CN109191983A - Distribution network live line work emulation training method, apparatus and system based on VR - Google Patents
Distribution network live line work emulation training method, apparatus and system based on VR Download PDFInfo
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Abstract
The present invention provides a kind of distribution network live line work emulation training method, apparatus and system based on VR, are related to training on electric power simulation technical field, this method comprises: the three-dimensional artificial virtual scene of building distribution network live line work；When monitoring that virtual reality associated with three-dimensional artificial virtual scene shows that equipment and virtual reality interactive device are worn by operator, operator and dummy activity personnel are bound；Laser scanning is carried out to operator based on preset scanning device, corresponding current state information and dummy activity personnel are loaded onto obtain multiple positions of operator in three-dimensional artificial virtual scene, so that dummy activity personnel and operator keep synchronization action；Three-dimensional artificial virtual scene is shot with third person by preset virtual camera, and converts two-dimensional picture for the three-dimensional artificial virtual scene taken and shows the personnel of viewing and emulating.The present invention can effectively promote the effect of distribution network live line work training.
Description
Technical field
The present invention relates to training on electric power simulation technical fields, emulate more particularly, to a kind of distribution network live line work based on VR
Training Methodology, apparatus and system.
Background technique
Currently based on the distribution network live line work simulation training system of VR (Virtual Reality, virtual reality) in its religion
During, virtual reality device is usually dressed by a bit manipulation person and carries out operation simulation training, other students should by viewing
The first person picture of operator is viewed and emulated and is learnt to its operating process.
Such mode learns and understands livewire work whole process operation behavior to for viewing and emulating the student of position
And give careful note to details, there is very big difficulty, especially when simulating more complicated Job Operations, rely solely on operator
First person viewed and emulated and study is very limited；In addition, to for viewing and emulating the teacher of position, due to nothing
Double and behavior progress entirety, complete observation of the method to operator in three-dimensional scenic, so cannot judge its simulation behaviour
Whether meet livewire work specification, it is also difficult to by virtual reality device realize it is objective to training process, comprehensively and accurately comment
Valence.Teaching, training is carried out using such simulation training system, reliability and credibility are poor, so that result of training is bad.
Summary of the invention
In view of this, the distribution network live line work emulation training method that the purpose of the present invention is to provide a kind of based on VR, dress
It sets and system, to promote the effect of distribution network live line work training.
In a first aspect, the embodiment of the invention provides a kind of distribution network live line work emulation training method based on VR, comprising:
The three-dimensional artificial virtual scene for constructing distribution network live line work includes dummy activity personnel in three-dimensional artificial virtual scene and is virtually matched
Net environment；When monitoring that associated with three-dimensional artificial virtual scene virtual reality shows equipment and virtual reality interactive device quilt
When operator wears, operator and dummy activity personnel are bound；Wherein, virtual reality shows equipment for will be empty
Quasi- distribution environment shows operator；Operator is carried out in virtual distribution environment by controlling virtual reality interactive device
The simulation operations of distribution network live line work；Laser scanning is carried out to operator based on preset scanning device, to obtain operator
Multiple positions of member corresponding current state information in three-dimensional artificial virtual scene；Wherein, position includes head, hand, shoulder
Portion, ancon and center of gravity；Current state information includes current location information and current pose information；By multiple positions of operator
Corresponding current state information is loaded onto dummy activity personnel in three-dimensional artificial virtual scene, so that dummy activity personnel and behaviour
Make personnel and keeps synchronization action；Three-dimensional artificial virtual scene is shot with third person by preset virtual camera, and will
The three-dimensional artificial virtual scene taken is converted into two-dimensional picture and shows the personnel of viewing and emulating.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein empty
Quasi- reality display equipment uses helmet-type, is worn on the head of operator；Virtual reality interactive device uses handle type, quilt
It is worn on the hand of operator；Obtain head and the hand corresponding current shape in three-dimensional artificial virtual scene of operator
The step of state information, comprising: calculate separately virtual reality and show the scanning device that equipment and virtual reality interactive device receive
The duration of the laser emitted；According to duration, the angular relationship between head, hand and the scanning device of operator is obtained；
According to angular relationship, the corresponding current location of the head and hand of operator in three-dimensional artificial virtual scene is determined respectively
Information；By PNP algorithm, the head for obtaining operator and the corresponding current pose information of hand are calculated separately.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect
Possible embodiment, wherein obtain the center of gravity of the operator corresponding current state information in three-dimensional artificial virtual scene
The step of, comprising: according to the corresponding current state information of the head of operator and hand in three-dimensional artificial virtual scene,
In conjunction with spatial triangle centroid algorithm, it is corresponding current in three-dimensional artificial virtual scene that the center of gravity of operator is calculated
Status information.
