinder mode, analogue system for performing the instruction of processor, and by result with audio-visual form by projector on screen; Operating platform is used for placement processor, and operating platform comprises guidance panel and display screen, and guidance panel is for operating main control computer device, and display screen is used for the operation information of display operating panel.
The present invention can by simulating aerial lift device with insulated arm by six-freedom motion parametric controller, by emulation technology, real working scene is simulated, trainee is allowed to carry out simulation operations in approximate real operating environment, the flow process operated is carried out in true reduction in aerial lift device with insulated arm, distribution is allowed to transport inspection operation training more regulation and standardization, intellectuality, enhancement training effect.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the invention will be further described:
Fig. 1 is the preferred embodiment schematic diagram of distribution of the present invention fortune inspection operation simulation training system;
Fig. 2 is the block diagram of a kind of aerial lift device with insulated arm simulation training system based on six-freedom motion parametric controller of the embodiment of the present invention;
Fig. 3 is the flow chart of a kind of aerial lift device with insulated arm simulation training method based on six-freedom motion parametric controller of the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples embodiments of the invention be 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 parametric controller of the present invention comprises six-freedom motion parametric controller 1, main control computer device 2 and vision emulation system 3.
Six-freedom motion parametric controller 1 comprises guidance panel 11, insulated platform 12 and hydraulic system 13, guidance panel 11 is on front side of insulated platform 12, comprise operation rocking bar and button, for the operation of analog insulation bucket arm vehicle in simulation training system, and be used for controlling 6-dof motion platform in training; Insulated platform 12, above hydraulic system, is used for the insulation bucket of analog insulation bucket arm vehicle; Hydraulic system 13, in insulation bucket below, is made up of six valve control cylinder mode, and its Main Function in simulation training system, provides startup, accelerates, brakes, the various real touch feeling such as to turn to.There is provided operation information by guidance panel, control six valve control cylinder mode by the kinetic control system in main control computer device 2, the common insulated platform driving top.
Main control computer device 2 comprises processor 21, kinetic control system 22, analogue system 23 and operating platform 24, and processor 21 for receiving from the triggering signal in guidance panel 11 and human bioequivalence instrument 33, and processes the signal received; Kinetic control system 22 is for performing the instruction of processor and driving six valve control cylinder mode motions, and result for performing the instruction of processor, and is projected on screen 31 with audio-visual form by projecting apparatus 32 by analogue system 23; Operating platform 24, for placement processor, comprises guidance panel and display screen, for controlling 6-dof motion platform and vision emulation system.
Vision emulation system 3 comprises screen 31, projecting apparatus 32, human bioequivalence instrument 33, and screen 31 is positioned at the front of 6-dof motion platform, for showing virtual work scene; Projecting apparatus 32 is positioned at screen rear for output image, is thrown on screen by image; Human bioequivalence instrument 33 realizes for catching specific gesture the practical operation that operating function realizes in simulation training system in operation item above screen.
Consult Fig. 2, six-freedom motion parametric controller 1 of the present invention, main control computer device 2 and vision emulation system 3.Wherein main control computer device 2 controls 6-dof motion platform 1 and vision emulation system 3, the operating platform 24 of main control computer device 2, be used for the startup of the aerial lift device with insulated arm simulation training system controlling six-freedom motion parametric controller and closedown, the processor 21 of main control computer device 2 is used for processing data and performing kinetic control system 22 and analogue system 23, six-freedom motion parametric controller 1 goes to realize concrete operation, by the human bioequivalence instrument 33 of guidance panel 11 and vision emulation system, corresponding triggering signal is passed to processor 21, information after process controls insulated platform 12 and hydraulic system 13 is moved, vision emulation system utilizes projecting apparatus 32 by the analogue system image projecting of process to screen 31 simultaneously.
