CN111429772A - Power transmission line unmanned aerial vehicle simulation training method and system based on VR technology - Google Patents
Power transmission line unmanned aerial vehicle simulation training method and system based on VR technology Download PDFInfo
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Abstract
The invention relates to a power transmission line unmanned aerial vehicle simulation training method and a power transmission line unmanned aerial vehicle simulation training system based on VR technology, comprising the following steps: building an unmanned aerial vehicle flight control simulation model, simulating an override function of the unmanned aerial vehicle, realizing the injection flight control of a mission planning scheme, and displaying various flight parameters and flight attitude three-dimensional views in real time; building an unmanned aerial vehicle flight model; building a three-dimensional real scene model of the power transmission line, a simulation scene environment of the power transmission line and a defect model of the power transmission line; carrying out flight control management training and examination; and after the unmanned aerial vehicle flies to control and examine, the unmanned aerial vehicle patrols and examines the real operation teaching and examination. According to the unmanned aerial vehicle inspection practical training and examination method, the unmanned aerial vehicle inspection practical training and examination are carried out after the trainees are qualified in the flight control management training and examination, the problem that the trainees are unskilled in flight control operation is avoided, the trainees can comprehensively master key technologies of unmanned aerial vehicle inspection according to standardized procedures, and effective assistance is provided for power grid lean management.
Description
Technical Field
The invention relates to the technical field of power grid transmission line inspection, in particular to a power transmission line unmanned aerial vehicle simulation training method and system based on VR technology.
Background
Along with the large-scale extension of power grid lines, the workload of line patrol is increased day by day, the current line patrol technical talents mainly patrol in a mode of 'manual patrol' + 'mechanical patrol', and the technical talents cannot meet the daily line patrol requirements, so that professional technical personnel training needs to be carried out on power grid transmission line defect patrol training, support is provided for the patrol work of the power transmission line, and the work efficiency is improved.
At present, transmission line machine patrols the personnel very lack, and transmission line's patrolling personnel mainly through theoretical knowledge study and the training that traditional unmanned aerial vehicle controlled, lack the training of controlling unmanned aerial vehicle at real transmission line, have following shortcoming through traditional unmanned aerial vehicle training method simultaneously: the professional knowledge degree is not enough, and the flight control proficiency of the unmanned aerial vehicle is not enough; personnel through traditional training, owing to lack the transmission line defect and patrol and examine the application, can't accomplish unmanned aerial vehicle transmission line's flight operation according to the standard. Therefore, power transmission line unmanned aerial vehicle simulation system based on VR technology is urgently to be developed
Aiming at the situation, the invention provides the power transmission line unmanned aerial vehicle simulation training method and system based on the VR technology, which can realize the quick improvement of the inspection skill of the power transmission line unmanned aerial vehicle inspector and the improvement of the inspection quality of the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a power transmission line unmanned aerial vehicle simulation training method and system based on a VR (virtual reality) technology, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a power transmission line unmanned aerial vehicle simulation training method based on VR technology comprises the following steps:
building an unmanned aerial vehicle flight control simulation model, truly simulating the flight data of the unmanned aerial vehicle, simulating the override function of the unmanned aerial vehicle, realizing the injection flight control of a mission planning scheme, and displaying various flight parameters and flight attitude three-dimensional views in real time;
building an unmanned aerial vehicle flight model, carrying out data connection on unmanned aerial vehicle flight data and a remote controller, and sending an instruction to control the unmanned aerial vehicle model through remote control;
building a three-dimensional real scene model of the power transmission line, a simulation scene environment of the power transmission line and a defect model of the power transmission line;
carrying out flight control management training and examination; and
after the unmanned aerial vehicle flies to control management and examination, the unmanned aerial vehicle patrols and examines actual operation teaching and examination.
Preferably, the flight data of the unmanned aerial vehicle is connected with the remote controller in a data mode, and the unmanned aerial vehicle model is controlled to take a picture of defects through the visible light camera and the infrared camera by sending instructions through the remote controller.
