CN117572961A - Nuclear power station operation and maintenance virtual simulation system - Google Patents
Nuclear power station operation and maintenance virtual simulation system Download PDFInfo
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- CN117572961A CN117572961A CN202311446612.9A CN202311446612A CN117572961A CN 117572961 A CN117572961 A CN 117572961A CN 202311446612 A CN202311446612 A CN 202311446612A CN 117572961 A CN117572961 A CN 117572961A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 74
- 238000004088 simulation Methods 0.000 claims abstract description 41
- 230000003993 interaction Effects 0.000 claims abstract description 39
- 230000009471 action Effects 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 21
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- 238000012549 training Methods 0.000 abstract description 11
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
- G06F3/0482—Interaction with lists of selectable items, e.g. menus
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- G06T15/00—3D [Three Dimensional] image rendering
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- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
The invention relates to the technical field of virtual simulation, in particular to a nuclear power station operation and maintenance virtual simulation system. The system comprises: the system comprises a picture display module, a head tracking module, a hand interaction module, an information function module and an operation and maintenance scene module: the picture display module is used for displaying the simulated nuclear power station scene in the VR head display equipment; the head tracking module is used for tracking the position and the direction of the head of the wearer; the hand interaction module is used for tracking the handle actions held by the wearer and completing the interaction with the scene objects; the information function module is used for realizing various interactions required by operation and maintenance simulation; the operation and maintenance scene module is used for forming a simulated operation and maintenance scene. According to the invention, a VR virtual simulation technology is adopted, a simulation scene consistent with a field real operation and maintenance environment is established, so that training staff can obtain an on-site overhaul experience, the environment bringing sense is greatly enhanced, and further, operation and maintenance training is realized by utilizing a man-machine interaction technology.
Description
Technical Field
The invention relates to the technical field of virtual simulation, in particular to a nuclear power station operation and maintenance virtual simulation system.
Background
The nuclear power station has the characteristics of various equipment types, complex internal structure, high environmental radiation intensity and the like, and the problems of short implementation period, narrow operation space, complex operation flow and the like of the on-site operation and maintenance work of the nuclear power station exist. At present, the training means provided by the nuclear power station for operation and maintenance personnel are mainly in the forms of documents, electronic courseware, simulators and the like, and the means have the problems of low efficiency, high cost and the like. With the development of virtual simulation technology, the simulation interactive application based on immersive virtual reality (VR for short) is mature gradually, and is widely applied to the fields of games, movies, medicine, military, industry and the like, and the VR application has the advantages of visual image, good experience, low cost and the like.
Therefore, related technology research and product development can be developed based on VR, and complex operation and maintenance environment and flow of the nuclear power station can be simulated, so that the problems faced by the operation and maintenance personnel training of the current nuclear power station can be solved.
Disclosure of Invention
The invention aims to solve the technical problems that: the utility model provides a nuclear power station fortune dimension virtual simulation system, it adopts VR virtual simulation technique, establishes the simulation scene unanimous with the scene true fortune dimension environment, makes training personnel obtain the maintenance experience of being in person, greatly strengthens the environment and brings the sense, and then utilizes man-machine interaction technique, simulate step flow and the operation method unanimous with actual fortune dimension, makes training personnel can carry out the real operation exercise, realizes fortune dimension work training.
The invention provides a virtual simulation system for operation and maintenance of a nuclear power station, which comprises the following components: the system comprises a picture display module, a head tracking module, a hand interaction module, an information function module and an operation and maintenance scene module:
the picture display module is used for displaying the simulated nuclear power station scene in the VR head display equipment;
the head tracking module is used for tracking the position and the direction of the head of the wearer;
the hand interaction module is used for tracking the handle action of the hand held by the wearer, adjusting the handle model position in the picture of the wearer by identifying the handle position so as to accurately complete the interaction with the scene object, and triggering corresponding interaction events and display information by identifying the handle keys so as to realize more operation functions;
the information function module is used for triggering the corresponding sub-function module after the handle interaction is carried out by the wearer so as to further realize various interactions required by operation and maintenance simulation;
the operation and maintenance scene module is used for realizing the operation and maintenance work of the typical nuclear power station based on the functions of the module, and performing three-dimensional modeling and flow development according to the environment where the work is located, implementation objects and operation rules to form a simulated operation and maintenance scene.
