CN104461690B - A kind of power equipment operating simulation system - Google Patents
A kind of power equipment operating simulation system Download PDFInfo
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Abstract
The invention discloses a kind of power equipment operating simulation system, user is from input/output terminal input service environmental information and interactive control information, the working environment information and interactive control information are sent to working environment emulation server, the working environment that working environment emulation server is run using the working environment information and interactive control information to power equipment carries out the generation of three-dimensional scenic and corresponding interactive controlling is handled, storage server is saved in after data after processing are sent into monitoring server examination ＆ verification, show that the virtual view of working environment interacts operation for user in input/output terminal simultaneously.The power equipment operating simulation system of the present invention disclosure satisfy that safety training demand, various power equipments, line environment can be simulated, electric power worker is by using the system, each professional working specification and safety notice can be familiar with, so as to reduce the generation of accident to greatest extent in routine duties.
Description
Technical field
Imitation technology, more particularly to a kind of power equipment operating simulation system are run the present invention relates to power equipment.
Background technology
In recent years, due to the successive input of business application system, the quantity of application system server is being continuously increased, accordingly
The network equipment be also constantly increasing, cause machine room area not enough, amount of equipment power consumption increase, computer room load also increase.This
Outside, the training of current power system remains in theory and tells about the relatively backward stages such as training, handbook training, and these modes are trained
Instruction cycle length, fund input are big, student's experience property is poor, are coordinated more using classroom lectures, courseware and picture and demonstrate or look for independence
Equipment carry out small range operation, but many equipment is charging operation, dangerous property and uncertainty, the spoilage of equipment
Height, then student effective practical operation can not be carried out in learning process.Therefore, it is necessary to set up a kind of effective power equipment
Operating simulation system so that student can true simulation actual working environment, be familiar with environment and equipment, operate those complicated and
The equipment that can not be malfunctioned, and then the workmanship of trainee can meet the requirement of power equipment professional operator as early as possible,
The fault rate of neophyty operation is reduced, while many relevant devices can be configured less when actual environment is drilled, reduces hardware device
Purchase needs.
The content of the invention
The present invention provides a kind of power equipment operating simulation system, and user is from input/output terminal input service environmental information
And interactive control information, the working environment information and interactive control information are sent to working environment emulation server, worked
The working environment that working environment information described in environmental simulation server by utilizing and interactive control information are run to power equipment is carried out
The generation of three-dimensional scenic and the processing of corresponding interactive controlling, are saved in after the data after processing are sent into monitoring server examination ＆ verification
Storage server, while showing that the virtual view of working environment interacts operation for user in input/output terminal.
In order to solve the above technical problems, the power equipment operating simulation system of the present invention includes working environment service of simulation
Device, storage server, monitoring server, input/output terminal, it is characterised in that：
Working environment emulation server and storage server are connected by network with input/output terminal respectively, storage service
Device is also connected to working environment emulation server, and storage server connects monitoring server, monitoring server by monitor node
It is also connected to working environment emulation server；
User from input/output terminal input service environmental information and interactive control information, by the working environment information and
Interactive control information is sent to working environment emulation server, working environment emulation server using the working environment information and
The working environment that interactive control information is run to power equipment carries out the generation and the processing of corresponding interactive controlling of three-dimensional scenic, will
Data after processing are saved in storage server after being sent to monitoring server examination ＆ verification, while showing work in input/output terminal
The virtual view for making environment interacts operation for user.
Wherein, working environment emulation server is the high-performance server after virtualization process, and create has many thereon
Independent virtual machine, every virtual machine possesses independent CPU, internal memory, hard disk, CD-ROM drive, network interface card, video card, and each network card configuration is each
From IP, be connected by virtual switch with physical network, and each virtual machine is provided with different operating systems, can
Virtual machine is managed by virtual management platform or remote desktop.
Wherein, showed in user terminal in equipment virtual machine mode, equipment is carried out in the way of carry in the POOL of equipment pond
Initialization and loading, user side propose that i.e. dynamic creates a newly connection in equipment POOL after device request, while completing empty
Intend the initialization of facility information and the loading of associated traffic data, after user has operated with this equipment, this company is discharged immediately
The resource of correlation is connect and reclaims, all hardware equipment, the storage of the basic data of the network equipment are realized in Equipment Foundations storehouse, with XML
File or DB form carry out form definition and the persistence of hardware data.