Preferably, the method comprises the steps of truly simulating a transmission line tower and a transmission corridor, establishing three-dimensional tower model data, and adding a typical transmission tower defect model in the model data; the method comprises the steps of establishing a climate environment model, adding climate scenes of wind, rain and snow, carrying out simulation on flight postures of the unmanned aerial vehicle in various climate environments according to different flight scene environments of the unmanned aerial vehicle, wherein the flight postures of the unmanned aerial vehicle comprise a wind environment, a snow environment, a rain environment and an electromagnetic environment, and changing the flight postures of the unmanned aerial vehicle.
Preferably, the flight control management training method comprises the following steps: training the unpacking of the unmanned aerial vehicle, the composition of equipment devices, the installation steps and related cautions; carrying out all-dimensional and full-skill training teaching on the operations of takeoff, hovering, vertical lifting, pitching, rolling left and right, returning to the ground, photographing and shooting of the unmanned aerial vehicle; training is carried out on the unmanned aerial vehicle dismounting step and the packing step.
Preferably, the unmanned aerial vehicle is opened, the equipment components and related cautions are subjected to flight control management and examination in an animation question-answering and selection mode, a flight control simulation scene is linked, integrated equipment is butted, the operation, operation specification, defect scanning and defect searching operation of a student are automatically recorded in a background, and finally the examination condition of the student is automatically judged.
Preferably, the teaching method for the unmanned aerial vehicle inspection real operation comprises the following steps: preparing and constructing personnel, equipment, tools and data before inspection; training the inspection safety, inspection control, inspection standard and defect finding contents in the line inspection operation process; and (5) replaying and checking the video photos, and reporting the defects.
Preferably, the examination method for the unmanned aerial vehicle inspection actual operation comprises the following steps: preparing and constructing personnel, equipment, tools and data before inspection; the inspection safety, inspection control, inspection standard and defect finding content in the line inspection operation process are examined and constructed; and (4) replaying and checking the video photos, reporting the defects and judging the scores.
The utility model provides a transmission line unmanned aerial vehicle emulation training system based on VR technique, includes:
the unmanned aerial vehicle flight control module is used for truly simulating the flight data of the unmanned aerial vehicle, simulating the override function of the unmanned aerial vehicle, realizing the injection flight control of a mission planning scheme, and displaying various flight parameters and flight attitude three-dimensional views in real time;
the unmanned aerial vehicle simulation model is used for simulating an inspection device;
the unmanned aerial vehicle simulation environment module is used for simulating the inspection flight environment of the unmanned aerial vehicle;
the transmission line defect module is used for simulating the defects of the transmission line;
the unmanned plane flight control management module is used for carrying out flight control management training and examination; and
and the unmanned aerial vehicle inspection real operation module is used for performing unmanned aerial vehicle inspection real operation teaching and examination.
Preferably, the unmanned aerial vehicle simulation model comprises an unmanned aerial vehicle simulation visible light module and is used for simulating a visible light camera in the unmanned aerial vehicle to take a defect picture; and
and the unmanned aerial vehicle simulation infrared module is used for simulating an infrared camera of the unmanned aerial vehicle to photograph the defects in the power transmission line.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the unmanned aerial vehicle inspection practical operation training and examination are carried out after the trainees are qualified in flight control management training and examination, so that the problem that the trainees are unskilled in flight control operation is avoided, the trainees can comprehensively master the key technology of unmanned aerial vehicle inspection according to a standardized flow, the number of professional talents for power transmission line inspection can be greatly increased, the working efficiency is improved, effective assistance is provided for power grid lean management, meanwhile, the trainees of the power transmission line system can comprehensively know about the power transmission system, the trainees who can not contact the power transmission line system in the actual training can learn in the VR technology, the investment of training funds can be reduced, the risk factors in the training process can be reduced, the cost of the funds can be reduced to a great extent, and the purposes of cost reduction and efficiency improvement of the power transmission line operation and maintenance can be achieved.
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FIG. 1 is a flowchart of a power transmission line unmanned aerial vehicle simulation training method based on VR technology;
FIG. 2 is a flowchart of a flight control management training method according to the present invention;
FIG. 3 is a flow chart of a flight control management assessment method of the present invention;
FIG. 4 is a flow chart of a teaching method for the unmanned aerial vehicle inspection practice of the invention;
FIG. 5 is a flow chart of an assessment method of the unmanned aerial vehicle inspection actual operation;
FIG. 6 is a structural block diagram of a power transmission line unmanned aerial vehicle simulation training system based on VR technology;
fig. 7 is a structural block diagram of a simulation model of the unmanned aerial vehicle in the system of the present invention.
