A VR and AR joint maintenance simulation method for relay

Abstract

A relay VR and AR joint maintenance simulation method relates to the field of power generation equipment maintenance, including: S1: constructing a model of a virtual environment and power equipment; S2: designing a basic maintenance plan based on the obtained model, and presetting maintenance operation actions; S3: checking the rationality of the maintenance plan to ensure that the plan complies with construction regulations, and using a virtual simulation environment to check collision relationships; S4: outputting an SOP for a qualified maintenance plan; S5: wearing an AR device to verify the feasibility of the maintenance plan; S6: continuously improving until the maintenance work is completed, and saving the final SOP. This solution uses a VR and AR joint maintenance simulation method to revise the plan and output a mature standard SOP, ultimately improving maintenance efficiency and reducing maintenance costs.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic turbine units, and in particular to a servomotor VR and AR combined maintenance simulation method. Background Art

[0002] Servomotor overhaul is a common task in electrical equipment maintenance. Servomotors usually include multiple parts, such as contacts, coils, switches, etc., so the overhaul process is quite complex and requires detailed knowledge and skills. Overhauling servomotors usually requires downtime, which may cause production interruptions and time costs. Therefore, a fast and effective overhaul process is very important. The parts of servomotors are small, requiring maintenance personnel to have good fine operation skills to ensure correct assembly and commissioning. In addition, servomotors usually require regular maintenance, which may occur at irregular times and require planning and coordination.

[0003] To address these issues, it is necessary to develop a detailed relay maintenance SOP (standard operating procedure), and ensure the quality of the maintenance work through training and documentation. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a relay VR and AR joint maintenance simulation method, which uses the VR and AR joint maintenance simulation method to simulate tasks such as disassembly, maintenance, and replacement of parts, design maintenance plans, and plan the best maintenance method in advance. AR technology is used to instantly remind and analyze problems and related steps in the maintenance design, so as to correct the plan and output a mature standard SOP, ultimately improving maintenance efficiency and reducing maintenance costs.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A relay VR and AR joint maintenance simulation method includes the following steps:

[0007] Step 1, build the model of virtual environment and power equipment;

[0008] Step 2: Design a maintenance plan for the relay based on the model obtained in Step 1, and preset maintenance operation actions;

[0009] Step 3: Check the rationality of the maintenance plan and use the virtual simulation environment to check the collision relationship;

[0010] Step 4: Output the standard operating procedure (SOP) for the qualified maintenance plan;

[0011] Step 5. Wear the AR device to adjust the setting parameters in the maintenance plan until it can correctly guide the maintenance steps and maintenance operation content;

[0012] Step 6. The preset SOP maintenance operation is completed and the final SOP is saved.

[0013] The specific steps of Step 1 above are:

[0014] Step1.1, build three-dimensional models of each part and assembly;

[0015] Step 1.2, load into the parts equipment library according to equipment classification;

[0016] Step 1.3: When using a virtual model, the names of the various components of the unit are displayed in a hierarchical manner;

[0017] Step 1.4, establish the three-dimensional model of the plant maintenance scene and equipment unit;

[0018] Step 1.5, build a plant maintenance interaction scene;

[0019] Step 1.6. Add attributes to all model categories in the scene, including physical attributes, floor attributes, and wall attributes;

[0020] Step 1.7. Enable collision detection between models to simulate the physical properties of objects in real scenes.

[0021] Step 1.8. The user wears a virtual reality head mounted display to control the movements of the virtual object and confirm the sequence of the maintenance steps.

[0022] The preset maintenance operations in Step 2 above include:

[0023] a) The motion trajectory of all parts is set by inputting coordinates;

[0024] b) Automatically record the assembly process, procedures, maintenance operations, tool usage, parts lifting and spatial layout through the model;

[0025] c) Perform maintenance step numbering through interaction;

[0026] d) Generate maintenance plan;

[0027] e) The collision relationship needs to be checked during the parameter setting of the assembly process, procedure, maintenance operation action, tool usage and other actions for the maintenance operation.

[0028] The steps for checking collision relationships in the above Step 3 are as follows:

[0029] Step 3.1, check the collision relationship through VR virtual reality technology;

[0030] Step 3.2: Use bounding box detection to simulate collisions between objects through the physics engine and calculate the physical interactions between objects, including elastic collisions and friction.