Preferably, the sub-functions of the information function module include:
the fixed-point transmission sub-module is used for facilitating a wearer to quickly move the visual angle of the picture to a designated position in a scene;
the walking simulation sub-module is used for a wearer to move forward at a fixed speed to simulate a walking process;
the interaction simulation sub-module is used for completing the appointed operation and maintenance actions through interaction between the wearer and the operation and maintenance object;
the tool selection sub-module is used for displaying a tool menu required by the current operation and maintenance work, and selecting and calling out a tool model;
the procedure checking sub-module is used for checking a procedure text menu of the current operation and maintenance work, selecting and entering a corresponding operation step;
and the scene exit sub-module is used for selecting and exiting the current simulation operation and maintenance scene.
Preferably, the simulated operation and maintenance scene includes, but is not limited to:
a main pump hoisting simulation scene of the nuclear power station;
disassembly and overhaul simulation scene of residual heat removal pump of nuclear power station;
the nuclear power station reactor pool water draining operation simulation scene.
Preferably, the head tracking module consists of a space positioning tower and head display equipment, wherein the head display equipment is provided with a gyroscope and a speedometer and comprises a plurality of infrared receiving sensors.
Preferably, the hand interaction module is composed of a space positioning tower and a handle device, the handle device is provided with a plurality of infrared receiving sensors, infrared light emitted by the space positioning tower is received, the space coordinates of the handle are calculated according to the position difference of each sensor, the handle sends position information to a computer through wireless signals, a scene program adjusts the position of a handle model in a wearer picture according to the acquired position information so as to accurately complete interaction with a scene object, and corresponding interaction events and display information are triggered through identifying handle keys so as to realize more operation functions.
Preferably, the picture display module is composed of head display equipment and a computer simulation program.
Preferably, the picture display module is used for displaying simulated nuclear power plant scenes in the VR head display equipment, including the operation and maintenance factory building environment, maintenance equipment and tools of the nuclear power plant,
and establishing a high-precision three-dimensional simulation model on site according to the site laser scanning data, performing material light rendering processing in a three-dimensional engine, outputting the processed data to VR head display equipment through a double-channel visual angle camera, wherein the camera angle is consistent with the left eye and the right eye of a person, so that a three-dimensional picture is formed in the vision of a wearer.
Preferably, the establishment of the picture display module comprises point cloud processing, geometric modeling, scene rendering and picture output;
the point cloud processing step is to splice, fit, color-imparting and other processes on the point cloud data scanned by the site three-dimensional laser in professional processing software to form a high-precision model grid with the same size proportion as the site operation and maintenance environment;
the geometric modeling step is that the processed point cloud is imported into modeling software, and identification, geometric body establishment and material mapping processing of all object facilities in the environment are carried out according to the point cloud grid and a drawing to form a general three-dimensional model;
the scene rendering step is to import a three-dimensional model into a three-dimensional engine, and add elements such as lamplight, shadows, special materials, dynamic special effects and the like to form a simulation scene which is more consistent with the environmental atmosphere of the operation and maintenance site;
the picture output step is to output the simulation scene to the VR head display equipment through a double-channel visual angle camera, wherein the camera angle is consistent with the left eye and the right eye of a person so as to form a three-dimensional picture in the vision of a wearer.
Compared with the prior art, the nuclear power station operation and maintenance virtual simulation system is more visual and more visual in content and has actual operation experience; compared with the mode of building the physical training simulator, the system has great advantages in the aspects of occupation of field space, convenience in use, flexibility in content expansion, construction cost and the like. Based on the VR immersive environment, the system truly simulates key working processes such as hoisting of heavy equipment of a nuclear power station, equipment overhaul in a high-radiation environment, complex operation in multiple sites and the like, enables training staff to quickly enter various complex scenes through virtual simulation, carries out interactive real operation according to actual operation rules, and obtains good operation process guidance and result feedback. The system can remarkably improve the skill training work efficiency of the nuclear power plant and achieve a good training effect in a low-cost mode.
Drawings
Fig. 1 shows a structure diagram of a nuclear power plant operation and maintenance virtual simulation system.
Detailed Description
For a further understanding of the present invention, embodiments of the invention are described below in conjunction with the examples, but it should be understood that these descriptions are merely intended to illustrate further features and advantages of the invention, and are not limiting of the invention.