With reference to first aspect, the embodiment of the invention provides the third possible embodiment of first aspect, building is matched
When dummy activity personnel in the three-dimensional artificial virtual scene of network live line work, the above method further include: record dummy activity people
Physical characteristic information of the member in building；Wherein, physical characteristic information includes multiple positions with dummy activity personnel three
Tie up the distance of multiple positions between any two with initial position and the dummy activity personnel in simulation virtual scene；Position includes
Head, hand, shoulder, ancon and center of gravity.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 4th kind of first aspect
Possible embodiment, wherein obtain the shoulder of the operator corresponding current state information in three-dimensional artificial virtual scene
The step of, comprising: obtain the first distance between the shoulder of dummy activity personnel and the center of gravity of dummy activity personnel；According to first
Distance and the center of gravity of operated the personnel corresponding current location information in three-dimensional artificial virtual scene, are calculated operator
Shoulder in three-dimensional artificial virtual scene corresponding current location information；According to the shoulder of dummy activity personnel and center of gravity three
The initial position in simulation virtual scene is tieed up, determines the first unit vector；It is imitative in three-dimensional according to the shoulder of operator and center of gravity
Corresponding current location information in true virtual scene, determines the second unit vector；Rotation processing is carried out to the first unit vector, and
Record the first rotation angle of the first unit vector when the first unit vector rotates to consistent with the direction of the second unit vector；
Based on the first rotation angle, the shoulder of the operator corresponding current pose information in three-dimensional artificial virtual scene is obtained.
The 4th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 5th kind of first aspect
Possible embodiment, wherein obtain the ancon of the operator corresponding current state information in three-dimensional artificial virtual scene
The step of, comprising: obtain the second distance between the ancon of dummy activity personnel and the shoulder of dummy activity personnel；According to second
The shoulder of distance and operator corresponding current location information in three-dimensional artificial virtual scene, are calculated operator's
Ancon corresponding current location information in three-dimensional artificial virtual scene；According to the ancon of dummy activity personage and shoulder in three-dimensional
Initial position in simulation virtual scene determines third unit vector；According to the ancon of operator and shoulder in three-dimensional artificial
Corresponding current location information in virtual scene, determines the 4th unit vector；Rotation processing is carried out to third unit vector, and is remembered
Second rotation angle of third unit vector when record third unit vector rotates to consistent with the direction of the 4th unit vector；Base
Angle is rotated in second, obtains the ancon of the operator corresponding current pose information in three-dimensional artificial virtual scene.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 6th kind of first aspect
Possible embodiment, wherein above-mentioned dummy activity personnel are three constructed by the hierarchical mode based on skeletal layer and skin layer
Tie up dummy activity person model；By multiple positions of operator in three-dimensional artificial virtual scene corresponding current state information
Dummy activity personnel are loaded onto, so that the step of dummy activity personnel and operator keep synchronization action, comprising: by operator
Multiple positions of member corresponding current state information in three-dimensional artificial virtual scene is loaded onto the skeletal layer of dummy activity personnel
In corresponding skeletal sites；Using Skeletal Skinned Animation technology, the grid vertex of skin layer is driven to deform by skeletal layer, with reality
Existing dummy activity personnel and operator keep synchronization action.
The 6th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 7th kind of first aspect
Possible embodiment, wherein the above method further include: referred to by the operation that virtual reality interactive device obtains operator
It enables；Operational order is sent to the hand of dummy activity personnel, so that dummy activity personnel hold in three-dimensional artificial virtual scene
Row movement corresponding with operational order.
Second aspect, the embodiment of the invention provides a kind of distribution network live line work emulation training device based on VR, comprising:
Three-dimensional artificial virtual field constructs module, for constructing the three-dimensional artificial virtual scene of distribution network live line work, three-dimensional artificial virtual field
It include dummy activity personnel and virtual distribution environment in scape；Personnel's binding module monitors and three-dimensional artificial virtual field for working as
When the associated virtual reality of scape shows that equipment and virtual reality interactive device are worn by operator, by operator and virtually
Operating personnel binds；Wherein, virtual reality shows that equipment is used to virtual distribution environment showing operator；Operator
Member carries out the simulation operations of distribution network live line work by controlling virtual reality interactive device in virtual distribution environment；Operator
Data obtaining module, for carrying out laser scanning to operator based on preset scanning device, to obtain the more of operator
A position corresponding current state information in three-dimensional artificial virtual scene；Wherein, position includes head, hand, shoulder, ancon
And center of gravity；Current state information includes current location information and current pose information；Virtual personnel's synchronizing information module, being used for will
Multiple positions of operator corresponding current state information in three-dimensional artificial virtual scene is loaded onto dummy activity personnel, with
Dummy activity personnel and operator are made to keep synchronization action；Three-dimensional artificial virtual field display module, for passing through preset void
Quasi- camera shoots three-dimensional artificial virtual scene with third person, and converts two for the three-dimensional artificial virtual scene taken
Dimension picture exhibition is viewed and emulated personnel.
The third aspect, the embodiment of the invention provides a kind of distribution network live line work simulation training system based on VR, including
Virtual reality shows equipment, virtual reality interactive device, scanning device, display equipment and server；Virtual reality display equipment,
Virtual reality interactive device, scanning device, display equipment are connect with server communication respectively；Installation is just like second party on server
Distribution network live line work emulation training device described in face based on VR.