[0031] The specific steps of Step 5 above are:

[0032] Step 5.1. Generate maintenance work data of the maintenance plan according to SOP before verification;

[0033] Step 5.2. The verification personnel wear the AR device and start the AR application and related hardware;

[0034] Step 5.3. Create a virtual reality 3D scene and superimpose virtual information onto real devices through AR technology.

[0035] The above-mentioned Step 5 also includes: Step 5.4, AR verification, which is to detect the device and identify the device status by aligning the AR device with the device;

[0036] Step 5.5, equipment status recognition: feature-based equipment status recognition is performed in the enclosing frame area of ​​the AR device, that is, for each sub-equipment of different relays, the equipment status is identified according to the color, outline, and shape characteristics of its components, and by comparing it with the equipment status information in the background database, it is confirmed whether it is the target to be selected in the maintenance step;

[0037] Step 5.6, maintenance guidance and instructions, guide the verification personnel to complete the maintenance steps, and provide text, voice or 3D maintenance animation demonstration guidance;

[0038] Step 5.7, Verification feedback. The verification personnel perform the maintenance steps on the real equipment. The steps that can be completed are confirmed by voice check, and the steps that cannot be completed or abnormal are recorded.

[0039] The specific steps of Step 6 above are:

[0040] Step 6.1. Prompt the maintenance operation results that do not meet the preset standards in step 5, record the modified data, update the SOP, and immediately analyze the maintenance steps that may be affected by the modification here, and continue to prompt abnormal steps until the maintenance is completed;

[0041] Step 6.2, save the maintenance plan, verify that the complete plan is consistent with the operation sequence and requirements of the actual maintenance operation process, output the maintenance plan, and save the final SOP;

[0042] Step 6.3, output maintenance plan.

[0043] A simulation system using the above-mentioned relay VR and AR joint maintenance simulation method includes:

[0044] A first computing module is used to construct a model of a virtual environment and power equipment;

[0045] The second calculation module is used to design a basic maintenance plan based on the obtained model and preset maintenance operation actions;

[0046] A third calculation module is used to check the collision relationship using a virtual simulation environment;

[0047] The fourth calculation module is used to output the SOP for the inspection-qualified maintenance plan;

[0048] The fifth calculation module is used to verify the feasibility of the maintenance plan;

[0049] The sixth calculation module is used for continuous improvement until the maintenance work is completed and the final SOP is saved.

[0050] The above system also includes a server, and the first to sixth computing modules are installed on the server.

[0051] The present invention provides a relay VR and AR joint maintenance simulation method, and the equipment maintenance plan content obtained by the output of the final SOP is modular, programmed and standardized, and can realize three-dimensional visualization of operation steps. Maintenance personnel can follow the guidance of the plan program and realize three-dimensional visualization of each node and pipeline through the model, and complete the maintenance of the relay equipment item by item, and use the virtual simulation environment to check the collision relationship. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0053] Figure 1 It is a flow chart of the VR and AR joint maintenance simulation method for a servomotor disclosed in an embodiment of the present invention; Figure 2 A system diagram disclosed for an embodiment;

[0054] Figure 3 To use a model to represent the positional relationship between the stepper motor and the base in a three-dimensional virtual maintenance scene;

[0055] Figure 4 Schematic diagram of AR recognition object in the embodiment. DETAILED DESCRIPTION

[0056] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0057] like Figure 1As shown in , a relay VR and AR joint maintenance simulation method includes the following steps:

[0058] Step 1, build the model of virtual environment and power equipment;

[0059] Step 2: Design a basic maintenance plan based on the model obtained in Step 1, and preset maintenance operation actions;

[0060] Step 3: Check the rationality of the maintenance plan and use the virtual simulation environment to check the collision relationship;

[0061] Step 4. Output SOP for the qualified maintenance plan;

[0062] Step 5: Wear AR equipment to verify the feasibility of the maintenance plan;

[0063] Step 6. Continue to improve until the maintenance work is completed and save the final SOP.