The embodiment of the invention discloses a nuclear power station operation and maintenance virtual simulation system, which is shown in fig. 1 and comprises a head tracking module, a hand interaction module, a picture display module, an information function module and an operation and maintenance scene module:
the head tracking module consists of a space positioning tower and head display equipment, the head display equipment is provided with a gyroscope and a speedometer, and comprises a plurality of infrared receiving sensors for receiving rays emitted by the space positioning tower, the head display is accurately positioned in space by combining various modes so as to track the position and direction of the head of a wearer, such as steering, squatting, moving and the like, the head display equipment sends position information to a computer through a data line, and a scene program adjusts the azimuth and the angle of a visual angle camera of a picture according to the acquired position information, so that the wearer obtains sensory feedback consistent with behaviors;
the hand interaction module consists of a space positioning tower and a handle device, the handle device is provided with a plurality of infrared receiving sensors, infrared light emitted by the space positioning tower is received, the space coordinates of the handle are calculated according to the position difference of each sensor, the handle sends position information to a computer through wireless signals, a scene program adjusts the position of a handle model in a picture of a wearer according to the acquired position information so as to accurately complete interaction with a scene object, and corresponding interaction events and display information are triggered through identifying handle keys so as to realize more operation functions;
the picture display module consists of head display equipment and a computer simulation program and is used for displaying the simulated nuclear power station operation and maintenance factory environment, operation and maintenance equipment, tools and other objects in the VR head display equipment. The building of the module comprises the steps of point cloud processing, geometric modeling, scene rendering, picture output and the like;
the point cloud processing step is to splice, fit, color-imparting and other processes on the point cloud data scanned by the site three-dimensional laser in professional processing software to form a high-precision model grid with the same size proportion as the site operation and maintenance environment;
the geometric modeling step is that the processed point cloud is imported into modeling software, and identification, geometric body establishment and material mapping processing of all object facilities in the environment are carried out according to the point cloud grid and a drawing to form a general three-dimensional model;
the scene rendering step is to import a three-dimensional model into a three-dimensional engine, and add elements such as lamplight, shadows, special materials, dynamic special effects and the like to form a simulation scene which is more consistent with the environmental atmosphere of the operation and maintenance site;
the picture output step is that a simulation scene is output to VR head display equipment through a double-channel visual angle camera, and the camera angle is consistent with the left eye and the right eye of a person so as to form a three-dimensional picture in the vision of a wearer;
the information function module is a sub-function module of each human-computer interaction realized by a simulation program, and after a wearer interacts with a simulation scene based on head tracking, hand interaction and a picture display module, the sub-function module of fixed-point transmission, walking simulation, interaction simulation, tool selection, procedure checking, scene exit and the like is triggered, so that each interaction required by operation and maintenance simulation is further realized.
The fixed-point transmission submodule is characterized in that a wearer sends out rays in a scene through a handle key, and moves the direction and the angle of the rays by shaking the handle, and after the key is loosened, the visual angle of a picture is quickly moved to the position of a ray end point;
the walking simulation sub-module is characterized in that a wearer forwards moves the visual angle at a fixed speed through a handle key, and adjusts the forward direction through shaking the handle to simulate the walking process, and after the key is released, the visual angle movement is stopped;
the interactive simulation sub-module is used for controlling the hand/tool model by shaking the handle to enable the hand/tool model to interact with the maintenance object model appointed by the current operation and maintenance step, and completing the appointed operation and maintenance action according to the requirement;
the tool selection submodule is used for enabling a wearer to call out a tool menu required by the current operation and maintenance work through a handle key, selecting and calling out a tool model, and enabling the tool model to be attached to the hand position and move along with the hand;
the procedure checking sub-module is used for a wearer to call out a procedure step menu of the current operation and maintenance work through a handle key, check the description text of the current step, select the step and enable the scene to quickly enter the corresponding operation and maintenance step;
the scene exit sub-module is used for enabling a wearer to call out a scene exit menu through a handle key, and can select and exit the current simulated operation and maintenance scene;
the operation and maintenance scene module is a typical nuclear power station operation and maintenance module realized by a simulation program based on an information interaction function, and the program carries out three-dimensional modeling and flow development according to the environment where operation and maintenance work is located, implementation objects and operation rules to form a simulation operation and maintenance scene with various man-machine interaction functions, wherein the simulation operation and maintenance scene comprises a main pump hoisting simulation scene of a nuclear power station, a disassembly and maintenance simulation scene of a residual heat removal pump of the nuclear power station and a water discharge operation simulation scene of a pool of a nuclear power station reactor;
the main pump hoisting simulation scene of the nuclear power station is mainly a process of hoisting a main pump motor and a main body from a room to a 20-meter platform, and can perform interaction functions such as main pump hoisting action simulation, collision interference early warning prompt, interference component dismantling and the like;
the disassembly and overhaul simulation scene of the motor of the residual heat removal pump of the nuclear power station mainly comprises the steps of dismantling important parts such as a coupler, a fan and a bearing of the motor, cleaning and checking parts such as a stator and a rotor, reinstalling and testing and the like;
and the nuclear power station reactor pool water draining operation simulation scene. The method mainly comprises the operation steps of operating a related isolation valve of the refueling water tank, starting a skimming loop pump, draining the refueling water tank, recovering the skimming loop pump on line, and forming Chi Shushui.