Wherein, set up scene model data storehouse using the working environment information, the scene model data storehouse it is basic
Node include group node, object node, face node and point node, using node by all models in whole scene logically
Structure organization is inverted level tree.
Wherein, in the collision detection of interactive controlling processing, different objects are used according to the shape of different objects
Different bounding box approximate simulations, i.e., the spherical object with ball analog approximation is surrounded, remaining object is carried out using AABB bounding boxs
Analog approximation, first to surrounding ball and AABB bounding boxs projection sequence and being grouped, excludes rapidly the object that can not possibly be collided
It is right, test for intersection then is carried out to the potential collision detection collection in each group, now collision detection is converted into encirclement ball with surrounding ball
Test for intersection, the test for intersection that surrounds between the test for intersection and AABB bounding boxs of ball and AABB bounding boxs, finally carry out
Collision detection of high precision.
Wherein, using heapsort method to the projection access order on a certain axle, and the side for subsegment being projected after first divide
Boundary is fixed, and projection subsegment is referred to as " group ", the projection value of bounding box and the place of bounding box before after Moving Objects are updated afterwards
The boundary value of group is compared, if still within border, continuing to stay in this group, otherwise, the boundary value ratio with next group
Compared with, the like, the ownership group new until finding；Then projection value is sorted in real time using heapsort method in every group,
It is quick to exclude without overlapping object pair；Finally, it is to carrying out test for intersection, wherein at least one object to overlapping object
Dynamically.
Wherein, the test for intersection for surrounding ball and AABB bounding boxs is as follows：
If the coordinate of point is (x, y, z) in AABB bounding boxs, the length of side of bounding box is H, and the centre coordinate of bounding box is
(XB,YB,ZB), it is assumed that central point is located at the origin of coordinates, then the constraint equation of AABB bounding boxs is
(x, y, z) | 0 ＜ x, y, z ＜ H }
Equally, if the coordinate for surrounding point in ball is (x, y, z), the radius for surrounding ball is RS, sphere centre coordinate is (X0,Y0,
Z0), then the constraint equation for surrounding ball is
Assuming that AABB bounding boxs are located at the origin of coordinates (0,0,0), orderWherein X0It is not zero, then AABB bags
Enclosing box with surrounding the distance between ball is
If AABB bounding boxs are θ with surrounding the line of ball's dead center with the angle of Z coordinate axle, then have：Work as Y0>0 and X0>0
When,Work as Y0>0 and X0<When 0,Work as Y0<0 and X0>When 0,Work as Y0<0 and X0<When 0,
Only need to compare θ × dist and | Z0| the intersecting situation of two bounding boxs is can obtain, if θ × dist ＜ | Z0|, then AABB
Bounding box intersects with surrounding ball, otherwise non-intersect.
Wherein, the collision detection of high precision includes two stages, and the collision detection of high precision process of first stage is as follows：To be many
Side shape projects to XOY plane, obtains a plane polygon, if polygon is intersecting, necessarily have straight line simultaneously with two
Polygon all intersects, and around this principle, two parallel axis is done based on two central point subpoints, inevitable if intersecting
Occur between two axis, set error amount ρ, n bar bisectors are done between two axis parallel to y-axis, if there is
The m articles bisector intersects at point (X with two of which polygon1,Y1) and point (X2,Y2), wherein n, m are that natural number and m are less than etc.
In n, if | Y1-Y2| ＜ ρ, then collide, into accurate between the collision detection of high precision of second stage, i.e. element figure
Collision detection.