[0064] The specific steps of Step 1 above are:

[0065] Step1.1, build three-dimensional models of each part and assembly;

[0066] Step 1.2, load into the parts equipment library according to equipment classification;

[0067] Step 1.3: When using a virtual model, the names of the various components of the unit are displayed in a hierarchical manner;

[0068] Step 1.4, establish the three-dimensional model of the plant maintenance scene and equipment unit;

[0069] Step 1.5, build a plant maintenance interaction scene;

[0070] Step 1.6. Add attributes to all model categories in the scene, including physical attributes, floor attributes, and wall attributes;

[0071] Step 1.7. Enable collision detection between models to simulate the physical properties of objects in real scenes.

[0072] Step 1.8. The user wears a virtual reality head mounted display to control the movements of the virtual object and confirm the sequence of the maintenance steps.

[0073] The preset maintenance operations in Step 2 above include:

[0074] a) The motion trajectory of all parts is set by inputting coordinates;

[0075] b) Automatically record the assembly process, procedures, maintenance operations, tool usage, parts lifting and spatial layout through the model;

[0076] c) Perform maintenance step numbering through interaction;

[0077] d) Generate preliminary maintenance plan;

[0078] e) Check collision relationships.

[0079] The steps for checking collision relationships in the above Step 3 are as follows:

[0080] Step 3.1, check the collision relationship through VR virtual reality technology;

[0081] Step 3.2: Use bounding box detection to simulate collisions between objects through the physics engine and calculate the physical interactions between objects, including elastic collisions and friction.

[0082] The specific steps of Step 5 above are:

[0083] Step 5.1. Generate maintenance work data of the maintenance plan according to SOP before verification;

[0084] Step 5.2. The verification personnel wear the AR device and start the AR application and related hardware;

[0085] Step 5.3. Create a virtual reality 3D scene and superimpose virtual information onto real devices through AR technology.

[0086] The above-mentioned Step 5 also includes: Step 5.4, AR verification, which is to detect the device and identify the device status by aligning the AR device with the device;

[0087] Step 5.5, equipment status recognition: feature-based equipment status recognition is performed in the enclosing frame area of ​​the AR device, that is, for each sub-equipment of different relays, the equipment status is identified according to the color, outline, and shape characteristics of its components, and by comparing it with the equipment status information in the background database, it is confirmed whether it is the target to be selected in the maintenance step;

[0088] Step 5.6, maintenance guidance and instructions, guide the verification personnel to complete the maintenance steps, and provide text, voice or 3D maintenance animation demonstration guidance;

[0089] Step 5.7, Verification feedback. The verification personnel perform the maintenance steps on the real equipment. The steps that can be completed are confirmed by voice check, and the steps that cannot be completed or abnormal are recorded.

[0090] The specific steps of Step 6 above are:

[0091] Step 6.1, continuous improvement, record the modified data, update SOP, immediately analyze the maintenance steps that may be affected by the modification here, and continue to prompt abnormal steps until the maintenance is completed;

[0092] Step 6.2, save the maintenance plan, verify that the complete plan after successful verification can meet the maintenance requirements, output the standardized maintenance plan, and save the final SOP;

[0093] Step 6.3, output maintenance plan.

[0094] A simulation system using the above-mentioned relay VR and AR joint maintenance simulation method includes:

[0095] A first computing module is used to construct a model of a virtual environment and power equipment;

[0096] The second calculation module is used to design a basic maintenance plan based on the obtained model and preset maintenance operation actions;

[0097] A third calculation module is used to check the collision relationship using a virtual simulation environment;

[0098] The fourth calculation module is used to output the SOP for the inspection-qualified maintenance plan;

[0099] The fifth calculation module is used to verify the feasibility of the maintenance plan;

[0100] The sixth calculation module is used for continuous improvement until the maintenance work is completed and the final SOP is saved.

[0101] The above system also includes a server, and the first to sixth computing modules are installed on the server.

[0102] Example:

[0103] like Figure 1 As shown, an embodiment of the present invention provides a relay VR and AR joint maintenance simulation method, which is applied to the maintenance of a virtual model in a virtual maintenance simulation environment, and includes the following steps:

[0104] Step S1: constructing models of virtual environment and power equipment;

[0105] In one embodiment, by establishing a three-dimensional model of each part and assembly;

[0106] They are loaded into the parts and equipment library according to the equipment classification method and are available for disassembly and assembly.

[0107] When using the virtual model, the names of the various components of the unit are displayed hierarchically; when selecting assemblies and components, the name, ID number, parent, mass, material, etc. will be displayed synchronously, and clicking on the 3D model will pop up the 3D model.

