CN106228862A - Emulation training method patrolled and examined by a kind of power transmission line unmanned machine - Google Patents
Emulation training method patrolled and examined by a kind of power transmission line unmanned machine Download PDFInfo
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- CN106228862A CN106228862A CN201610861619.0A CN201610861619A CN106228862A CN 106228862 A CN106228862 A CN 106228862A CN 201610861619 A CN201610861619 A CN 201610861619A CN 106228862 A CN106228862 A CN 106228862A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
Abstract
The invention discloses a kind of power transmission line unmanned machine and patrol and examine emulation training method, this emulation training method comprises the steps: 1) data acquisition；2) 3D model is set up；3) outpost of the tax office is set；4) typical fault is arranged；5) wind resistance, the flight of anti-rain are arranged.Compared with prior art, the method is by virtual and real combination, 3D model is set up during simulation training, maximized reduction truth, and typical fault, the outpost of the tax office and wind resistance, the flight of anti-rain are set during simulation training, it is possible to comprehensive, the manipulation ability training human pilot of multi-angle.
Description
Technical field
The present invention relates to the Training Methodology of a kind of emulation, emulation training side patrolled and examined by specifically a kind of power transmission line unmanned machine
Method, belongs to power grid transmission line operation maintenance technical field.
Background technology
At present, the major way that overhead transmission line is patrolled and examined is for manually along circuit walking or by the vehicles, using and hope
Remote mirror and thermal infrared imager etc. carry out low coverage tour and detection to line facility and channel environment.Along with circuit mileage constantly increases
Adding, O&M length increases year by year per capita, and existing routine inspection mode efficiency is low, particularly complicated landform and rain in high mountain, marsh etc.
Snow ice freezes and is difficult to arrive with personnel under the hazardous condition such as earthquake, it is difficult to find that the shortcomings such as shaft tower top equipment deficiency seem the most prominent
Go out.
In recent years, along with the fast development of the technology such as aviation, remote sensing and information processing, power industry actively develops line
Road O&M maintenance new industrial research, wherein unmanned plane patrol and examine due to mode flexibly, low cost, can not only find shaft tower foreign body,
The defects such as insulator breakage, stockbridge damper sliding, wire clamp skew, additionally it is possible to discovery gold utensil corrosion, split pin and bolt nut disappearance,
Search the indiscoverable defects of manual inspection such as arcing fault point, can become with helicopter and manual inspection mode coordinated
One of emphasis direction of circuit fortune inspection technology development.
Power transmission line unmanned machine cruising inspection system generally includes unmanned plane subsystem, mission payload subsystem and comprehensive coverage and divides
Three parts of system.Unmanned plane subsystem includes unmanned aerial vehicle platform, communication system and earth station system.Wherein unmanned aerial vehicle platform bag
Including unmanned plane body and flight control system, communication system includes data transmission and image delivering system, and earth station system includes
The software and hardwares such as flight control and Function detection.Mission payload subsystem includes task device and ground aobvious control unit.Wherein, task
Equipment can variation, usually photoelectric nacelle or use The Cloud Terrace to carry visible ray, the imaging device such as infrared, it is possible to be laser thunder
Reach, synthetic aperture radar etc..Comprehensive coverage subsystem generally comprise power supply unit, power supply, specific purpose tool, standby redundancy and
Vehicle etc..Medium-sized depopulated helicopter cruising inspection system typically need to be equipped with special-purpose vehicle, and small-sized depopulated helicopter cruising inspection system can basis
Specifically need to be equipped with accumulating vehicle.
Owing to the manipulation of unmanned plane is a more complicated process, operator is had the requirement that comparison is high, thus grinds
Send out simulation training system, allowed operator be simulated training, both can save expense, can avoid again owing to handling not yet done
The loss practiced and cause.Unmanned plane patrol and examine emulation training method i.e. make full use of text, figure, 3-dimensional image, three-dimensional animation and
The media forms of expression such as sound, by stimulating the vision of student, auditory nerve, transfer learning initiative and the active of student
Property, almost real simulation training, cultivate the actual operational capacity of student, overcome such as equipment present in training on the spot simultaneously
The problems such as safety, environmental factors adverse effect, enhancement training effect.