Wherein, element figure is triangle or tetrahedron, when element figure is tetrahedron, because tetrahedron is by four
Triangular into, by tetrahedral test for intersection abbreviation be triangle test for intersection, then it is accurate between the element figure
Collision detection is substantially the intersecting detection between triangle, if two, space triangle is respectively T1 (V0,V1, V2) and T2
(U0, U1, U2), then the test for intersection process between triangle and triangle is as follows：
S1：The plane equation N2 where the plane equation N1 and triangle T 2 at the place of triangle T 1 is calculated respectively；
S2：Three summits of triangle T 1 are calculated respectively to plane N2 apart from the three of dv0, dvl, dv2 and triangle T 2
Individual summit is to plane N1 apart from du0, dul, du2；
S3：If V0、V1、V2Three points are all located at N2 the same side, then triangle T I and T2 is non-intersect, or U0、U1、
U2Three points are all located at N1 the same side, and triangle T 1 and T2 are also non-intersect；
S4：If dv0*dvl=0 and dv0*dv2=0 simultaneously set up or du0*dul=0 and du0*du2=0 simultaneously into
Vertical, then triangle T 1 and T2 are coplanar, go in plane in the test for intersection subprocess of two triangles；
S5：If it is 0 to have one in dv0, dv1, dv2, and two other symbol is identical, then must have one in triangle T 1
Summit is located at the institute of triangle T 2 in the plane, and now problem is converted into the relation of a point and triangle in Judge plane.If
Point is in triangle T 2 or on side, then triangle T l and T2 intersect, otherwise non-intersect；
S6：If it is 0 to have two in dv0, dvl, dv2, triangle T l must have plane of a line positioned at triangle T 2
On, now problem is converted into the relation between a line segment and a triangle in Judge plane；
S7：Several situations above are removed, triangle T l intersects with the place plane of triangle T 2, tries to achieve intersecting line segment, now
Problem changes into whether Judge plane middle conductor intersects with triangle.
The beneficial effects of the invention are as follows：Prior art is different from, power equipment operating simulation system of the invention can expire
Sufficient safety training demand, can simulate various power equipments, line environment, and electric power worker can be familiar with by using the system
The working specification and safety notice of each specialty, so as to reduce the generation of accident to greatest extent in routine duties.Its
In, working environment emulation server uses virtualization technology, and virtualization technology can make full use of the hardware resources of server, saves
Hardware cost, reduces the quantity of server, problem in computer rooms is preferably solved, while also solving server application system backup
Host the problem of, also whole application servers are backed up using virtual server.In addition, the present invention is examined to collision
The process of survey is optimized, it is considered to the shape difference of geometric object in scene, is provided not according to the shape facility of different objects
Same solution, using based on the collision checking method for surrounding ball and AABB bounding boxs, the dual stage of collision detection of high precision
Detection further increases accuracy of detection, as long as in addition, the projection sequence of bounding box is compared when being grouped with this group and adjacent sets
Compared with, and the test for intersection only progress in the group with the presence of dynamic object, substantially increase the efficiency of detection.
Brief description of the drawings
The composition schematic diagram of the power equipment operating simulation system of Fig. 1 present invention
Test for intersection schematic diagrames of Fig. 2A ABB in X-axis
Fig. 3 bounding boxs projection sequence packet schematic diagram
Fig. 4 triangle test for intersection flows
Embodiment
The composition for the power equipment operating simulation system that the present invention is provided is as shown in figure 1, the system is imitative including working environment
True server 1, storage server 2, monitoring server 3, input/output terminal 5.
Wherein, working environment emulation server 1 and storage server 2 pass through network 4 and multiple input/output terminals 5 respectively
Connection, storage server 2 is also connected to working environment emulation server 1, and storage server 2 passes through monitor node connection monitoring clothes
Business device 3, monitoring server 3 is also connected to working environment emulation server 1.
User from input/output terminal input service environmental information and interactive control information, by the working environment information and
Interactive control information is sent to working environment emulation server, working environment emulation server using the working environment information and
The working environment that interactive control information is run to power equipment carries out the generation and the processing of corresponding interactive controlling of three-dimensional scenic, will
Data after processing are saved in storage server after being sent to monitoring server examination ＆ verification, while showing work in input/output terminal
The virtual view for making environment interacts operation for user.
Input/output terminal can include inputting the input units such as keyboard, the mouse of information and control command for user, also
The display device of such as liquid crystal display (LCD) can be included.
Wherein, working environment emulation server is the high-performance server after virtualization process, and create has many thereon
Independent virtual machine, every virtual machine possesses independent CPU, internal memory, hard disk, CD-ROM drive, network interface card, video card, and each network card configuration is each
From IP, be connected by virtual switch with physical network, and each virtual machine is provided with different operating systems, can
Virtual machine is managed by virtual management platform or remote desktop.