The embodiment of the present invention bring it is following the utility model has the advantages that
The embodiment of the invention provides a kind of distribution network live line work emulation training method, apparatus and system based on VR, it is first
First construct the three-dimensional artificial virtual scene of distribution network live line work；Including dummy activity personnel and virtually in three-dimensional artificial virtual scene
Distribution environment；When monitoring that associated with three-dimensional artificial virtual scene virtual reality shows equipment and virtual reality interactive device
When being worn by operator, operator and dummy activity personnel are bound；Based on preset scanning device to operator
Member carries out laser scanning, to obtain multiple positions of operator corresponding current state information in three-dimensional artificial virtual scene
And dummy activity personnel are loaded onto, so that dummy activity personnel and operator keep synchronization action；Pass through preset virtualphase
Machine shoots three-dimensional artificial virtual scene with third person, and converts two-dimentional picture for the three-dimensional artificial virtual scene taken
Face shows the personnel of viewing and emulating.Three-dimensional artificial of the embodiment of the present invention by building including dummy activity personnel and virtual distribution environment
Virtual scene, and the movement of practical operation personnel is synchronized to dummy activity personnel, it is then shot with third person three-dimensional
Simulation virtual scene is simultaneously converted into two-dimensional picture and shows the personnel of viewing and emulating, compared to the prior art in the first of operator
The mode that people claims visual angle to view and emulate and learn its operating process can be viewed and emulated more comprehensively and be learnt and operator institute
The integrated operation of the dummy activity personnel of binding acts, and realizes that scale is viewed and emulated and learnt and to the overall monitor of training process
And examination, to effectively promote the effect of distribution network live line work training.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of the distribution network live line work emulation training method based on VR provided in an embodiment of the present invention；
Fig. 2 is a kind of physical trait structural schematic diagram of dummy activity personnel provided in an embodiment of the present invention；
Fig. 3 is a kind of center of gravity provided in an embodiment of the present invention and shoulder position distributed architecture schematic diagram；
Fig. 4 is a kind of unit rotary shaft provided in an embodiment of the present invention and the first rotation angle distributed architecture schematic diagram；
Fig. 5 is a kind of structural frames of the distribution network live line work emulation training device based on VR provided in an embodiment of the present invention
Figure；
Fig. 6 is a kind of structural representation of the distribution network live line work simulation training system based on VR provided in an embodiment of the present invention
Figure；
Fig. 7 is that the structure of another distribution network live line work simulation training system based on VR provided in an embodiment of the present invention is shown
It is intended to.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
The existing distribution network live line work simulation training system based on VR (Virtual Reality, virtual reality) is in its religion
During, virtual reality device is usually dressed by a bit manipulation person and carries out operation simulation training, other students should by viewing
The first person picture of operator is viewed and emulated and is learnt to its operating process.Such mode is in viewing and emulating position
For student, learns and understand livewire work whole process operation behavior and give careful note to details, there is very big difficulty, especially
It is when simulating more complicated Job Operations, the first person for relying solely on operator is viewed and emulated and study is very
It is limited；In addition, to for view and emulate the teacher of position, due to can not to double of the operator in three-dimensional scenic and
Behavior carries out whole, complete observation, so cannot judge whether its simulated operation meets livewire work specification, it is also difficult to pass through void
Quasi- real world devices realization is objective to training process, comprehensively and accurately evaluates.Teaching training is carried out using such simulation training system
Instruction, reliability and credibility are poor, so that result of training is bad.
Based on this, a kind of distribution network live line work emulation training method, apparatus based on VR provided in an embodiment of the present invention with
And system, it can effectively promote the effect of distribution network live line work training.
To match mesh belt based on VR to a kind of disclosed in the embodiment of the present invention first convenient for understanding the present embodiment
Electric operation simulation Training Methodology describes in detail.
A kind of flow chart of distribution network live line work emulation training method based on VR shown in Figure 1, this method include
Following steps:
Step S102 constructs the three-dimensional artificial virtual scene of distribution network live line work, includes void in three-dimensional artificial virtual scene
Quasi- operating personnel and virtual distribution environment；
Wherein, dummy activity personnel are three-dimensional personage model；Distribution network live line work is configured in virtual distribution environment
Needed for the threedimensional models such as simulation work environment, electrical equipment, Work tool needed for training and other virtual distribution environment of building
Material, textures and light etc..
Step S104, when monitoring that associated with three-dimensional artificial virtual scene virtual reality shows equipment and virtual reality
When interactive device is worn by operator, operator and dummy activity personnel are bound；
Wherein, virtual reality shows that equipment is used to virtual distribution environment showing operator；Operator passes through control
Virtual reality interactive device processed carries out the simulation operations of distribution network live line work in virtual distribution environment；Operator, which can be, to be matched
Training teacher in network live line work teaching, training is also possible to practice the student of distribution network live line work simulation operations.
Step S106 carries out laser scanning to operator based on preset scanning device, to obtain the more of operator
A position corresponding current state information in three-dimensional artificial virtual scene；
Wherein, above-mentioned position includes head, hand, shoulder, ancon and center of gravity；Current state information includes present bit confidence
Breath and current pose information.
Step S108, by multiple positions of operator, corresponding current state information adds in three-dimensional artificial virtual scene
Dummy activity personnel are loaded onto, so that dummy activity personnel and operator keep synchronization action.
Step S110 shoots three-dimensional artificial virtual scene by preset virtual camera with third person, and will clap
The three-dimensional artificial virtual scene taken the photograph is converted into two-dimensional picture and shows the personnel of viewing and emulating.