It is trained effect preferable in conjunction with actual unmanned plane and scene of patrolling and examining, but by equipped quantity, place, time, complexity
The restriction of each environmental factorss such as degree, safety and weather, training effectiveness is relatively low.Though multimedia training present in prior art
So video, word, animation and threedimensional model are dynamically combined, but training effect is limited (is only capable of training unmanned
Machine flight manipulation), also there is a big difference to patrol and examine requirement with actual power transmission line unmanned machine.
At present, use more unmanned plane during flying control system (such as phoenix simulator) both at home and abroad, use remote-control handle control
Make dissimilar unmanned plane to give training, have the most interactive, but such system is only capable of training and flies hands in spacious environmental condition
Under to unmanned plane manipulate ability.Actual job is on-the-spot many more than the circumstance complication in analogue system, and exists the most true
Determining cause element, flying hands also needs to search circuit, equipment deficiency under ensureing flight safety premise.
As can be seen here, existing unmanned plane training system all cannot meet power transmission line unmanned machine and patrols and examines training requirement.
Summary of the invention
Having problems for above-mentioned prior art, the present invention provides a kind of power transmission line unmanned machine to patrol and examine emulation training side
Method, the method sets up emulation training model based on actual place, realizes unmanned plane manipulation training in outpost of the tax office mode, and according to
Practical situation arranges typical defect, it is possible to be effectively improved emulation training effect and quality, shortens the training cycle, cuts down expenses.
The present invention is achieved through the following technical solutions above-mentioned purpose: emulation training side patrolled and examined by a kind of power transmission line unmanned machine
Method, this emulation training method comprises the steps:
1) data acquisition: to specifying region scene data acquisition, certain angle and serialograph on direction；
2) set up 3D model: utilize the scene photo in data acquisition, it is achieved 3D modeling in region, and set up actual handle
With emulation unmanned plane and the communication mechanism of The Cloud Terrace, cutting optimizes unmanned plane flight control modules in virtual scene and The Cloud Terrace control
System strategy；
3) outpost of the tax office is set: make an inspection tour operant skill main points during tasks carrying according to UAV system, the design training outpost of the tax office and
Examination task；
4) typical fault is arranged: based on the common typical fault of transmission line of electricity, arranges trouble point in virtual scene；
5) wind resistance, the flight of anti-rain are arranged: combine actual field environment, simulate wind, rain environment in virtual scene.
Further, described step 1) in region scene be 200 meters of X200 rice, and by unmanned plane at 0-150 rice,
360 degree of serialographs, form the panorama sketch that a width is complete.
Further, described step 2) include the alternate coordinate system of 2D image of described scene photo be converted into view coordinate,
View coordinate is converted into spheric coordinate system, and with camera shooting fixed viewpoint as zero, sets up Sphere Measurement Model and sight
Examine coordinate system；, handle data being sent to flight control modules by wireless signal mode, described flight control modules leads to meanwhile
Cross data wire to import data to analogue system, and with the unmanned plane in analogue system and cradle head control strategy matching.
Further, described step 3) in the outpost of the tax office include taking off, land, hover, take pictures and distance controlling；And the outpost of the tax office uses
Incremental, mode from the easier to the more advanced is arranged.
Further, described step 4) in typical fault be in virtual scene arrange with transmission line of electricity in common typical case therefore
Hinder consistent trouble point；Described trouble point include insulator chain carry out ice, fall string, galvanic corrosion and gold utensil buckle come off.
Further, described step 5) in simulation wind be set to 10 meter per seconds.
Compared with prior art, the method, by virtual and real combination, sets up 3D model during simulation training,
Maximized reduction truth, and typical fault, the outpost of the tax office and wind resistance, the flight of anti-rain are set during simulation training,
Can comprehensive, the manipulation ability training human pilot of multi-angle.
Owing to the manipulation of unmanned plane is a more complicated process, operator is had the requirement that comparison is high, thus with
Based on actual scene, set up emulation training model, and trouble point be set in a model, allow operator be simulated training,
Both can save expense, can avoid again owing to handling loss that is unskilled and that cause.Make full use of text, figure, three-dimensional shadow
The media forms of expression such as picture, three-dimensional animation and sound, by stimulating the vision of student, auditory nerve, transfer of student
Practise enthusiasm and initiative, almost real simulation training, cultivate the actual operational capacity of student, overcome in training on the spot simultaneously
The problems such as the such as equipment safety of existence, environmental factors adverse effect, enhancement training effect.