Showed in user terminal in equipment virtual machine mode, carry out the initialization of equipment in the POOL of equipment pond in the way of carry
And loading, user side proposes that i.e. dynamic creates a new connection in equipment POOL after device request, while completing virtual unit
The initialization of information and the loading of associated traffic data, after user has operated with this equipment, discharge this and connect and return immediately
Receive related resource, all hardware equipment, the storage of the basic data of the network equipment are realized in Equipment Foundations storehouse, with XML file or
DB form carries out form definition and the persistence of hardware data.
The generation of three-dimensional scenic is completed using modeling tool, scene model data storehouse, field are set up using working environment information
The fundamental node of scape model database includes group node, object node, face node and point node, using node by whole scene
All models logically structure organization be inverted level tree.
Set up after model database, the d engine for calling, showing and controlling to model is realized in initialization, including：If
3-D graphic pixel format is put, it is determined that the digit of each buffer；Initialize passage viewport size, each ginseng of illumination model
Number, background color, eye coordinates；Create frame buffer and title is set；Camera, passage and illumination model are created, to illumination model
Assignment；Scene is created, illumination model is added into scene, camera position is determined, and camera is connected with scene；It is true for passage assignment
It is sized, wipes color, and scene and camera is connected with passage；Passage is added into frame buffer.After the completion of initial work, move
State imports threedimensional model, then an object callback function is set for each object (i.e. threedimensional model), in call back function
Specific control routine is write, the drafting of each frame animation is realized by call back function, when object discharges, call back function
Terminate immediately.
Interactive controlling processing includes collision detection, three-dimensional body motion control, three dimensional object pickup.
So-called collision, in being exactly several objects at a time, in space, exists and is occupied between one or more pairs of objects
Space be in the critical point that overlaps.In interaction, for the authenticity of simulation, it is necessary to using a variety of methods to
Object of which movement in the interbehavior and virtual world at family is any limitation as.Collision detection is a kind of conventional method, such as to building
Through walls and mistake can be avoided the occurrence of by building the collision detection of thing, and the collision detection to mobile object can avoid the hair of object fusion phenomenon
It is raw, so as to reach the true effect in real world.Collision detection be in virtual reality between dynamic object and stationary body or
Interactive basis between dynamic object and dynamic object.
Translation, rotation, scaling are most basic motor patterns, in interactive controlling, the behaviour carried out to entity and viewpoint
Make that the combination of the geometric transformations such as translation, rotation and scaling can be converted into.By the geometric transformation of object in three dimensions,
Fast transforms can be carried out to object, so as to obtain the Dynamic Announce effect of the object in interaction.
Three dimensional object pickup function can be picked up by object names, can also be by the collision detection of X-ray detection X
Method is realized, as follows by the collision checking method of X-ray detection X：Matrix according to being used in virtual environment is done to projection ray
Inverse transformation simultaneously carries out test for intersection to pick up object with model.Its process is, with mouse click somewhere, to obtain mouse on screen
The screen coordinate of clicking point, then the coordinate for obtaining subpoint is converted by vision area, one is then obtained using viewpoint as starting point and is passed through
The ray of subpoint is crossed, the ray is done after projective transformation, viewing transformation if intersected with certain model in scene, then it represents that pick up
Get the model.
Surround the smallest sphere that ball is defined as including object.The maximum of object vertex coordinate and the average of minimum value can be with
For determining the centre of sphere for surrounding ball.For two encirclement balls, if centre of sphere distance is less than two radius of a ball sums, two surround ball phase
Hand over.The level for building object using spheroid surrounds ball tree, can be with fast the detection carried out between node and node, still
It surrounds the compactness of object not enough, the intersection testing surrounded between ball that can have bulk redundancy.