In the figure: 100 unmanned aerial vehicle flies to control module, 200 unmanned aerial vehicle simulation model, 201 unmanned aerial vehicle simulation visible light module, 202 unmanned aerial vehicle simulation infrared module, 300 unmanned aerial vehicle simulation environment module, 400 transmission line defect module, 500 unmanned aerial vehicle flies to control management module, 600 unmanned aerial vehicle and patrols and examines real operation module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, the present invention provides a technical solution:
a power transmission line unmanned aerial vehicle simulation training method based on VR technology comprises the following steps:
s101: building an unmanned aerial vehicle flight control simulation model, truly simulating the flight data of the unmanned aerial vehicle, simulating the override function of the unmanned aerial vehicle, realizing the injection flight control of a mission planning scheme, and displaying various flight parameters and flight attitude three-dimensional views in real time;
s102: building an unmanned aerial vehicle flight model, carrying out data connection on unmanned aerial vehicle flight data and a remote controller, sending an instruction through remote control to control the unmanned aerial vehicle model and carrying out defect photographing through a visible light camera and an infrared camera;
s103: building a three-dimensional live-action model of the power transmission line, a power transmission line simulation scene environment and a power transmission line defect model, truly simulating a power transmission line tower and a power transmission corridor, building three-dimensional tower model data, and adding a typical power transmission tower defect model in the model data; establishing a climate environment model, adding climate scenes of wind, rain and snow, and performing simulation on the flight attitude of the unmanned aerial vehicle in various climate environments according to different flight scene environments of the unmanned aerial vehicle, wherein the flight attitude of the unmanned aerial vehicle is changed by the aid of the wind environment, the snow environment, the rain environment and the electromagnetic environment;
s104: carrying out flight control management training and examination; and
s105: after the unmanned aerial vehicle flies to control management and examination, the unmanned aerial vehicle patrols and examines actual operation teaching and examination.
The flight control management training method comprises the following steps:
s201: training the unpacking of the unmanned aerial vehicle, the composition of equipment devices, the installation steps and related cautions;
s202: carrying out all-dimensional and full-skill training teaching on the operations of takeoff, hovering, vertical lifting, pitching, rolling left and right, returning to the ground, photographing and shooting of the unmanned aerial vehicle;
s203: training is carried out on the unmanned aerial vehicle dismounting step and the packing step.
The flight control management assessment method comprises the following steps:
s301: carrying out flight control management and examination on the opening of the unmanned aerial vehicle, the composition of equipment devices and related cautions in an animation question-answer and selection mode;
s302: the flight control simulation scene is linked, integrated equipment is butted, and the background automatically records the operation, operation specification, defect scanning and defect searching operation of students;
s303: and automatically judging the examination condition of the student.
The teaching method for the unmanned aerial vehicle inspection real operation comprises the following steps:
s401: preparing and constructing personnel, equipment, tools and data before inspection;
s402: training the inspection safety, inspection control, inspection standard and defect finding contents in the line inspection operation process;
s403: and (5) replaying and checking the video photos, and reporting the defects.
The method for examining the inspection actual operation of the unmanned aerial vehicle comprises the following steps:
s501: preparing and constructing personnel, equipment, tools and data before inspection;
s502: the inspection safety, inspection control, inspection standard and defect finding content in the line inspection operation process are examined and constructed;
s503: and (4) replaying and checking the video photos, reporting the defects and judging the scores.
Wherein, every unmanned aerial vehicle patrols and examines the student and all need fly to control the management examination through unmanned aerial vehicle, just can participate in this teaching and the examination of patrolling and examining the real operation.
Wherein, for lifelike unmanned aerial vehicle to the student flies to control the technical skill and trains, will be according to the characteristics that unmanned aerial vehicle actually drove and fly, with unmanned aerial vehicle operating handle's operation, control integration to unmanned aerial vehicle fly to control the system platform of study, let the student in the system operation, drive the sense of reality and fly to control, drive more be close to actual unmanned aerial vehicle, reach and fly to control the training effect to the best of student.
The flight control scene is designed and constructed with corresponding flight markers and ground identifiers according to the flight characteristics of the unmanned aerial vehicle.