Accompanying drawing explanation
Fig. 1 is overall flow schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
As shown in Figure 1: it is aobvious on spherical zone curtain that analogue system system mainly has two high definition engineering scialyscopes to combine fusion device
Show the picture that a width is complete.The curved surface correcting function that fusion device is powerful, the perfect projected picture that solves is utilized to deform on spherical zone curtain
Problem, the color of two scialyscopes about adjustment, brightness are consistent, allow trainer immerse wherein, place oneself in the midst of real seemingly
In flight environment of vehicle.Meanwhile, coach's scialyscope can be with the aloft picture of simultaneous display or special display simulated flight instruction
The training situation practiced.
Patrol and examine in emulation training at power transmission line unmanned machine, first: gather data, to specifying region scene data acquisition,
Certain angle and serialograph on direction, region scene is 200 meters of X200 rice, and by unmanned plane at 0-150 rice,
360 degree of serialographs, form the panorama sketch that a width is complete；Secondly: set up 3D model, utilize the scene in data acquisition to shine
Sheet, it is achieved 3D modeling in region, and set up actual handle and emulation unmanned plane and the communication mechanism of The Cloud Terrace, cutting optimizes unmanned plane
Flight control modules in virtual scene and cradle head control strategy；The alternate coordinate system of 2D image of described scene photo is converted into
View coordinate, view coordinate is converted into spheric coordinate system, and with camera shooting fixed viewpoint as zero, sets up ball
Surface model and view coordinate；, handle data are sent to flight control modules by wireless signal mode, described flight meanwhile
Control module is imported data to analogue system by data wire, and with the unmanned plane in analogue system and cradle head control strategy
Join；Then, the outpost of the tax office is set: according to operant skill main points during UAV system tour tasks carrying, design is trained the outpost of the tax office and examines
Core task, the outpost of the tax office includes taking off, lands, hovers, takes pictures and distance controlling；And the outpost of the tax office uses incremental, from the easier to the more advanced
Mode is arranged；
Finally, typical fault arranges and wind resistance, the flight of anti-rain are arranged: based on the common typical fault of transmission line of electricity,
Arranging trouble point in virtual scene, typical fault arranges that in virtual scene typical fault common with transmission line of electricity is consistent
Trouble point；Described trouble point include insulator chain carry out ice, fall string, galvanic corrosion and gold utensil buckle come off, wind resistance, the flight of anti-rain are set
Putting is to combine actual field environment, simulates wind, rain environment, arrange the wind of 10m/s and little in virtual scene in virtual scene
Rain environment, simulation true environment is used for training unmanned plane to manipulate ability.
Unmanned plane patrol and examine have by landform limited little, tower head patrol and examine effective, low cost, simple to operate, can rapid deployment,
Patrol and examine the advantages such as efficiency is high, can be to artificial and have people's helicopter routing inspection effectively to supplement in the scope of patrolling and examining, content and the frequency.
Polling transmission line unmanned plane module, accessory are many, manipulation complexity, and blindly manipulation unmanned plane can cause device damage or other things
Therefore, therefore, personnel actual carry out patrol and examine work before must skillfully grasp unmanned plane manipulation and method for inspecting.In conjunction with actual unmanned
It is preferable that machine and scene of patrolling and examining are trained effect, but each by equipped quantity, place, time, complexity, safety and weather etc.
The restriction of environmental factors, training effectiveness is relatively low, although existing multimedia is trained video, word, animation and threedimensional model
Combine together, be dynamic, but training effect's limited (be only capable of training and unmanned plane during flying is manipulated), with actual transmission line of electricity
Unmanned plane patrols and examines requirement, and also there is a big difference.
The present invention simulates true environment, sets up model, and arrange defect point in systems based on actual tests field, logical
Crossing rehearsal repeatedly makes start-up grasp unmanned plane manipulation and patrol and examine main points, uses unmanned plane prototype in reality on this basis
Place is drilled, and consolidates further and raising personnel manipulate and patrol and examine level.
Embodiment provided above is the better embodiment of the present invention, is only used for the convenient explanation present invention, not to this
Bright make any pro forma restriction, any art has usually intellectual, if without departing from the carried skill of the present invention
In the range of art feature, disclosed technology contents is utilized to be made the Equivalent embodiments that local is changed or modified, and
Without departing from the technical characteristic content of the present invention, all still fall within the range of the technology of the present invention feature.