Axial bounding box (AABB) is defined as that each bar side is parallel to reference axis and minimum side comprising the object is rectangular
Body.The minimum value and maximum for calculating the x, y, z coordinate on summit in all geometric elements of composition object just can determine that object
AABB bounding boxs.Test for intersection between AABB bounding boxs is also fairly simple, when two AABB bounding boxs are in three reference axis
Projection it is interval homogeneous when handing over, they are just intersecting.According to this characteristic, three-dimensional can be asked friendship abbreviation to turn to and one-dimensional ask friendship to ask
Topic.Homogeneous friendship, therefore the test for intersection between AABB must be projected in three reference axis because two articles AABB bounding boxs are intersecting
As long as at most doing 6 comparison operations.AABB bounding boxs calculate simple, but compactness is poor.As shown in Fig. 2 suppose there is two AABB
Bounding box A and B, A and B central point are respectively CAAnd CB, X-axis is projection coordinate's axle, point CAAnd CBProjection difference in X-axis
For PAAnd PB.The half of the projected length of bounding box A and B in X-axis is respectively RAAnd RB.If CACB≤PAPB, then the A in X-axis
Non-intersect with B, otherwise A and B intersects in X-axis.
Due in scene geometric object it is different, different objects with different bounding boxs come approximate simulation when occur
Completely different effect, unreasonable use bounding box can be greatly reduced collision detection efficiency.If for example, a spheroid with
AABB is simulated, it may appear that larger error, and a strip object is simulated with surrounding ball, and the precision of collision detection also can be very
Difference.
It is approximate using different bounding boxs to different objects according to the shape of different objects in the collision detection of the present invention
Simulation, i.e., the spherical object with ball analog approximation is surrounded, remaining object carries out analog approximation using AABB bounding boxs, first to bag
Enclose ball and the projection of AABB bounding boxs is sorted and is grouped, the object pair that can not possibly be collided is excluded rapidly, then in each group
Potential collision detection collection carries out test for intersection, and now collision detection is converted into test for intersection, the encirclement ball for surrounding ball and surrounding ball
Test for intersection between the test for intersection and AABB bounding boxs of AABB bounding boxs, finally carries out collision detection of high precision.
As shown in Fig. 2 using heapsort method to the projection access order on a certain axle, and subsegment is projected after dividing for the first time
Border fix, projection subsegment is referred to as " group ", the projection value of bounding box and bounding box before after Moving Objects are updated afterwards
The boundary value of place group is compared, if still within border, continuing to stay in this group, otherwise, the border with next group
Value compares, the like, the ownership group new until finding；Then projection value is arranged in real time using heapsort method in every group
Sequence, it is quick to exclude without overlapping object pair；Finally, to overlapping object to carrying out test for intersection, wherein at least one pair
As if it is dynamic, if it is compared during bounding box packet with this group and adjacent sets, and test for intersection is only having dynamic right
As presence group in carry out, which greatly enhances the efficiency of detection.The algorithm should be noted problems with：(1) surrounded when a certain
A part for box has entered the projection subsegment of people newly, and another part when still remaining in former projection subsegment (such as dotted box institute in Fig. 2
Show), bounding box projects to organize belonging to subsegment at two and all needs to participate in collision detection.In addition, when certain two intersected object is in reference axis
The division stage is divided into two parts, when to the corresponding x-axis of two object left-hand components and y-axis sublist progress test for intersection
When, it is known that two objects are overlapping, and algorithm carries out test for intersection with regard to the projection no longer to the right-hand component of two objects, so as to subtract
The execution time of few algorithm；(2), must be first by thing before collision detection is performed if there is volume very big object in scene
Body is decomposed into the sub-block of small volume, then each sub-block is carried out into crash tests respectively.
Wherein, the test for intersection for surrounding ball and AABB bounding boxs is as follows：
If the coordinate of point is (x, y, z) in AABB bounding boxs, the length of side of bounding box is H, and the centre coordinate of bounding box is
(XB,YB,ZB), it is assumed that central point is located at the origin of coordinates, then the constraint equation of AABB bounding boxs is
(x, y, z) | 0 ＜ x, y, z ＜ H }
Equally, if the coordinate for surrounding point in ball is (x, y, z), the radius for surrounding ball is RS, sphere centre coordinate is (X0,Y0,
Z0), then the constraint equation for surrounding ball is
Assuming that AABB bounding boxs are located at the origin of coordinates (0,0,0), orderWherein X0It is not zero, then AABB bags
Enclosing box with surrounding the distance between ball is
If AABB bounding boxs are θ with surrounding the line of ball's dead center with the angle of Z coordinate axle, then have：Work as Y0>0 and X0>0
When,Work as Y0>0 and X0<When 0,Work as Y0<0 and X0>When 0,Work as Y0<0 and X0<When 0,
Only need to compare θ × dist and | Z0| the intersecting situation of two bounding boxs is can obtain, if θ × dist ＜ | Z0|, then AABB
Bounding box intersects with surrounding ball, otherwise non-intersect.