Wherein, the installation examination to unmanned aerial vehicle is built, and specific construction content is as follows:
the unmanned aerial vehicle rotor wing installation and the construction of related detailed item assessment are carried out in an animation question-answering and selecting mode; the unmanned aerial vehicle battery installation and the construction of related detailed examination are carried out in an animation question-answering and selecting mode; the unmanned aerial vehicle is started and related detailed item assessment is built in an animation question-answer and selection mode; the construction of unmanned aerial vehicle aerial photography APP connection and related detailed item assessment is carried out in an animation question-answer and selection mode; training students to directly use a keyboard and a mouse connected with a desk-top workbench to perform the operations of question and answer filling, selection and the next step;
according to the answer accuracy, flight control operation and specified assessment standards in the assessment process of the student, the background of the system automatically scores, the score is 100 full score, grade qualified and unqualified, after the system gives the evaluation score, whether the assessment is qualified or not is automatically judged, and the assessment score can be inquired in student score management.
Wherein, no matter unmanned aerial vehicle is data transmission or image transmission and takes place the interrupt, unmanned aerial vehicle stops immediately to advance to keep unmanned aerial vehicle to hover and do not do the action, wait about 10 seconds, if data transmission or image transmission still do not resume, then return to the air with unmanned aerial vehicle, avoid unmanned aerial vehicle to lose ground control.
Wherein, patrolling and examining the in-process at unmanned aerial vehicle, except that patrolling and examining the object to circuits etc. and carrying out defect scanning and seeking, still need at first shoot such as the circuit facility of tower head, body of the tower, column foot, just begin to carry out corresponding patrolling and examining to the defect after shooing, whole operation process of patrolling and examining all need follow the standardization and the standard of each item operation.
After the operation is finished, the information is reported to the responsible persons of the relevant departments in time, and the work finishing procedure is implemented.
After the unmanned aerial vehicle patrols and receives the information, relevant patrol personnel perform playback inspection on videos and pictures shot in the unmanned aerial vehicle patrolling process at least once according to the specified requirements, further inspect and confirm suspected hidden dangers, arrange relevant personnel to the site for further verification on the finally confirmed suspected hidden dangers, and bring the hidden dangers into hidden danger management strictly according to company hidden danger management processes, archive patrolling pictures and videos, and start corresponding hidden danger processing processes.
Transmission line unmanned aerial vehicle emulation training system based on VR technique includes
The unmanned aerial vehicle flight control module 100 is used for truly simulating flight data of the unmanned aerial vehicle, simulating an override function of the unmanned aerial vehicle, realizing injection flight control of a mission planning scheme, and displaying various flight parameters and flight attitude three-dimensional views in real time;
the unmanned aerial vehicle simulation model 200 is used for simulating a device for inspection;
the unmanned aerial vehicle simulation environment module 300 is used for simulating the inspection flight environment of the unmanned aerial vehicle;
a transmission line defect module 400 for simulating defects of the transmission line;
the unmanned plane flight control management module 500 is used for carrying out flight control management training and examination; and
the unmanned aerial vehicle patrols and examines real behaviour module 600 for unmanned aerial vehicle patrols and examines real behaviour teaching and examination.
The unmanned aerial vehicle simulation model 200 comprises an unmanned aerial vehicle simulation visible light module 201 and is used for simulating a visible light camera in an unmanned aerial vehicle to take a defect picture; and
and the unmanned aerial vehicle simulation infrared module 202 is used for simulating an infrared camera of the unmanned aerial vehicle to photograph the defects in the power transmission line.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A power transmission line unmanned aerial vehicle simulation training method based on VR technology is characterized by comprising the following steps:
building an unmanned aerial vehicle flight control simulation model, truly simulating the flight data of the unmanned aerial vehicle, simulating the override function of the unmanned aerial vehicle, realizing the injection flight control of a mission planning scheme, and displaying various flight parameters and flight attitude three-dimensional views in real time;
building an unmanned aerial vehicle flight model, carrying out data connection on unmanned aerial vehicle flight data and a remote controller, and sending an instruction to control the unmanned aerial vehicle model through remote control;
building a three-dimensional real scene model of the power transmission line, a simulation scene environment of the power transmission line and a defect model of the power transmission line;
carrying out flight control management training and examination; and
after the unmanned aerial vehicle flies to control management and examination, the unmanned aerial vehicle patrols and examines actual operation teaching and examination.
