CN202230635U - Transformer substation inspection robot simulation system based on virtual reality technology - Google Patents
Transformer substation inspection robot simulation system based on virtual reality technology Download PDFInfo
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- CN202230635U CN202230635U CN2011202738426U CN201120273842U CN202230635U CN 202230635 U CN202230635 U CN 202230635U CN 2011202738426 U CN2011202738426 U CN 2011202738426U CN 201120273842 U CN201120273842 U CN 201120273842U CN 202230635 U CN202230635 U CN 202230635U
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- 238000004088 simulation Methods 0.000 title claims abstract description 21
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- 238000013500 data storage Methods 0.000 claims description 22
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Abstract
The utility model discloses a transformer substation inspection robot simulation system based on virtual reality technology. The simulation system includes an external output signal device. The external output signal device connects with a virtual reality computer. The virtual reality computer also connects with an audio/video output device, a computer used for virtual detection and a control server respectively. Three-dimensional simulation is adopted in the utility model to improve the figurativeness and the verisimilitude of man-machine interaction and to improve the interest and working enthusiasm of transformer substation technicians and robot operators. The transformer substation inspection robot simulation system based on the virtual reality technology can be used not only as a tool for tour inspection demonstration for business people, but also as a model for technique training of transformer substation inspection robots, thereby providing important safety control for the touring robots in a transformer substation.
Description
Technical field
The utility model relates to a kind of robot emulation system, relates in particular to a kind of substation inspection robot emulation system based on virtual reality technology.
Background technology
Inspecting substation equipment is an element task that effectively guarantees the substation equipment safe operation, improves power supply reliability.The substation inspection robot can replace the operations staff and accomplish work such as transformer station's everyday devices tour, infrared measurement of temperature, the equipment state inspection of operation front and back automatically; Thereby the raising equipment work efficiency and the quality of making an inspection tour conscientiously; Reduce labour intensity and work risk; Promote the intelligent substation level, for transformer station's unmanned provides support.The substation inspection robot has become the important supplementary means of inspecting substation equipment.
Also there is following technical matters in the substation inspection robot when developing rapidly:
1, the technician of transformer station can not skillfully use robot to carry out equipment routing inspection, possibly produce maloperation, even possibly damage robot and substation equipment, and the safe operation of substation equipment is caused a hidden trouble;
2, because substation inspection robot bulking value is all bigger, technician and business people can't be demonstrated and train the operation of robot.
The utility model content
The purpose of the utility model is exactly in order to address the above problem; A kind of substation inspection robot emulation system based on virtual reality technology is provided; It both can be used as the instrument that business people is patrolled and examined demonstration; Also can be used as the teaching material of substation inspection Robotics training, its three-dimensional visualization effect can significantly improve operating personnel's enthusiasm, thereby go the rounds in transformer station important safety guarantee is provided for robot.
To achieve these goals, the utility model adopts following technical scheme:
A kind of substation inspection robot emulation system based on virtual reality technology; It comprises the external input signal device; The external input signal device is connected with the virtual emulation computing machine, the virtual emulation computing machine also respectively with the audio frequency and video output device, virtual detection is connected with Control Server with computing machine; Wherein: the virtual emulation computing machine comprises the external signal identification module; The output terminal of external signal identification module respectively with the image processing module that is used for three-dimensional simulation; Data storage and processing module are connected with network connecting module; Be used for image processing module and the data storage and the processing module two-way communication of three-dimensional simulation, data storage and processing module and network connecting module two-way communication.
Said external signal input media links to each other with said external signal identification module through the interface of coupling.
The optional robot controlling equipment of said external input signal device or displacement tracking equipment or combination.
Said robot controlling equipment is telepilot, keyboard or mouse.
Said audio frequency and video output device connects the said image processing module of three-dimensional simulation and the output terminal of said data storage and processing module of being used for.
Said audio frequency and video output device comprises picture output device and audio output apparatus, and picture output device adopts one of display or hyperchannel ring curtain stereo projection system or Helmet Mounted Display or anaglyph spectacles or combination in any; Audio output apparatus adopts stereophony or earphone.
Each functions of components and annexation in the utility model:
The external signal input media is external command input and/or displacement signal input media;
The virtual emulation computing machine; Contain and be useful on the external signal identification module of said external signal input media access to obtain external command and to resolve; And the image processing module that is used for three-dimensional simulation and data storage and the processing module that are connected with this external signal identification module; Wherein said image processing module that is used for three-dimensional simulation and said data storage and processing module are interconnected; The data of extracting said data storage and processing module according to the external command that receives generate the factoid data, with scene and the electric power environmental of describing current transformer station, and set up the internal object response mechanism; And
The audio frequency and video output device connects the output terminal of said three-dimension virtual reality emulation module and said data storage and processing module, is used to export the scene and the electric power environmental of the current transformer station that the virtual emulation computing machine describes.