Specifically, when practical application, can be arranged in three-dimensional artificial virtual scene third person virtual camera (
That is, above-mentioned virtual camera) and virtual light, by adjusting the position of third person virtual camera, direction and view frustums
And position and the type of virtual light, three-dimensional artificial virtual field is shot now with third person virtual camera with reality
Jing Shi is cut and is rejected to wherein sightless object, specifically includes cones culling, the back side is rejected and occlusion culling；
Then for the three-dimensional artificial virtual scene that takes select animation rendering state (specifically, include using material, the line that uses
The Shader etc. manage, used) after three-dimensional rendering is carried out to it, form corresponding two-dimensional picture, by the two-dimensional picture be sent to
The personnel of viewing and emulating are showed on the associated externally connected with display screen curtain of three-dimensional artificial virtual scene, view and emulate angle in the third person to realize
The lower reduction virtual portrait body of degree and the corresponding three-dimensional motion of hand, allow the personnel of viewing and emulating it can be seen that virtual portrait integrated operation
Movement.
The above-mentioned distribution network live line work emulation training method based on VR provided in an embodiment of the present invention includes void by building
The three-dimensional artificial virtual scene of quasi- operating personnel and virtual distribution environment, and the movement of practical operation personnel is synchronized to virtual work
Then industry personnel are shot three-dimensional artificial virtual scene and are converted into two-dimensional picture and show and view and emulate people with third person
Member, compared to the prior art in such a way that the first person of operator is viewed and emulated and is learnt to its operating process, energy
It is enough more comprehensively to view and emulate and learn to act with the integrated operation of dummy activity personnel bound in operator, realize scale
It views and emulates and learns and to the overall monitor and examination of training process, to effectively promote the effect of distribution network live line work training.
In a kind of optional embodiment, above-mentioned virtual reality shows that equipment uses helmet-type, is worn on operator
The head of member；Virtual reality interactive device uses handle type, is worn on the hand of operator；Specifically, the void of helmet-type
Quasi- reality display equipment can be a kind of VR glasses, and inside includes the components such as high-definition display screen curtain, optical mirror slip, gyroscope；
It may be provided with multiple function buttons on the virtual interactive device of handle type, when practical application, operator passes through aforesaid plurality of function
Energy key sends operational order, carries out the imitative of distribution network live line work to control virtual reality interactive device in virtual distribution environment
True operation.
Based on this, head and the hand that operator is obtained in above-mentioned steps S106 are corresponding in three-dimensional artificial virtual scene
Current state information the step of, comprising: calculate separately virtual reality and show what equipment and virtual reality interactive device received
The duration for the laser that scanning device is emitted；According to duration, the angle between head, hand and the scanning device of operator is obtained
Degree relationship；According to angular relationship, determine that the head of operator and hand are corresponding in three-dimensional artificial virtual scene respectively
Current location information；By PNP algorithm, the head for obtaining operator and the corresponding current pose information of hand are calculated separately.
Specifically, when operator's head-mount virtual reality shows equipment, when hand holds virtual reality interactive device,
Spatial emission laser locating for operator is carried out in turn in horizontal and vertical directions respectively by preset scanning device
Scanning, calculate the laser that the scanning device that virtual reality shows that equipment and virtual reality interactive device receive is emitted when
It is long, according to duration and laser ranging technique is combined, is determined in head, hand and the scanning device three of operator between any two
Distance, and then determine that the head of current time operator, the angular relationship of hand and scanning device namely position distribution are closed
System, which is mapped in three-dimensional artificial virtual scene with certain proportion, determines the head of operator respectively
With corresponding current location information of the hand in three-dimensional artificial virtual scene；And then estimating techniques namely PNP are provided by position
(Pespective-N-Point, visual angle-N- point) algorithm, it is virtual in three-dimensional artificial in conjunction with the head of aforementioned operation personnel and hand
Head and the corresponding current pose information of hand of operator is calculated in current location information in scene.
Further, the step of center of gravity corresponding current state information in three-dimensional artificial virtual scene of operator is obtained
Suddenly, comprising: according to the corresponding current state information of the head of operator and hand in three-dimensional artificial virtual scene, in conjunction with
Corresponding current state of the center of gravity of operator in three-dimensional artificial virtual scene is calculated in spatial triangle centroid algorithm
Information.