2. The VR technology-based power transmission line unmanned aerial vehicle simulation training method of claim 1, wherein: and performing data connection on the flight data of the unmanned aerial vehicle and a remote controller, and sending an instruction through the remote controller to control the unmanned aerial vehicle model to perform defect photographing through a visible light camera and an infrared camera.
3. The VR technology-based power transmission line unmanned aerial vehicle simulation training method of claim 1, wherein: truly simulating a transmission line tower and a transmission corridor, establishing three-dimensional tower model data, and adding a typical transmission tower defect model in the model data; the method comprises the steps of establishing a climate environment model, adding climate scenes of wind, rain and snow, carrying out simulation on flight postures of the unmanned aerial vehicle in various climate environments according to different flight scene environments of the unmanned aerial vehicle, wherein the flight postures of the unmanned aerial vehicle comprise a wind environment, a snow environment, a rain environment and an electromagnetic environment, and changing the flight postures of the unmanned aerial vehicle.
4. The VR technology-based power transmission line unmanned aerial vehicle simulation training method of claim 1, wherein the flight control management training method comprises the following steps:
training the unpacking of the unmanned aerial vehicle, the composition of equipment devices, the installation steps and related cautions;
carrying out all-dimensional and full-skill training teaching on the operations of takeoff, hovering, vertical lifting, pitching, rolling left and right, returning to the ground, photographing and shooting of the unmanned aerial vehicle;
training is carried out on the unmanned aerial vehicle dismounting step and the packing step.
5. The VR technology-based power transmission line unmanned aerial vehicle simulation training method of claim 1, wherein: the unmanned aerial vehicle control system has the advantages that flying control management and assessment are carried out on the opening of the unmanned aerial vehicle, the structure of equipment devices and related cautions in the mode of animation question answering and selection, flying control simulation scenes and butt joint integrated equipment are linked, the background automatically records the operation, operation specification, defect scanning and defect searching operation of students, and finally assessment conditions of the students are automatically judged.
6. The VR technology-based simulation training method for the power transmission line unmanned aerial vehicle as claimed in claim 1, wherein the teaching method for the unmanned aerial vehicle inspection practice comprises the following steps:
preparing and constructing personnel, equipment, tools and data before inspection;
training the inspection safety, inspection control, inspection standard and defect finding contents in the line inspection operation process;
and (5) replaying and checking the video photos, and reporting the defects.
7. The VR technology-based simulation training method for the power transmission line unmanned aerial vehicle is characterized in that the examination method for the inspection practice of the unmanned aerial vehicle comprises the following steps:
preparing and constructing personnel, equipment, tools and data before inspection;
the inspection safety, inspection control, inspection standard and defect finding content in the line inspection operation process are examined and constructed;
and (4) replaying and checking the video photos, reporting the defects and judging the scores.
8. The utility model provides a transmission line unmanned aerial vehicle emulation training system based on VR technique which characterized in that: comprises that
The unmanned aerial vehicle flight control module (100) is used for truly simulating flight data of the unmanned aerial vehicle, simulating an override function of the unmanned aerial vehicle, realizing injection flight control of a mission planning scheme, and displaying various flight parameters and flight attitude three-dimensional views in real time;
the unmanned aerial vehicle simulation model (200) is used for simulating a routing inspection device;
the unmanned aerial vehicle simulation environment module (300) is used for simulating the inspection flight environment of the unmanned aerial vehicle;
the transmission line defect module (400) is used for simulating the defects of the transmission line;
the unmanned aerial vehicle flight control management module (500) is used for carrying out flight control management training and examination; and
and the unmanned aerial vehicle inspection real operation module (600) is used for performing unmanned aerial vehicle inspection real operation teaching and examination.
9. The VR technology based power transmission line unmanned aerial vehicle simulation training system of claim 8, wherein: the unmanned aerial vehicle simulation model (200) comprises an unmanned aerial vehicle simulation visible light module (201) and is used for simulating a visible light camera in an unmanned aerial vehicle to take a defect picture; and
and the unmanned aerial vehicle simulation infrared module (202) is used for simulating an infrared camera of the unmanned aerial vehicle to photograph the defects in the power transmission line.
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