Said substation inspection robot emulation system; Comprise that also interconnected virtual detection is with computing machine and Control Server; And said virtual emulation computing machine also be provided be connected in said external signal identification module and with said data storage and the interconnected network connecting module of processing module; This network connecting module access with computing machine and the formed network of Control Server, is used to respond the remote command of said external input device by said virtual detection.
Said external signal input media adopts current robot controlling equipment or displacement tracking equipment, and links to each other with said external signal identification module through the interface of coupling.
Said audio frequency and video output device comprises audio frequency apparatus and display device, and wherein display device is display or hyperchannel ring curtain stereo projection system or anaglyph spectacles or Helmet Mounted Display.
The above-mentioned equipment of not describing in detail, structure, annexation, position relation etc. are the routine setting of this area, belong to common practise, repeat no more at this.
The beneficial effect of the utility model is:
1, adopts three-dimensional artificial to improve iconicity, the verisimilitude of man-machine interaction, improve technician of transformer station and robot manipulation personnel's interest and work incentive.
2, both can be used as the instrument that business people is patrolled and examined demonstration, also can be used as the teaching material of substation inspection Robotics training, thereby go the rounds in transformer station important safety guarantee is provided for robot.
Description of drawings
Fig. 1 is the structural principle block diagram of the utility model.
Wherein: 1, external signal input media, 2, the virtual emulation computing machine, 21, the external signal identification module; 22, the image processing module that is used for three-dimensional simulation; 23, data storage and processing module, 24, network connecting module, 3, the audio frequency and video output device; 4, virtual detection is used computing machine, and 5, Control Server.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is described further.
As shown in Figure 1, a kind of substation inspection robot emulation system based on virtual reality technology comprises:
External signal input media 1 can select the robot control system as basic signal input device, improves simulation performance, simultaneously, can also select or make up telepilot, displacement tracking equipment, keyboard, mouse, is configured as required;
Audio frequency and video output device 3; Mainly contain picture output device and audio output apparatus; Wherein picture output device can adopt conventional picture output device such as display, hyperchannel ring curtain stereo projection system, or Helmet Mounted Display or anaglyph spectacles or combination use, and audio output apparatus then can adopt equipment such as stereophony; Perhaps audio frequency, video equipment are integrated into such as the audio frequency and video helmet; Show as for the result, also can be embodied in fact on the video equipment, a screen perhaps independently is set shows; Audio frequency and video and device displaying result constitute complete human-computer interaction device in said external signal input media, in view of the above, can select such as simple PC or other human-computer interaction device;
Virtual emulation computing machine 2; Then mainly comprise and be used for the external signal identification module 21 that said external signal input media 1 inserts; Be used to provide interface and corresponding integrated circuit board; Accomplish and connect and data parsing; And this virtual emulation computing machine 2 also is provided with image processing module 22, data storage and processing module 23, the network connecting module 24 that is used for three-dimensional simulation, and the image processing module that wherein is used for three-dimensional simulation and said data storage and processing module 23 are interconnected and link to each other with said external signal identification module 21, carries out the processing of data and calls according to external command.The image processing module 22 that is used for three-dimensional simulation is according to the instruction of receiving; Through data storage and after handling; Send to audio frequency and video output device 3 and show, simultaneously related data is sent to configured virtual detection as required and carry out alternately with computing machine 4 and Control Server 5.
Described external signal input media 1, audio frequency and video output device 3 are connected with virtual emulation computing machine 2 through the interface of coupling.Robot controls personnel through the virtual robot of external signal input media 1 control, reaches the purpose of controlling training.
Described external signal identification module 21; The order of external signal input media 1 is formed local instruction and teleinstruction after 21 identifications of external signal identification module, local instruction is sent to audio frequency and video output device 22 or data storage and processing module 23 and handles; Teleinstruction is sent on the Control Server 5 and handles.
The described image processing module 22 that is used for three-dimensional simulation is used for describing current robot and makes an inspection tour residing transformer station virtual scene.Virtual scene not only comprises the substation scene that virtual robot is patrolled and examined, and comprises that also robots such as virtual transformer, disconnecting link, insulator, bus, robot, checkout equipment (video camera, camera, thermal infrared imager, ultraviolet imagery appearance etc.), wireless telecommunications system make an inspection tour distinctive electric power environmental.