Further, when constructing the dummy activity personnel in the three-dimensional artificial virtual scene of distribution network live line work, the above method
Further include: physical characteristic information of the record dummy activity personnel in building；Wherein, physical characteristic information includes dummy activity people
Member with multiple positions in three-dimensional artificial virtual scene initial position and dummy activity personnel with multiple positions two
The distance between two；Position includes head, hand, shoulder, ancon and center of gravity.Specifically, for ease of understanding, referring to fig. 2, this hair
Bright embodiment provides the physical trait structural schematic diagram of dummy activity personnel a kind of, and dummy activity personnel's body is shown in Fig. 2
On multiple positions initial position node, specifically, include head node, Pv, center of gravity node Pn, shoulder node Pn-1, ancon section
Point Pn-2, hand node P0。
Based on the physical characteristic information of above-mentioned dummy activity personnel, in the specific implementation, it can be obtained and be grasped by following steps
Make the shoulder of the personnel corresponding current state information in three-dimensional artificial virtual scene:
(1) first distance namely above-mentioned between the shoulder of dummy activity personnel and the center of gravity of dummy activity personnel is obtained
The center of gravity node P of dummy activity personnelnWith shoulder node Pn-1The length is denoted as d by the length of line segment between two o'clockn-1。
(2) according to first distance and the center of gravity of operator in three-dimensional artificial virtual scene corresponding present bit confidence
The shoulder of the operator corresponding current location information in three-dimensional artificial virtual scene is calculated in breath；
Specifically, corresponding current location is denoted as P in three-dimensional artificial virtual scene by the center of gravity of operatorn', operation
The shoulder of personnel corresponding current location in three-dimensional artificial virtual scene is denoted as Pn-1'；Two-by-two according to positions multiple with human body
Between, the constant design feature of such as the distance between shoulder and center of gravity, for convenient for subsequent by positions multiple with operator
Current characteristic information it is corresponding be loaded onto dummy activity personnel, in a kind of optional mode, with the body of dummy activity personnel
Object constructional features are used as according to calculating Pn-1', then P to be askedn-1' with Pn' it is the centre of sphere, dn-1For on the spherical surface of radius, for convenient for
Understand, as shown in figure 3, illustrating in Fig. 3 the embodiment of the invention provides a kind of center of gravity and shoulder position distributed architecture schematic diagram
P is gone outn'、Pn-1'、PnAnd Pn-1Position distribution relationship, be based on this, P can be calculated by implementing the steps ofn-1':
Firstly, unitization Pn-1To Pn' line vector, i.e., acquisition Pn-1To Pn' unit vector n, formula is as follows:
N=(Pn-1-Pn')/|Pn-1-Pn'|
Secondly, according to Pn' position coordinates, pass through vectorial addition, obtain Pn-1' position coordinates namely operator
Shoulder corresponding current location information, formula in three-dimensional artificial virtual scene is as follows:
Pn-1'=Pn'+dn-1n
(3) initial position according to the shoulder of dummy activity personnel and center of gravity in three-dimensional artificial virtual scene determines
One unit vector；
Namely determine Pn-1To PnThe first unit vector n1, formula is as follows:
n1=Pn-1Pn=(Pn-Pn-1)/|Pn-Pn-1|
(4) according to the shoulder of operator and center of gravity in three-dimensional artificial virtual scene corresponding current location information, really
Fixed second unit vector；
Namely determine Pn-1' arrive Pn' the second unit vector n2, formula is as follows:
n2=Pn-1'Pn'=(Pn'-Pn-1')/|Pn'-Pn-1'|
(5) rotation processing is carried out to the first unit vector, and records the first unit vector and rotates to and the second unit vector
Direction it is consistent when the first unit vector first rotation angle；
Namely the first unit vector n of record1Rotate to the second unit vector n2First rotation angle, θ, it is as follows:
(6) based on the first rotation angle, the shoulder for obtaining operator is corresponding current in three-dimensional artificial virtual scene
Posture information.
Specifically, when actual implementation, it can be first according to aforementioned first unit vector n1And the second unit vector n2, calculate
Obtain unit rotary shaft e；Then in conjunction with the first rotation angle, θ, indicate the shoulder of operator in three-dimensional using rotation quaternary number
The rotary variable Q of simulation virtual scene, rotary variable Q are that the shoulder of operator is corresponding in three-dimensional artificial virtual scene
Current pose information, specific calculation formula is as follows:
E=(n1×n2)/|n1×n2|；
Q=(qx,qy,qz,qw)；
Wherein, qxIndicate Pn-1' in the rotational component of x-axis, qyIndicate Pn-1' in the rotational component of y-axis, qzIndicate Pn-1' in z
The rotational component of axis, qwIt indicates rotation angle, is embodied as:
qx=sin (θ/2) ex, qy=sin (θ/2) ey, qz=sin (θ/2) ez, qw=cos (θ/2).
Wherein, exIndicate Pn-1' in the identity component of x-axis, eyIndicate Pn-1' in the identity component of y-axis, ezIndicate Pn-1' in z
The identity component of axis.
In addition, for ease of understanding, referring to fig. 4, the embodiment of the invention also provides a kind of unit rotary shafts and the first rotation
Angular distribution structural schematic diagram specifically illustrates the first unit vector n in Fig. 41, the second unit vector n2, first rotation angle
θ and unit rotary shaft e.
Further, in a kind of optional mode, the ancon for obtaining operator is corresponding in three-dimensional artificial virtual scene
Current state information, can implement as follows:
(1) second distance between the ancon of dummy activity personnel and the shoulder of dummy activity personnel is obtained；
(2) according to second distance and the shoulder of operator in three-dimensional artificial virtual scene corresponding present bit confidence
The ancon of the operator corresponding current location information in three-dimensional artificial virtual scene is calculated in breath；
(3) initial position according to the ancon of dummy activity personage and shoulder in three-dimensional artificial virtual scene determines
Three unit vectors；
(4) according to the ancon of operator and shoulder in three-dimensional artificial virtual scene corresponding current location information, really
Fixed 4th unit vector；
(5) rotation processing is carried out to third unit vector, and records third unit vector and rotates to and the 4th unit vector
Direction it is consistent when third unit vector second rotation angle；
(6) based on the second rotation angle, the ancon for obtaining operator is corresponding current in three-dimensional artificial virtual scene
Posture information.