Collision detection of high precision includes two stages, and the collision detection of high precision process of first stage is as follows：Polygon is projected
To XOY plane, a plane polygon is obtained, if polygon is intersecting, necessarily has straight line while with two polygons all
It is intersecting, around this principle, two parallel axis are done based on two central point subpoints, necessarily occurred two if intersecting
Between bar axis, error amount ρ is set, n bar bisectors are done between two axis parallel to y-axis, if there is the m articles decile
Line intersects at point (X with two of which polygon1,Y1) and point (X2,Y2), wherein n, m are natural number and m is less than or equal to n, if |
Y1-Y2| ＜ ρ, then collide, the collision detection of high precision between the collision detection of high precision of second stage, i.e. element figure.
Intersecting detection between element figure is the final tache of collision detection, and element figure is triangle or tetrahedron,
When element figure be tetrahedron when, due to tetrahedron be by four triangulars into, by tetrahedral test for intersection abbreviation be three
Angular test for intersection, then the collision detection of high precision between element figure is substantially the intersecting detection between triangle, triangle
Test for intersection flow between shape is as shown in figure 4, it is respectively T1 (V to set two, space triangle0,V1, V2) and T2 (U0, U1, U2), then
Test for intersection process between triangle and triangle is as follows：
S1：The plane equation N2 where the plane equation N1 and triangle T 2 at the place of triangle T 1 is calculated respectively；
S2：Three summits of triangle T 1 are calculated respectively to plane N2 apart from the three of dv0, dvl, dv2 and triangle T 2
Individual summit is to plane N1 apart from du0, dul, du2；
S3：If V0、V1、V2Three points are all located at N2 the same side, then triangle T I and T2 is non-intersect, or U0、U1、
U2Three points are all located at N1 the same side, and triangle T 1 and T2 are also non-intersect；
S4：If dv0*dvl=0 and dv0*dv2=0 simultaneously set up or du0*dul=0 and du0*du2=0 simultaneously into
Vertical, then triangle T 1 and T2 are coplanar, go in plane in the test for intersection subprocess of two triangles；
S5：If it is 0 to have one in dv0, dv1, dv2, and two other symbol is identical, then must have one in triangle T 1
Summit is located at the institute of triangle T 2 in the plane, and now problem is converted into the relation of a point and triangle in Judge plane.If
Point is in triangle T 2 or on side, then triangle T l and T2 intersect, otherwise non-intersect；
S6：If it is 0 to have two in dv0, dvl, dv2, triangle T l must have plane of a line positioned at triangle T 2
On, now problem is converted into the relation between a line segment and a triangle in Judge plane；
S7：Several situations above are removed, triangle T l intersects with the place plane of triangle T 2, tries to achieve intersecting line segment, now
Problem changes into whether Judge plane middle conductor intersects with triangle.
In the present invention, working environment emulation server uses virtualization technology, and virtualization technology can make full use of server
Hardware resources, save hardware cost, reduce server quantity, problem in computer rooms is preferably solved, while also solving clothes
The problem of host of device application system of being engaged in backup, also whole application servers are backed up using virtual server.This
Outside, the process of collision detection is optimized the present invention, it is considered to the shape difference of geometric object in scene, according to different objects
Shape facility different solutions are provided, using based on the collision checking method for surrounding ball and AABB bounding boxs, accurately touch
Hit detection the dual stage detection further increase accuracy of detection, as long as in addition, bounding box projection sequence packet when with this
Group and adjacent sets are compared, and test for intersection is only carried out in the group with the presence of dynamic object, substantially increases detection
Efficiency.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, about the common of technical field
Technical staff, without departing from the spirit and scope of the present invention, can also make a variety of changes and modification, therefore all
Equivalent technical scheme falls within scope of the invention, and scope of patent protection of the invention should be defined by the claims.