Described data storage and processing module 23; As previously mentioned; Being mainly used in this locality instruction and teleinstruction that the manipulator is sent responds; And the image processing module 22 that output is used for three-dimensional simulation describes the needed data of current scene, perhaps the result of relevant treatment delivered to audio frequency and video output device 3 and shows; Simultaneously also as the core logic control module of virtual emulation computing machine.
Several parts below described data storage and processing module 23 can be described: first; This locality instruction that external signal input media 1 forms through external signal identification module 21 identification backs; Through data storage and processing module 23, the control virtual robot is carried out exercises, second portion in virtual scene; The remote-control romote-sensing information exhibition; The various status informations of on virtual training computing machine 2, showing virtual robot have on computing machine in virtual detection and can control The Cloud Terrace and carry out actions such as various rotations, pitching, show visible light information, infrared information, uv information, robot GPS information of living in, humiture information; Third part, the substation equipment fault simulation, can analogue transformer with faults such as army cap heating, bus corona discharges.
Described network connecting module 24 is used for network is connected.When external signal identification module 21 needs to send remote command to Control Server 5; Whether network connecting module 24 just detects current computer and can be connected on the network; And be connected to Control Server 5, if connection failure then can send to data storage and processing module 23 with connecting the result.Described network comprises LAN and internet.
Described Control Server 5; Be used to handle virtual robot and control the teleinstruction that personnel send; And returning corresponding data and result, described virtual emulation computing machine 2 is visited with computing machine 4, Control Server 5 through wired or wireless network and virtual detection each other.
Though the above-mentioned accompanying drawing that combines is described the embodiment of the utility model; But be not restriction to the utility model protection domain; One of ordinary skill in the art should be understood that; On the basis of the technical scheme of the utility model, those skilled in the art need not pay various modifications that creative work can make or distortion still in the protection domain of the utility model.
Claims (6)
1. substation inspection robot emulation system based on virtual reality technology; It is characterized in that; It comprises the external input signal device; The external input signal device is connected with the virtual emulation computing machine, the virtual emulation computing machine also respectively with the audio frequency and video output device, virtual detection is connected with Control Server with computing machine; Wherein: the virtual emulation computing machine comprises the external signal identification module; The output terminal of external signal identification module respectively with the image processing module that is used for three-dimensional simulation; Data storage and processing module are connected with network connecting module; Be used for image processing module and the data storage and the processing module two-way communication of three-dimensional simulation, data storage and processing module and network connecting module two-way communication.
2. the substation inspection robot emulation system based on virtual reality technology as claimed in claim 1 is characterized in that, said external signal input media links to each other with said external signal identification module through the interface of coupling.
3. the substation inspection robot emulation system based on virtual reality technology as claimed in claim 2 is characterized in that, the optional robot controlling equipment of said external input signal device or displacement tracking equipment or its combination.
4. the substation inspection robot emulation system based on virtual reality technology as claimed in claim 3 is characterized in that said robot controlling equipment is telepilot, keyboard or mouse.
5. the substation inspection robot emulation system based on virtual reality technology as claimed in claim 1 is characterized in that, said audio frequency and video output device connects the said image processing module of three-dimensional simulation and the output terminal of said data storage and processing module of being used for.