Specifically, the ancon of above-mentioned acquisition operator corresponding current state information in three-dimensional artificial virtual scene
The specific calculating process of step, the shoulder that can refer to above-mentioned acquisition operator are corresponding current in three-dimensional artificial virtual scene
Calculation formula in posture information step, details are not described herein.
Further, in the specific implementation, above-mentioned dummy activity personnel is based on the hierarchical mode of skeletal layer and skin layer institutes
The three-dimensional operation person model of building；Above-mentioned steps S108, also i.e. by multiple positions of operator in three-dimensional artificial void
Corresponding current state information is loaded onto dummy activity personnel in quasi- scene, so that dummy activity personnel and operator keep same
The step of step acts, comprising:
(1) by multiple positions of operator, corresponding current state information is loaded onto void in three-dimensional artificial virtual scene
Corresponding skeletal sites in the skeletal layer of quasi- operating personnel；Wherein, skeleton position includes head, hand, shoulder, ancon and again
The heart.
(2) Skeletal Skinned Animation technology is utilized, drives the grid vertex of skin layer to deform by skeletal layer, it is virtual to realize
Operating personnel and operator keep synchronization action.To realize the three-dimensional animation effect of dummy activity personnel movement, such as absolutely
The involved movement such as come back, turn round, praising, cranking arm, forms dummy activity personnel body action animation data in edge bar working system
Information.
Further, the above method further include: the operational order of operator is obtained by virtual reality interactive device；It will behaviour
Make the hand that instruction is sent to dummy activity personnel, so that dummy activity personnel execute and operation in three-dimensional artificial virtual scene
Instruct corresponding movement.
Specifically, analyzing trigger event according to the key response situation of virtual reality interactive device, being parsed into corresponding behaviour
Operational order is sent to the hand of dummy activity personnel by the operational order for making personnel, to be correspondingly formed dummy activity personnel's
The animation data information of hand virtual acting.For example, when practical application, when operator tightly pulls key and does not weigh with dummy object
It closes, then virtual acting is resolved to and clenched fist；When unclamping key and not being overlapped with dummy object, virtual acting is resolved into loose fist；
It tightly pulls key and is overlapped with dummy object, virtual acting is resolved to and catches dummy object；Unclamp key and with virtual object weight
It closes, virtual acting is resolved into dummy object of loosing one's grip.
In conclusion the above-mentioned distribution network live line work emulation training method based on VR provided in an embodiment of the present invention, it can
Solve during virtual reality training one with brought by first person line-of-sight applications to dummy activity personnel itself act
Behavior and the deficiency and limitation that can not be presented completely with the relationship of ambient enviroment；Allow the student couple for not dressing virtual reality device
The operating process of operator is viewed and emulated and is learnt with third person angle, can effectively carry out scale and view and emulate and learn；
The virtual reality training process that student operates comprehensively can also be monitored and be examined convenient for training teacher, judge its simulation
Whether operation meets livewire work specification, guarantees training quality and effect, promotes the operating personnel's namely student for participating in training
Level of skill.
The corresponding above method, the embodiment of the invention also provides a kind of, and the distribution network live line work emulation training based on VR fills
It sets, referring to Fig. 5, which includes:
Three-dimensional artificial virtual field constructs module 502, three-dimensional for constructing the three-dimensional artificial virtual scene of distribution network live line work
It include dummy activity personnel and virtual distribution environment in simulation virtual scene；
Personnel's binding module 504 is set for that ought monitor that virtual reality associated with three-dimensional artificial virtual scene is shown
When standby and virtual reality interactive device is worn by operator, operator and dummy activity personnel are bound；Wherein, empty
Quasi- reality display equipment is used to virtual distribution environment showing operator；Operator is set by control virtual reality interaction
The standby simulation operations that distribution network live line work is carried out in virtual distribution environment；
Operator's data obtaining module 506, for carrying out laser scanning to operator based on preset scanning device,
To obtain multiple positions of operator corresponding current state information in three-dimensional artificial virtual scene；Wherein, position includes
Head, hand, shoulder, ancon and center of gravity；Current state information includes current location information and current pose information；
Virtual personnel's synchronizing information module 508, for by multiple positions of operator in three-dimensional artificial virtual scene
Corresponding current state information is loaded onto dummy activity personnel, so that dummy activity personnel and operator keep synchronization action；
Three-dimensional artificial virtual field display module 510, for shooting three by preset virtual camera with third person
Simulation virtual scene is tieed up, and converts two-dimensional picture for the three-dimensional artificial virtual scene taken and shows the personnel of viewing and emulating.
The above-mentioned distribution network live line work emulation training device based on VR provided in an embodiment of the present invention includes void by building
The three-dimensional artificial virtual scene of quasi- operating personnel and virtual distribution environment, and the movement of practical operation personnel is synchronized to virtual work
Then industry personnel are shot three-dimensional artificial virtual scene and are converted into two-dimensional picture and show and view and emulate people with third person
Member, compared to the prior art in such a way that the first person of operator is viewed and emulated and is learnt to its operating process, energy
It is enough more comprehensively to view and emulate and learn to act with the integrated operation of dummy activity personnel bound in operator, realize scale
It views and emulates and learns and to the overall monitor and examination of training process, to effectively promote the effect of distribution network live line work training.