Claims (8)
1. a kind of power equipment operating simulation system, the system includes working environment emulation server, storage server, monitoring clothes
Business device, input/output terminal, it is characterised in that：
Working environment emulation server and storage server are connected by network with input/output terminal respectively, and storage server is also
Working environment emulation server is connected to, storage server connects monitoring server by monitor node, and monitoring server also connects
It is connected to working environment emulation server；
User is from input/output terminal input service environmental information and interactive control information, by the working environment information and interaction
Control information is sent to working environment emulation server, and working environment emulation server utilizes the working environment information and interaction
The working environment that control information is run to power equipment carries out the generation and the processing of corresponding interactive controlling of three-dimensional scenic, will handle
Data afterwards are saved in storage server after being sent to monitoring server examination ＆ verification, while showing building ring in input/output terminal
The virtual view in border interacts operation for user；
Wherein, in the collision detection of interactive controlling processing, different objects are used according to the shape of different objects different
Bounding box approximate simulation, i.e., with the spherical object of ball analog approximation is surrounded, remaining object is simulated using AABB bounding boxs
Approximately, to surrounding ball and AABB bounding boxs projection sequence and being grouped the object pair that can not possibly be collided is excluded rapidly, so first
Test for intersection is carried out to the potential collision detection collection in each group afterwards, now collision detection, which is converted into, surrounds ball with surrounding intersecting for ball
Test, the test for intersection surrounded between ball and the test for intersection and AABB bounding boxs of AABB bounding boxs, are finally accurately touched
Hit detection.
2. power equipment operating simulation system as claimed in claim 1, wherein, working environment emulation server is through virtualization
High-performance server after processing, create has a many independent virtual machines thereon, every virtual machine possess independent CPU, internal memory,
Hard disk, CD-ROM drive, network interface card, video card, each respective IP of network card configuration, are connected by virtual switch with physical network, and often
Individual virtual machine is provided with different operating systems, can manage virtual computing by virtual management platform or remote desktop
Machine.
3. power equipment operating simulation system as claimed in claim 2, wherein, in user terminal with equipment virtual machine mode exhibition
It is existing, the initialization and loading of equipment are carried out in the POOL of equipment pond in the way of carry, user side proposes i.e. dynamic after device request
A new connection is created in equipment POOL, while the initialization of virtual device information and the loading of associated traffic data are completed,
After user has operated with this equipment, this resource for connecting and reclaiming correlation is discharged immediately, and Equipment Foundations storehouse is realized all hard
The storage of part equipment, the basic data of the network equipment, is carried out the form definition of hardware data and held in the form of XML file or DB
Longization.
4. power equipment operating simulation system as claimed in claim 1, wherein, set up scene using the working environment information
Model database, the fundamental node in the scene model data storehouse includes group node, object node, face node and point node, profit
With node, by all models in whole scene, logically structure organization is inverted level tree.
5. power equipment operating simulation system as claimed in claim 1, wherein, using heapsort method to the projection on a certain axle
Sequence permutation, and fixed sub- section boundary is projected after first divide, projection subsegment is referred to as " group ", by Moving Objects more afterwards
The projection value of bounding box and the boundary value of group where bounding box before are compared after new, if still within border, continued
Stay in this group, otherwise, the boundary value with next group is compared, the like, the ownership group new until finding；Then in every group
Projection value is sorted in real time using heapsort method, it is quick to exclude without overlapping object pair；Finally, to overlapping object pair
Test for intersection is carried out, wherein at least one object is dynamic.
6. power equipment operating simulation system as claimed in claim 1, wherein, surround the test for intersection of ball and AABB bounding boxs
It is as follows：
If the coordinate of point is (x, y, z) in AABB bounding boxs, the length of side of bounding box is H, and the centre coordinate of bounding box is (XB,YB,
ZB), it is assumed that central point is located at the origin of coordinates, then the constraint equation of AABB bounding boxs is
(x, y, z) | 0 ＜ x, y, z ＜ H }
Equally, if the coordinate for surrounding point in ball is (x, y, z), the radius for surrounding ball is RS, sphere centre coordinate is (X0,Y0,Z0), then wrap
The constraint equation for enclosing ball is
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Assuming that AABB bounding boxs are located at the origin of coordinates (0,0,0), orderWherein X0It is not zero, then AABB bounding boxs
It is with surrounding the distance between ball
If AABB bounding boxs are θ with surrounding the line of ball's dead center with the angle of Z coordinate axle, then have：Work as Y0>0 and X0>When 0,Work as Y0>0 and X0<When 0,Work as Y0<0 and X0>When 0,Work as Y0<0 and X0<When 0,
Only need to compare θ × dist and | Z0| the intersecting situation of two bounding boxs is can obtain, if θ × dist ＜ | Z0|, then AABB is surrounded
Box intersects with surrounding ball, otherwise non-intersect.