Claims (6)
1. emulation training method patrolled and examined by a power transmission line unmanned machine, it is characterised in that this emulation training method includes walking as follows
Rapid:
1) data acquisition: to specifying region scene data acquisition, certain angle and serialograph on direction；
2) set up 3D model: utilize the scene photo in data acquisition, it is achieved 3D modeling in region, and set up actual handle with imitative
True unmanned plane and the communication mechanism of The Cloud Terrace, cutting optimizes unmanned plane flight control modules in virtual scene and cradle head control plan
Slightly；
3) outpost of the tax office is set: according to operant skill main points, the design training outpost of the tax office and examination during UAV system tour tasks carrying
Task；
4) typical fault is arranged: based on the common typical fault of transmission line of electricity, arranges trouble point in virtual scene；
5) wind resistance, the flight of anti-rain are arranged: combine actual field environment, simulate wind, rain environment in virtual scene.
Emulation training method patrolled and examined by a kind of power transmission line unmanned machine the most according to claim 1, it is characterised in that: described step
Rapid 1) the region scene in is 200 meters of X200 rice, and by unmanned plane at 0-150 rice, 360 degree of serialographs, is formed
The panorama sketch that one width is complete.
Emulation training method patrolled and examined by a kind of power transmission line unmanned machine the most according to claim 1, it is characterised in that: described step
Rapid 2) include that the alternate coordinate system of 2D image of described scene photo is converted into view coordinate, view coordinate is converted into sphere
Coordinate system, and with camera shooting fixed viewpoint as zero, set up Sphere Measurement Model and view coordinate；Meanwhile, by handle number
Sending to flight control modules according to by wireless signal mode, described flight control modules is imported data to imitative by data wire
True system, and with the unmanned plane in analogue system and cradle head control strategy matching.
Emulation training method patrolled and examined by a kind of power transmission line unmanned machine the most according to claim 1, it is characterised in that: described step
Rapid 3) in, the outpost of the tax office includes taking off, lands, hovers, takes pictures and distance controlling；And the outpost of the tax office uses incremental, side from the easier to the more advanced
Formula is arranged.
Emulation training method patrolled and examined by a kind of power transmission line unmanned machine the most according to claim 1, it is characterised in that: described step
Rapid 4) typical fault in is to arrange the trouble point that typical fault common with transmission line of electricity is consistent in virtual scene；Described event
Barrier point include insulator chain carry out ice, fall string, galvanic corrosion and gold utensil buckle come off.
Emulation training method patrolled and examined by a kind of power transmission line unmanned machine the most according to claim 1, it is characterised in that: described step
Rapid 5) the simulation wind in is set to 10 meter per seconds.
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Cited By (15)
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|---|---|---|---|---|
| CN106774418A (en) * | 2017-01-16 | 2017-05-31 | 深圳电航空技术有限公司 | Unmanned plane manipulates method of testing |
| CN107274743A (en) * | 2017-08-14 | 2017-10-20 | 国家电网公司 | Transmission line of electricity visual simulating training system based on VR technologies |
| CN107729565A (en) * | 2017-11-13 | 2018-02-23 | 国网福建省电力有限公司 | The transmission line of electricity holographic panoramic processing method of image procossing is maked an inspection tour based on unmanned plane |
| CN108053714A (en) * | 2017-11-10 | 2018-05-18 | 广东电网有限责任公司教育培训评价中心 | Multi-rotor unmanned aerial vehicle based on polling transmission line makes an inspection tour operation simulation training system |
| CN108496129A (en) * | 2017-04-28 | 2018-09-04 | 深圳市大疆创新科技有限公司 | A kind of facility detection method and control device based on aircraft |