The technical effect of device provided by the present embodiment, realization principle and generation is identical with previous embodiment, for letter
It describes, Installation practice part does not refer to place, can refer to corresponding contents in preceding method embodiment.
Further, the corresponding above method and device, the embodiment of the invention also provides a kind of, and the distribution network live line based on VR is made
Industry simulation training system, the structural schematic diagram of the distribution network live line work simulation training system shown in Figure 6 based on VR, the system
Equipment 602, virtual reality interactive device 604, scanning device 606, display equipment 608 and server are shown including virtual reality
610；Wherein, virtual reality shows that equipment 602, virtual reality interactive device 604, scanning device 606, display equipment 608 are distinguished
It is communicated to connect with server 610；The above-mentioned distribution network live line work emulation training device based on VR is installed on server.
In addition, being distribution network live line work emulation training convenient to carry out, the embodiment of the invention also provides another kind based on VR
The structural schematic diagram of exercising system, as shown in fig. 7, the system include the locating module 708 successively communicated to connect, conversion module 710,
Service module 712 and module 714 is viewed and emulated, further includes that the virtual reality communicated to connect respectively with locating module 708 shows equipment
702, virtual reality interactive device 704, scanning device 706.
In practical application, service module forms the three-dimensional artificial virtual field of complete distribution network live line work emulation training
Scape；When operator's head-mount virtual reality shows equipment, hand holds virtual reality interactive device, and scanning device is then to behaviour
Make spatial emission laser locating for personnel to be scanned；Locating module obtains the head node, of operator and the space of hand node
Location information and posture information；Conversion module conversion obtains the sky of the center of gravity node of operator, shoulder node and ancon node
Between location information and posture information；The spatial positional information and posture at multiple positions of the service module based on aforementioned operation personnel are believed
Breath forms the body action animation data information with the dummy activity personnel of operator's binding；Service module is based on operator
The operation of virtual reality interactive device is formed and is believed with the hand motion animation data of the dummy activity personnel of operator's binding
Breath；Module is viewed and emulated by three-dimensional rendering, the third person is viewed and emulated into virtual portrait body and the corresponding three-dimensional motion of hand under angle
The personnel of viewing and emulating are showed by two-dimensional picture.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
Specific work process, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
The flow chart and block diagram in the drawings show the system of multiple embodiments according to the present invention, method and computer journeys
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, section or code of table, a part of the module, section or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually base
Originally it is performed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that
It is the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, can uses and execute rule
The dedicated hardware based system of fixed function or movement is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
Claims (10)
1. the distribution network live line work emulation training method based on VR characterized by comprising
The three-dimensional artificial virtual scene of distribution network live line work is constructed, includes dummy activity personnel in the three-dimensional artificial virtual scene
With virtual distribution environment；
When monitoring that associated with three-dimensional artificial virtual scene virtual reality shows equipment and virtual reality interactive device
When being worn by operator, the operator and the dummy activity personnel are bound；Wherein, the virtual reality is aobvious
Show equipment for the virtual distribution environment to be showed the operator；The operator is described virtual existing by controlling
Real interactive device carries out the simulation operations of distribution network live line work in the virtual distribution environment；
Laser scanning is carried out to the operator based on preset scanning device, to obtain multiple positions of the operator
The corresponding current state information in the three-dimensional artificial virtual scene；Wherein, the position includes head, hand, shoulder, elbow
Portion and center of gravity；The current state information includes current location information and current pose information；
By multiple positions of the operator, corresponding current state information is loaded onto the three-dimensional artificial virtual scene
The dummy activity personnel, so that the dummy activity personnel and the operator keep synchronization action；
The three-dimensional artificial virtual scene is shot with third person by preset virtual camera, and described in taking
Three-dimensional artificial virtual scene is converted into two-dimensional picture and shows the personnel of viewing and emulating.
2. being worn the method according to claim 1, wherein the virtual reality shows that equipment uses helmet-type
It wears in the head of the operator；The virtual reality interactive device uses handle type, is worn on the operator's
Hand；
Obtain head and the hand corresponding current state information in the three-dimensional artificial virtual scene of the operator
Step, comprising:
It calculates separately the virtual reality and shows the scanning device institute that equipment and the virtual reality interactive device receive
The duration of the laser of transmitting；
According to the duration, the angular relationship between head, hand and the scanning device of the operator is obtained；
The head for determining the operator respectively according to the angular relationship and hand are in the three-dimensional artificial virtual scene
Corresponding current location information；
By PNP algorithm, the head for obtaining the operator and the corresponding current pose information of hand are calculated separately.
3. according to the method described in claim 2, it is characterized in that, obtaining the center of gravity of the operator in the three-dimensional artificial
In virtual scene the step of corresponding current state information, comprising:
According to the corresponding current state information of the head of the operator and hand in the three-dimensional artificial virtual scene,
In conjunction with spatial triangle centroid algorithm, pair of the center of gravity of the operator in the three-dimensional artificial virtual scene is calculated
The current state information answered.
4. the method according to claim 1, wherein in the three-dimensional artificial virtual scene of building distribution network live line work
Dummy activity personnel when, the method also includes:
Record physical characteristic information of the dummy activity personnel in building；Wherein, the physical characteristic information includes described
Initial position and the dummy activity of multiple positions in the three-dimensional artificial virtual scene with dummy activity personnel
The distance of multiple positions between any two with personnel；The position includes head, hand, shoulder, ancon and center of gravity.