7. power equipment operating simulation system as claimed in claim 1, wherein, the collision detection of high precision includes two ranks
Section, the collision detection of high precision process of first stage is as follows：Polygon is projected into XOY plane, a plane polygon is obtained, such as
Fruit polygon intersects, and necessarily has straight line while all intersecting with two polygons, around this principle, based on two central points
Subpoint does two parallel axis, necessarily occurs between two axis if intersecting, sets error amount ρ, flat at two
Row does n bar bisectors between the axis of y-axis, and point (X is intersected at if there is the m articles bisector and two of which polygon1,
Y1) and point (X2,Y2), wherein n, m are natural number and m is less than or equal to n, if | Y1-Y2| ＜ ρ, then collide, into second-order
The collision detection of high precision of section, i.e. collision detection of high precision between element figure.
8. power equipment operating simulation system as claimed in claim 7, wherein, element figure is triangle or tetrahedron, when
Element figure be tetrahedron when, due to tetrahedron be by four triangulars into, by tetrahedral test for intersection abbreviation be triangle
The test for intersection of shape, then the collision detection of high precision between the element figure is substantially the intersecting detection between triangle, if
Two, space triangle is respectively T1 (V0,V1, V2) and T2 (U0, U1, U2), then the test for intersection process between triangle and triangle
It is as follows：
S1：The plane equation N2 where the plane equation N1 and triangle T 2 at the place of triangle T 1 is calculated respectively；
S2：Pushed up to plane N2 three apart from dv0, dvl, dv2 and triangle T 2 on three summits for calculating triangle T 1 respectively
Point is to plane N1 apart from du0, dul, du2；
S3：If V0、V1、V2Three points are all located at N2 the same side, then triangle T I and T2 is non-intersect, or U0、U1、U2Three
Individual point is all located at N1 the same side, and triangle T 1 and T2 are also non-intersect；
S4：If dv0*dvl=0 and dv0*dv2=0 is set up or du0*dul=0 and du0*du2=0 is set up simultaneously simultaneously,
Then triangle T 1 and T2 are coplanar, go in plane in the test for intersection subprocess of two triangles；
S5：If it is 0 to have one in dv0, dv1, dv2, and two other symbol is identical, then must have a summit in triangle T 1
Positioned at the institute of triangle T 2 in the plane, now problem is converted into the relation of a point and triangle in Judge plane, and such as fruit dot exists
In triangle T 2 or on side, then triangle T l and T2 intersect, otherwise non-intersect；
S6：If it is 0 to have two in dv0, dvl, dv2, triangle T l must have a line to be located in the plane of triangle T 2, this
Shi Wenti is converted into the relation between a line segment and a triangle in Judge plane；
S7：Several situations above are removed, triangle T l intersects with the place plane of triangle T 2, tries to achieve intersecting line segment, now problem
Change into whether Judge plane middle conductor intersects with triangle.
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| CN106777764A (en) * | 2016-12-31 | 2017-05-31 | 佛山市幻云科技有限公司 | Storage emulation method, system and virtual reality server |
| CN106775954B (en) * | 2016-12-31 | 2020-08-18 | 深圳市快门科技有限公司 | UNIX server simulation method and system and virtual reality server |
| CN112463760A (en) * | 2020-10-28 | 2021-03-09 | 深圳供电局有限公司 | Information processing method, information processing device, computer equipment and storage medium |
| CN112835337B (en) * | 2021-01-04 | 2021-08-24 | 山东省计算中心（国家超级计算济南中心） | Industrial control safety target range platform and method |
| CN115774663A (en) * | 2022-09-15 | 2023-03-10 | 江苏瑞蓝自动化设备集团有限公司 | Optimization method, device, equipment and storage medium of LabVIEW test system |
| CN115293018B (en) * | 2022-09-29 | 2022-12-27 | 武汉亘星智能技术有限公司 | Collision detection method and device for flexible body, computer equipment and storage medium |
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