[0108] Based on three Dimensional design software The three-dimensional model of the plant maintenance scene and equipment units established by technology;

[0109] Construct an interactive scene for plant maintenance; it includes the building scenes of each floor of the plant, the interactive scenes in each floor, add attributes to all model categories in the interactive scene, enable collision detection between models to simulate the physical properties in the real scene, and prevent parts from passing through and overlapping each other.

[0110] Users wear a virtual reality head-mounted display to control the movements of virtual objects, view the assembly process of relay equipment parts within a 360-degree range, confirm the sequence of maintenance steps, and ensure that the installation accuracy between equipment parts meets the requirements.

[0111] Step S2: Design a maintenance plan based on the obtained model, the maintenance plan includes but is not limited to: Safety procedures: wear appropriate personal protective equipment to ensure the safety of the work area;

[0112] Equipment preparation: Check whether tools, equipment and resources are complete, staff ensure that equipment is turned off and clean the work area;

[0113] Fault condition: Feedback the cause of the fault;

[0114] Disassembly and assembly: disassembly of mechanical parts through specific maintenance operations and how to reassemble them;

[0115] Maintenance steps: repair, replacement of parts, cleaning, inspection, simulation of parts replacement process;

[0116] Debugging and testing: Describe how to debug and test devices to ensure they are operating properly, including using test instruments and adjusting parameters.

[0117] Maintenance completion procedure: describes how to end the equipment maintenance process, including restarting the equipment, cleaning the work area, recording maintenance work, etc.

[0118] And preset maintenance operation actions, the preset optional maintenance operation actions include but are not limited to:

[0119] Safety preparation tips: Make sure relevant safety procedures are followed, including wearing appropriate personal protective equipment.

[0120] Tool preparation tips: Describe the tools that should be prepared, including wrenches, spanners, screwdrivers, ladders, etc. and their specific quantities.

[0121] Maintenance component location description: Use 3D models to show the location and connection of maintenance components; Figure 3As shown, on the one hand, a model is used to represent the positional relationship between the stepper motor and the base in the three-dimensional virtual maintenance scene, and on the other hand, a virtual pen is used to simulate the specific operation of marking to represent this maintenance step.

[0122] Tightening and loosening bolts and nuts: Use appropriate parts and tools and tighten and loosen bolts and nuts in the correct sequence.

[0123] S3; Check the rationality of the maintenance plan to ensure that the plan complies with the construction regulations, use the virtual simulation environment to check the collision relationship, and use VR virtual reality technology to check the collision relationship based on the preset maintenance plan, and ensure the rationality of the disassembly and assembly sequence and the integrity of the maintenance process.

[0124] S4: Output SOP for the inspection-qualified maintenance plan; specifically, output SOP through the system based on the preset maintenance plan.

[0125] S5: Wearing AR equipment to verify the feasibility of the maintenance plan;

[0126] The steps of step S5 are as follows:

[0127] Before verification, the maintenance work materials of the maintenance plan are generated according to the SOP; including the scope of application, definition, safety requirements, maintenance preparation, maintenance steps, parts list, quality control and testing, records and documents, safe storage and disposal, and maintenance end procedures. The processes of maintenance preparation, maintenance steps, quality control and testing, safe storage and disposal, and maintenance end procedures are demonstrated using a three-dimensional model animation generated by VR.

[0128] The verification personnel wears the AR device, starts the built-in program and the AR device, and uses the AR device to aim at the device to perform device detection and device status identification.

[0129] A virtual reality 3D scene is established, and virtual information is superimposed on real equipment through AR technology. Virtual information such as images, texts, and indicator arrows are superimposed on real equipment through the screen of the AR device to demonstrate maintenance steps and indicate parts and tools.

[0130] On the other hand, step S5 is as follows:

[0131] AR verification: Use AR devices to detect devices and identify device status;

[0132] Equipment status recognition: feature-based equipment status recognition is performed within the bounding box of the AR device. For each sub-equipment of different relays, the equipment status is identified based on the color, outline, and shape characteristics of its components. By comparing it with the equipment status information in the background database, it is confirmed whether it is the target that should be selected for the maintenance step.