5. according to the method described in claim 4, it is characterized in that, obtaining the shoulder of the operator in the three-dimensional artificial
In virtual scene the step of corresponding current state information, comprising:
Obtain the first distance between the shoulder of the dummy activity personnel and the center of gravity of the dummy activity personnel；
According to the first distance and the center of gravity of the operator in the three-dimensional artificial virtual scene corresponding present bit
The shoulder of the operator corresponding current location information in the three-dimensional artificial virtual scene is calculated in confidence breath；
According to the initial position of the shoulder of the dummy activity personnel and center of gravity in the three-dimensional artificial virtual scene, is determined
One unit vector；
According to the shoulder of the operator and center of gravity in the three-dimensional artificial virtual scene corresponding current location information, really
Fixed second unit vector；
Rotation processing is carried out to first unit vector, and records first unit vector and rotates to and second unit
First rotation angle of first unit vector when direction of vector is consistent；
Based on the first rotation angle, the shoulder for obtaining the operator is corresponding in the three-dimensional artificial virtual scene
Current pose information.
6. according to the method described in claim 5, it is characterized in that, obtaining the ancon of the operator in the three-dimensional artificial
In virtual scene the step of corresponding current state information, comprising:
Obtain the second distance between the ancon of the dummy activity personnel and the shoulder of the dummy activity personnel；
According to the second distance and the shoulder of the operator in the three-dimensional artificial virtual scene corresponding present bit
The ancon of the operator corresponding current location information in the three-dimensional artificial virtual scene is calculated in confidence breath；
According to the initial position of the ancon of the dummy activity personage and shoulder in the three-dimensional artificial virtual scene, is determined
Three unit vectors；
According to the ancon of the operator and shoulder in the three-dimensional artificial virtual scene corresponding current location information, really
Fixed 4th unit vector；
Rotation processing is carried out to the third unit vector, and records the third unit vector and rotates to and the 4th unit
Second rotation angle of the third unit vector when direction of vector is consistent；
Based on the second rotation angle, the ancon for obtaining the operator is corresponding in the three-dimensional artificial virtual scene
Current pose information.
7. according to the method described in claim 4, it is characterized in that, the dummy activity personnel are based on skeletal layer and skin layer
Hierarchical mode constructed by three-dimensional operation person model；
Multiple positions by the operator corresponding current state information in the three-dimensional artificial virtual scene adds
The dummy activity personnel are loaded onto, so that the step of dummy activity personnel and the operator keep synchronization action, packet
It includes:
By multiple positions of the operator, corresponding current state information is loaded onto the three-dimensional artificial virtual scene
Corresponding skeletal sites in the skeletal layer of the dummy activity personnel；
Using Skeletal Skinned Animation technology, the grid vertex of the skin layer is driven to deform by the skeletal layer, to realize
It states dummy activity personnel and the operator keeps synchronization action.
8. the method according to the description of claim 7 is characterized in that the method also includes:
The operational order of the operator is obtained by the virtual reality interactive device；
The operational order is sent to the hand of the dummy activity personnel, so that the dummy activity personnel are in the three-dimensional
Movement corresponding with the operational order is executed in simulation virtual scene.
9. a kind of distribution network live line work emulation training device based on VR characterized by comprising
Three-dimensional artificial virtual field constructs module, described three-dimensional imitative for constructing the three-dimensional artificial virtual scene of distribution network live line work
It include dummy activity personnel and virtual distribution environment in true virtual scene；
Personnel's binding module, for when monitor associated with three-dimensional artificial virtual scene virtual reality show equipment and
When virtual reality interactive device is worn by operator, the operator and the dummy activity personnel are bound；Its
In, the virtual reality shows that equipment is used to the virtual distribution environment showing the operator；The operator
The simulation operations of distribution network live line work are carried out in the virtual distribution environment by controlling the virtual reality interactive device；
Operator's data obtaining module, for carrying out laser scanning to the operator based on preset scanning device, with
Obtain multiple positions of the operator corresponding current state information in the three-dimensional artificial virtual scene；Wherein, institute
Stating position includes head, hand, shoulder, ancon and center of gravity；The current state information includes current location information and current appearance
State information；
Virtual personnel's synchronizing information module, for by multiple positions of the operator in the three-dimensional artificial virtual scene
Corresponding current state information is loaded onto the dummy activity personnel, so that the dummy activity personnel and the operator protect
Hold synchronization action；
Three-dimensional artificial virtual field display module, it is described three-dimensional imitative for being shot by preset virtual camera with third person
True virtual scene, and convert two-dimensional picture for the three-dimensional artificial virtual scene taken and show the personnel of viewing and emulating.
10. a kind of distribution network live line work simulation training system based on VR, which is characterized in that including virtual reality show equipment,
Virtual reality interactive device, scanning device, display equipment and server；
The virtual reality show equipment, the virtual reality interactive device, the scanning device, the display equipment respectively with
The server communication connection；
Distribution network live line work emulation training device based on VR as claimed in claim 9 is installed on the server.
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Application publication date: 20190111 |