6. the substation inspection robot emulation system based on virtual reality technology as claimed in claim 5; It is characterized in that; Said audio frequency and video output device comprises picture output device and audio output apparatus, and picture output device adopts display or hyperchannel ring curtain stereo projection system or Helmet Mounted Display or anaglyph spectacles; Audio output apparatus adopts stereophony or earphone.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011202738426U CN202230635U (en) | 2011-07-30 | 2011-07-30 | Transformer substation inspection robot simulation system based on virtual reality technology |
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| CN2011202738426U CN202230635U (en) | 2011-07-30 | 2011-07-30 | Transformer substation inspection robot simulation system based on virtual reality technology |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103481285A (en) * | 2013-09-16 | 2014-01-01 | 国家电网公司 | High-voltage electric operating robot control system and method based on virtual reality technology |
| CN103794109A (en) * | 2012-11-01 | 2014-05-14 | 同济大学 | Electric power control system with simulation training function, and simulation training method thereof |
| CN104269084A (en) * | 2014-10-23 | 2015-01-07 | 山东省科学院自动化研究所 | Remote control robot demonstrator and control method thereof |
| CN104331570A (en) * | 2014-11-14 | 2015-02-04 | 国家电网公司 | System and method for simulating power transformation equipment for inspection |
| CN106228862A (en) * | 2016-09-28 | 2016-12-14 | 国家电网公司 | Emulation training method patrolled and examined by a kind of power transmission line unmanned machine |
| CN106448422A (en) * | 2016-08-22 | 2017-02-22 | 纳博特南京科技有限公司 | VR device-based robot training system and method |
| CN106710001A (en) * | 2016-12-29 | 2017-05-24 | 山东鲁能智能技术有限公司 | Substation inspection robot based centralized monitoring and simulation system and method thereof |
| CN108269450A (en) * | 2018-02-02 | 2018-07-10 | 上海九洲信息技术有限公司 | The method and system of substation inspection training are realized based on virtual reality technology |
| CN109066416A (en) * | 2018-08-09 | 2018-12-21 | 深圳供电局有限公司 | Transformer substation inspection system and method based on VR |
| CN109102731A (en) * | 2018-08-09 | 2018-12-28 | 深圳供电局有限公司 | VR-based transformer substation simulation platform and method |
-
2011
- 2011-07-30 CN CN2011202738426U patent/CN202230635U/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103794109A (en) * | 2012-11-01 | 2014-05-14 | 同济大学 | Electric power control system with simulation training function, and simulation training method thereof |
| CN103794109B (en) * | 2012-11-01 | 2016-04-20 | 同济大学 | There is electric control system and the emulation training method thereof of emulation training function |
| CN103481285A (en) * | 2013-09-16 | 2014-01-01 | 国家电网公司 | High-voltage electric operating robot control system and method based on virtual reality technology |
| CN103481285B (en) * | 2013-09-16 | 2016-03-09 | 国家电网公司 | Based on robot for high-voltage hot-line work control system and the method for virtual reality technology |
| CN104269084B (en) * | 2014-10-23 | 2016-08-24 | 山东省科学院自动化研究所 | A kind of far distance controlled robot demonstrator and control method thereof |
| CN104269084A (en) * | 2014-10-23 | 2015-01-07 | 山东省科学院自动化研究所 | Remote control robot demonstrator and control method thereof |
| CN104331570A (en) * | 2014-11-14 | 2015-02-04 | 国家电网公司 | System and method for simulating power transformation equipment for inspection |
| CN106448422A (en) * | 2016-08-22 | 2017-02-22 | 纳博特南京科技有限公司 | VR device-based robot training system and method |
| CN106228862A (en) * | 2016-09-28 | 2016-12-14 | 国家电网公司 | Emulation training method patrolled and examined by a kind of power transmission line unmanned machine |
| CN106710001A (en) * | 2016-12-29 | 2017-05-24 | 山东鲁能智能技术有限公司 | Substation inspection robot based centralized monitoring and simulation system and method thereof |
| CN106710001B (en) * | 2016-12-29 | 2020-04-10 | 国网智能科技股份有限公司 | Centralized monitoring simulation system and method based on transformer substation inspection robot |
| CN108269450A (en) * | 2018-02-02 | 2018-07-10 | 上海九洲信息技术有限公司 | The method and system of substation inspection training are realized based on virtual reality technology |
| CN109066416A (en) * | 2018-08-09 | 2018-12-21 | 深圳供电局有限公司 | Transformer substation inspection system and method based on VR |
| CN109102731A (en) * | 2018-08-09 | 2018-12-28 | 深圳供电局有限公司 | VR-based transformer substation simulation platform and method |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
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Owner name: STATE ELECTRIC NET CROP. Effective date: 20130327 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20130327 Address after: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Patentee after: Shandong Research Inst. of Electric Power Patentee after: State Grid Corporation of China Address before: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Patentee before: Shandong Research Inst. of Electric Power |
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| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Co-patentee after: State Grid Corporation of China Patentee after: Shandong Research Inst. of Electric Power Address before: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Co-patentee before: State Grid Corporation of China Patentee before: Shandong Research Inst. of Electric Power |
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| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co., Ltd. Assignor: Shandong Research Inst. of Electric Power Contract record no.: X2019370000007 Denomination of utility model: Transformer substation inspection robot simulation system based on virtual reality technology Granted publication date: 20120523 License type: Exclusive License Record date: 20191014 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201103 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Patentee before: Shandong Electric Power Research Institute Patentee before: STATE GRID CORPORATION OF CHINA |
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| EC01 | Cancellation of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: Shandong Electric Power Research Institute Contract record no.: X2019370000007 Date of cancellation: 20210324 |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120523 |