[0133] Maintenance guidance and instructions guide the verification personnel to complete the maintenance steps, and provide text, voice or 3D maintenance animation demonstration guidance. Specifically, the AR device displays an arrow to indicate the location of a specific component, or superimposes instructions on the equipment. The verification personnel complete the maintenance steps of the equipment according to the information and guidance provided by AR; they may need to hoist components, disassemble components, replace parts, perform calibration, and perform tests; Figure 4 As shown, the AR system combines the preset "Servomotor Disassembly and Maintenance" operation steps and detects and identifies the on-site work objects including "front cylinder head, cross-section, piston rod, servomotor, servomotor cylinder body" through the camera, and prompts personnel to "disassemble the bottom open and close cavity oil drain pipeline connecting flanges and joints in sequence".

[0134] Verification feedback: The verification personnel perform the maintenance steps on the real equipment. The steps that can be completed are confirmed by voice check, and the steps that cannot be completed or are abnormal are recorded. The system uses the connection relationship of components to analyze all maintenance steps associated with the problematic steps, and marks prompts on the AR device side.

[0135] The specific plan for step S6 is as follows: continue to improve until the maintenance work is completed, and save the final SOP. Specifically, the verification personnel immediately adjust the problems that arise during the verification of the maintenance plan, and modify the position data of the movement of parts and the specific parameters of the tools through voice input until the maintenance step can be successfully completed; the system records the modified data, updates the SOP, and immediately analyzes the maintenance steps that may be affected by the modification here, and continues to prompt abnormal steps until the maintenance is completed. The complete plan after successful verification can meet the maintenance requirements, generate a standardized maintenance plan, and save the final SOP.

[0136] Output maintenance plan, the output SOP is recorded in change management to explain how to handle changes and revisions to the SOP to ensure that the SOP remains up-to-date and effective.

[0137] The equipment maintenance plan content obtained by the final SOP output by the present invention is modular, programmed and standardized, and can realize three-dimensional visualization of operation steps. Maintenance personnel can follow the guidance of the plan program and use the model to realize the three-dimensional visualization of each spare part node and pipeline, and complete the maintenance of the relay equipment item by item, and use the virtual simulation environment to check the collision relationship.

[0138] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method; based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure; the accompanying method claims present elements of the various steps in an exemplary order and are not intended to be limited to a specific order or hierarchy.

[0139] In the foregoing detailed description, various features are grouped together in a single embodiment to simplify the disclosure; this method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are expressly recited in each claim; on the contrary, as the appended claims reflect, the invention lies in less than all the features of a single disclosed embodiment; therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0140] Those skilled in the art should also understand that the various illustrative logic boxes, modules, circuits, and algorithm steps described in conjunction with the embodiments of this document can be implemented as electronic hardware, computer software, or a combination thereof; in order to clearly illustrate the interchangeability between hardware and software, the various illustrative components, boxes, modules, circuits, and steps are generally described above around their functions; whether such functions are implemented as hardware or software depends on the specific application and the design constraints imposed on the entire system; skilled technicians can implement the described functions in an alternative manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of this disclosure.

[0141] The steps of the method or algorithm described in conjunction with the embodiments of this document may be directly embodied as hardware, a software module executed by a processor, or a combination thereof; the software module may be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a mobile disk, a CD-ROM, or any other form of storage medium known in the art; an exemplary storage medium is connected to the processor so that the processor can read information from the storage medium and write information to the storage medium; of course, the storage medium may also be an integral part of the processor; the processor and the storage medium may be located in an ASIC; the ASIC may be located in a user terminal; of course, the processor and the storage medium may also exist in a user terminal as discrete components.

[0142] For software implementation, the technology described in this application can be implemented using modules that perform the functions of this application; for example, procedures, functions, etc., these software codes can be stored in a memory unit and executed by a processor; the memory unit can be implemented within the processor or outside the processor. In the latter case, it is communicatively coupled to the processor via various means, which are all well known in the art.

[0143] The above description includes examples of one or more embodiments; of course, it is impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but a person skilled in the art should recognize that the various embodiments may be further combined and arranged; therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims; in addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", as "including," as explained as a transitional word in the claims; in addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

Claims

1. A relay VR and AR joint maintenance simulation method, characterized in that: The following steps are involved: Step 1. Build a model of virtual environment and power equipment; Step 2: Design a maintenance plan for the relay based on the model obtained in Step 1, and preset maintenance operation actions; Step 3: Check the rationality of the maintenance plan and use the virtual simulation environment to check the collision relationship; Step 4: Output the standard operating procedure (SOP) for the qualified maintenance plan; Step 5. Wear the AR device to adjust the setting parameters in the maintenance plan until it can correctly guide the maintenance steps and maintenance operation content; Step 6. The preset SOP maintenance operation is completed and the final SOP is saved; The specific steps of Step 5 are: Step 5.