Consult Fig. 3, a kind of aerial lift device with insulated arm simulation training method based on six-freedom motion parametric controller of the present invention is:
Step 1: the guidance panel that trainer operates main control computer device 2 starts 6-dof motion platform 1 and vision emulation system 3;
Step 2: trainee enters the insulated platform 12 of six-freedom motion parametric controller 1, human bioequivalence is carried out, the distribution fortune inspection events in operation list other kind selection distribution fortune inspection events in operation of the employing bucket arm vehicle working system provided in system by gesture motion by the human bioequivalence instrument 33 of vision emulation system 3;
Step 3: the databases such as system loads scene, personage, instrument, generates the dummy activity scene of selected task by emulation technology, by projecting apparatus 32 by Signal aspects on screen 31;
Step 4: by human bioequivalence instrument 33, trainee identifies that human action carries out the selection of work ticket, consult job instruction, warning rail be installed, on-the-spot station class meeting, dress safety protective tools, the preparation such as bucket arm vehicle examination operation;
Step 5: trainee operates the guidance panel 11 of six-freedom motion parametric controller 1, control information is by after the process of main control computer device 2, feed back to the action that hydraulic system 13 controls six valve control cylinder mode, operation rocking bar on control operation panel controls the rising of six-freedom motion parametric controller hydraulic system 13 hydraulic cylinder respectively, decline and insulated platform 12 left-handed, dextrorotation, the elongation of button difference hydraulic control system 13 hydraulic cylinder on pressing operations panel is shortened, the motion state during operation of analog insulation bucket arm vehicle, the movement locus of bucket arm vehicle is watched by the screen 31 of vision emulation system 3, in the simulating scenes of distribution fortune inspection operation, finally enter the operating position of distribution fortune inspection operation,
Step 6: identify that electrical verification is carried out in the action of human body, installing insulating covers etc. by human bioequivalence instrument 33 and carry out concrete distribution fortune inspection events in operation, need the job step of mobile insulation bucket arm truck position to be moved by guidance panel 11 in events in operation;
Step 7: trainee operates the guidance panel 11 of six-freedom motion parametric controller 1, control information is by after the process of main control computer device 2, feed back to the action that hydraulic system 13 controls 6 valve control cylinder mode, according to operation and the forms of motion of analog insulation bucket arm vehicle described in step 5, watched the movement locus of bucket arm vehicle by the screen 31 of vision emulation system 3, finally in the simulating scenes of distribution fortune inspection operation, bucket arm vehicle resets;
Step 8: power cut-off screen 31 being shown distribution fortune inspection operation, according to the handling suggestion evaluation achievement that trainee's operational circumstances provides;
Step 9: simulation training terminates, exits events in operation, and trainee leaves the insulated platform 12 of six-freedom motion parametric controller 1, and the guidance panel that trainer operates main control computer device 2 closes 6-dof motion platform 1 and vision emulation system 3.
In described step 4-8, operating process of each step of trainee is all transported with the distribution of the employing aerial lift device with insulated arm operational method of standard and is examined Job Operations code and safety standard contrasts, and wrong, nonstandard content are carried out to record, and counted training score;
In described step 5-7, six-freedom motion parametric controller is controlled by the kinetic control system 22 of main control computer device 2, and can carry out next step operation after entering assigned address, method of operating is all identical with the practical operation of aerial lift device with insulated arm.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention.The content be not described in detail in this description belongs to the known prior art of professional and technical personnel in the field.