| CN108597326A (en) * | 2018-03-14 | 2018-09-28 | 国网四川省电力公司技能培训中心 | Transmission line of electricity crossed crossing distance measures simulator and its emulation mode |
| CN110880258A (en) * | 2019-12-09 | 2020-03-13 | 云南电网有限责任公司带电作业分公司 | Power line unmanned aerial vehicle intelligent inspection actual operation simulation training method and system |
| CN110963037A (en) * | 2019-12-27 | 2020-04-07 | 国网河北省电力有限公司衡水供电分公司 | Relay type unmanned aerial vehicle power transmission and distribution line inspection system and method |
| CN111009164A (en) * | 2019-12-09 | 2020-04-14 | 云南电网有限责任公司带电作业分公司 | Method and system for constructing multi-dimensional virtual scene of intelligent routing inspection of power line unmanned aerial vehicle |
| CN111402661A (en) * | 2020-03-10 | 2020-07-10 | 武汉傲睿尔科技有限公司 | Transmission and distribution line unmanned aerial vehicle patrols and examines emulation training system |
| CN111429772A (en) * | 2020-04-15 | 2020-07-17 | 云南电网有限责任公司带电作业分公司 | Power transmission line unmanned aerial vehicle simulation training method and system based on VR technology |
| CN111754836A (en) * | 2020-07-23 | 2020-10-09 | 北京道迩科技有限公司 | Simulation training system |
| CN112185212A (en) * | 2020-09-30 | 2021-01-05 | 国家电网有限公司 | Unmanned aerial vehicle simulation training method based on AirSim |
| CN112365763A (en) * | 2020-11-18 | 2021-02-12 | 国网智能科技股份有限公司 | Unmanned aerial vehicle inspection training method and system for power equipment |
| CN113031462A (en) * | 2021-03-15 | 2021-06-25 | 上海振华重工(集团)股份有限公司 | Port machine inspection route planning system and method for unmanned aerial vehicle |
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| CN106774418A (en) * | 2017-01-16 | 2017-05-31 | 深圳电航空技术有限公司 | Unmanned plane manipulates method of testing |
| CN108496129A (en) * | 2017-04-28 | 2018-09-04 | 深圳市大疆创新科技有限公司 | A kind of facility detection method and control device based on aircraft |
| CN107274743A (en) * | 2017-08-14 | 2017-10-20 | 国家电网公司 | Transmission line of electricity visual simulating training system based on VR technologies |
| CN108053714A (en) * | 2017-11-10 | 2018-05-18 | 广东电网有限责任公司教育培训评价中心 | Multi-rotor unmanned aerial vehicle based on polling transmission line makes an inspection tour operation simulation training system |
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| CN107729565A (en) * | 2017-11-13 | 2018-02-23 | 国网福建省电力有限公司 | The transmission line of electricity holographic panoramic processing method of image procossing is maked an inspection tour based on unmanned plane |
| CN108597326A (en) * | 2018-03-14 | 2018-09-28 | 国网四川省电力公司技能培训中心 | Transmission line of electricity crossed crossing distance measures simulator and its emulation mode |
| CN111009164A (en) * | 2019-12-09 | 2020-04-14 | 云南电网有限责任公司带电作业分公司 | Method and system for constructing multi-dimensional virtual scene of intelligent routing inspection of power line unmanned aerial vehicle |
| CN110880258A (en) * | 2019-12-09 | 2020-03-13 | 云南电网有限责任公司带电作业分公司 | Power line unmanned aerial vehicle intelligent inspection actual operation simulation training method and system |
| CN110963037A (en) * | 2019-12-27 | 2020-04-07 | 国网河北省电力有限公司衡水供电分公司 | Relay type unmanned aerial vehicle power transmission and distribution line inspection system and method |
| CN111402661A (en) * | 2020-03-10 | 2020-07-10 | 武汉傲睿尔科技有限公司 | Transmission and distribution line unmanned aerial vehicle patrols and examines emulation training system |
| CN111429772A (en) * | 2020-04-15 | 2020-07-17 | 云南电网有限责任公司带电作业分公司 | Power transmission line unmanned aerial vehicle simulation training method and system based on VR technology |
| CN111754836A (en) * | 2020-07-23 | 2020-10-09 | 北京道迩科技有限公司 | Simulation training system |
| CN111754836B (en) * | 2020-07-23 | 2023-03-24 | 北京道迩科技有限公司 | Simulation training system |
| CN112185212A (en) * | 2020-09-30 | 2021-01-05 | 国家电网有限公司 | Unmanned aerial vehicle simulation training method based on AirSim |
| CN112365763A (en) * | 2020-11-18 | 2021-02-12 | 国网智能科技股份有限公司 | Unmanned aerial vehicle inspection training method and system for power equipment |
| CN113031462A (en) * | 2021-03-15 | 2021-06-25 | 上海振华重工(集团)股份有限公司 | Port machine inspection route planning system and method for unmanned aerial vehicle |
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