The above description of the embodiments is only for aiding in the understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A nuclear power plant operation and maintenance virtual simulation system, comprising: the system comprises a picture display module, a head tracking module, a hand interaction module, an information function module and an operation and maintenance scene module:
the picture display module is used for displaying the simulated nuclear power station scene in the VR head display equipment;
the head tracking module is used for tracking the position and the direction of the head of the wearer;
the hand interaction module is used for tracking the handle action of the hand held by the wearer, adjusting the handle model position in the picture of the wearer by identifying the handle position so as to accurately complete the interaction with the scene object, and triggering corresponding interaction events and display information by identifying the handle keys so as to realize more operation functions;
the information function module is used for triggering the corresponding sub-function module after the handle interaction is carried out by the wearer so as to further realize various interactions required by operation and maintenance simulation;
the operation and maintenance scene module is used for realizing the operation and maintenance work of the typical nuclear power station based on the functions of the module, and performing three-dimensional modeling and flow development according to the environment where the work is located, implementation objects and operation rules to form a simulated operation and maintenance scene.
2. The nuclear power plant operation and maintenance virtual simulation system of claim 1, wherein the sub-functional modules of the information functional module include:
the fixed-point transmission sub-module is used for facilitating a wearer to quickly move the visual angle of the picture to a designated position in a scene;
the walking simulation sub-module is used for a wearer to move forward at a fixed speed to simulate a walking process;
the interaction simulation sub-module is used for completing the appointed operation and maintenance actions through interaction between the wearer and the operation and maintenance object;
the tool selection sub-module is used for displaying a tool menu required by the current operation and maintenance work, and selecting and calling out a tool model;
the procedure checking sub-module is used for checking a procedure text menu of the current operation and maintenance work, selecting and entering a corresponding operation step;
and the scene exit sub-module is used for selecting and exiting the current simulation operation and maintenance scene.
3. The nuclear power plant operation and maintenance virtual simulation system of claim 1, wherein the simulated operation and maintenance scenarios include, but are not limited to, the following typical scenarios:
a main pump hoisting simulation scene of the nuclear power station;
disassembly and overhaul simulation scene of residual heat removal pump of nuclear power station;
the nuclear power station reactor pool water draining operation simulation scene.
4. The nuclear power plant operation and maintenance virtual simulation system according to claim 1, wherein the head tracking module consists of a space positioning tower and a head display device, and the head display device is provided with a gyroscope and a speedometer and comprises a plurality of infrared receiving sensors.
5. The nuclear power station operation and maintenance virtual simulation system according to claim 1, wherein the hand interaction module is composed of a space positioning tower and a handle device, the handle device is provided with a plurality of infrared receiving sensors, infrared light emitted by the space positioning tower is received, the space coordinates of the handle are calculated according to the position difference of each sensor, the handle sends position information to a computer through wireless signals, a scene program adjusts the position of a handle model in a wearer picture according to the acquired position information so as to accurately complete interaction with a scene object, and corresponding interaction events and display information are triggered by identifying handle keys so as to realize more operation functions.
6. The virtual simulation system of operation and maintenance of nuclear power plant according to claim 1, wherein the picture display module is composed of head display equipment and a computer simulation program.
7. The system of claim 1, wherein the screen display module is configured to display a simulated plant scene in the VR head display device including a plant environment, maintenance equipment, and tools,
and establishing a high-precision three-dimensional simulation model on site according to the site laser scanning data, performing material light rendering processing in a three-dimensional engine, outputting the processed data to VR head display equipment through a double-channel visual angle camera, wherein the camera angle is consistent with the left eye and the right eye of a person, so that a three-dimensional picture is formed in the vision of a wearer.
8. The nuclear power plant operation and maintenance virtual simulation system according to claim 7, wherein the establishment of the picture display module comprises point cloud processing, geometric modeling, scene rendering and picture output;
the point cloud processing step is to splice, fit, color-imparting and other processes on the point cloud data scanned by the site three-dimensional laser in professional processing software to form a high-precision model grid with the same size proportion as the site operation and maintenance environment;
the geometric modeling step is that the processed point cloud is imported into modeling software, and identification, geometric body establishment and material mapping processing of all object facilities in the environment are carried out according to the point cloud grid and a drawing to form a general three-dimensional model;
the scene rendering step is to import a three-dimensional model into a three-dimensional engine, and add elements such as lamplight, shadows, special materials, dynamic special effects and the like to form a simulation scene which is more consistent with the environmental atmosphere of the operation and maintenance site;
the picture output step is to output the simulation scene to the VR head display equipment through a double-channel visual angle camera, wherein the camera angle is consistent with the left eye and the right eye of a person so as to form a three-dimensional picture in the vision of a wearer.
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