Claims (1)
1., based on the aerial lift device with insulated arm simulation training method of six-freedom motion parametric controller, it is characterized in that:
Aerial lift device with insulated arm Simulated training device comprises six-freedom motion parametric controller, main control computer device and vision emulation system, and wherein, six-freedom motion parametric controller is used for analog insulation bucket arm vehicle; Vision emulation system is used for the aerial lift device with insulated arm operative scenario that virtual six-freedom motion parametric controller simulates, and main control computer device is for controlling six-freedom motion parametric controller and vision emulation system;
The method adopting above-mentioned aerial lift device with insulated arm Simulated training device to carry out aerial lift device with insulated arm simulation training comprises the steps:
Step 1: trainer operates main control computer device and starts 6-dof motion platform and vision emulation system;
Step 2: trainer's unrestricted choice adopts the distribution fortune inspection events in operation of aerial lift device with insulated arm method;
Step 3: in virtual scene, trainer starts to carry out livewire work operation in six-freedom motion parametric controller according to the actual job flow process of the livewire work project adopting aerial lift device with insulated arm method;
Step 4: trainer operates six-freedom motion parametric controller, control information is by after the process of main control computer device, the operation of six-freedom motion parametric controller analog insulation bucket arm vehicle and forms of motion, by the movement locus of vision emulation system viewing bucket arm vehicle, in the simulating scenes of livewire work, carry out the simulation operations of aerial lift device with insulated arm;
Step 5: operation completes, according to the handling suggestion evaluation achievement that trainer's operational circumstances provides;
Described six-freedom motion parametric controller comprises guidance panel, insulated platform and hydraulic system, guidance panel is on front side of insulated platform, guidance panel comprises operation rocking bar and button, guidance panel is used for the operation of analog insulation bucket arm vehicle in simulation training system, and is used for controlling 6-dof motion platform in training; Insulated platform, above hydraulic system, is used for the insulation bucket of analog insulation bucket arm vehicle; Hydraulic system is below insulated platform, and hydraulic system is made up of six valve control cylinder mode, and the effect of hydraulic system is the genuine haptic sensation impression providing startup in simulation training system, accelerate, brake, turn to; Guidance panel provides operation information, and six valve control cylinder mode drive the insulated platform on top jointly, and described vision emulation system comprises screen, projecting apparatus and human bioequivalence instrument, and screen is positioned at the front of 6-dof motion platform, for showing virtual work scene; Projecting apparatus is positioned at screen rear for output image, is thrown on screen by image; The gesture of human bioequivalence instrument for catching trainer on six-freedom motion parametric controller above screen realizes the practical operation in operating function and simulation training system in operation item, described main control computer device comprises processor, kinetic control system, analogue system and operating platform, processor for receiving from the triggering signal in guidance panel and human bioequivalence instrument, and processes the signal received; Kinetic control system for performing the instruction of processor and driving the motion of six valve control cylinder mode, analogue system for performing the instruction of processor, and by result with audio-visual form by projector on screen; Operating platform is used for placement processor, and operating platform comprises guidance panel and display screen, and guidance panel is for operating 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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| CN105608981B (en) * | 2016-03-14 | 2018-01-09 | 南京康尼机电股份有限公司 | A kind of robot comprehensive experimental system for being used to impart knowledge to students |
| 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 |
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| CN101894487A (en) * | 2010-05-28 | 2010-11-24 | 国网电力科学研究院武汉南瑞有限责任公司 | Practice and simulation training system and method for power distribution live-wire work |
| CN201845454U (en) * | 2010-11-10 | 2011-05-25 | 北京赛四达科技股份有限公司 | 6-DOF (six degrees of freedom) motion simulator |
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| CN102855410A (en) * | 2012-09-20 | 2013-01-02 | 上海品铭机械工程有限公司 | Method and system for evaluation of man-machine work efficiency of cabin simulation test bed |
| CN203102651U (en) * | 2013-01-09 | 2013-07-31 | 湖州电力局 | Insulating bucket truck simulation device based on six-degree-of-freedom motion control platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7402041B2 (en) * | 2005-11-23 | 2008-07-22 | Kb3, Inc. | Motion simulating device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101894487A (en) * | 2010-05-28 | 2010-11-24 | 国网电力科学研究院武汉南瑞有限责任公司 | Practice and simulation training system and method for power distribution live-wire work |
| CN201904024U (en) * | 2010-05-28 | 2011-07-20 | 国网电力科学研究院武汉南瑞有限责任公司 | Truly simulation training system of distribution live line works |
| CN201845454U (en) * | 2010-11-10 | 2011-05-25 | 北京赛四达科技股份有限公司 | 6-DOF (six degrees of freedom) motion simulator |
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