1. Generate maintenance work data of the maintenance plan according to SOP before verification; Step 5.

2. The verification personnel wear the AR device and start the AR application and related hardware; Step 5.3, build a virtual reality 3D scene, and use AR technology to overlay virtual information on real devices; The Step 5 also includes: Step 5.4, AR verification, performing device detection and device status identification by aligning the AR device with the device; Step 5.5, equipment status recognition: feature-based equipment status recognition is performed in the enclosing frame area of ​​the AR device, that is, for each sub-equipment of different relays, the equipment status is identified according to the color, outline, and shape characteristics of its components, and by comparing it with the equipment status information in the background database, it is confirmed whether it is the target to be selected in the maintenance step; Step 5.6, maintenance guidance and instructions, guide the verification personnel to complete the maintenance steps, and provide text, voice or 3D maintenance animation demonstration guidance; Step 5.7, Verification feedback. The verification personnel perform the maintenance steps on the real equipment. The steps that can be completed are confirmed by voice check, and the steps that cannot be completed or abnormal are recorded.

2. A relay VR and AR joint maintenance simulation method according to claim 1, characterized in that: The specific steps of Step 1 are: Step1.1, build three-dimensional models of each part and assembly; Step 1.2, load into the parts equipment library according to equipment classification; Step 1.3: When using a virtual model, the names of the various components of the unit are displayed in a hierarchical manner; Step 1.4, establish the three-dimensional model of the plant maintenance scene and equipment unit; Step 1.5, build a plant maintenance interaction scene; Step 1.

6. Add attributes to all model categories in the scene, including physical attributes, floor attributes, and wall attributes; Step 1.

7. Enable collision detection between models to simulate the physical properties of objects in real scenes. Step 1.

8. The user wears a virtual reality head mounted display to control the movements of the virtual object and confirm the sequence of the maintenance steps.

3. A relay VR and AR joint maintenance simulation method according to claim 2, characterized in that: The preset maintenance operation actions in Step 2 include: a) The motion trajectory of all parts is set by inputting coordinates; b) Automatically record the assembly process, procedures, maintenance operations, tool usage, parts lifting and spatial layout through the model; c) Perform maintenance step numbering through interaction; d) Generate repair plan; e) The collision relationship needs to be checked during the parameter setting of the assembly process, procedure, maintenance operation action, and tool usage action for the maintenance operation.

4. A relay VR and AR joint maintenance simulation method according to claim 3, characterized in that: The steps for checking the collision relationship in Step 3 are as follows: Step 3.1, check the collision relationship through VR virtual reality technology; Step 3.2: Use bounding box detection to simulate collisions between objects through the physics engine and calculate the physical interactions between objects, including elastic collisions and friction.

5. A relay VR and AR joint maintenance simulation method according to claim 4, characterized in that: The specific steps of Step 6 are: Step 6.

1. Prompt the maintenance operation results that do not meet the preset standards in step 5, record the modified data, update the SOP, and immediately analyze the maintenance steps affected by the modification here, and continue to prompt abnormal steps until the maintenance is completed; Step 6.2, save the maintenance plan, verify that the complete plan is consistent with the operation sequence and requirements of the actual maintenance operation process, output the maintenance plan, and save the final SOP; Step 6.3, output maintenance plan.

6. A simulation system using the relay VR and AR joint maintenance simulation method according to claim 5, characterized in that: The system includes: A first computing module is used to construct a model of a virtual environment and power equipment; The second calculation module is used to design a basic maintenance plan based on the obtained model and preset maintenance operation actions; A third calculation module is used to check the collision relationship using a virtual simulation environment; The fourth calculation module is used to output the SOP for the inspection-qualified maintenance plan; The fifth calculation module is used to verify the feasibility of the maintenance plan; The sixth calculation module is used for continuous improvement until the maintenance work is completed and the final SOP is saved.

7. The simulation system according to claim 6, characterized in that: The system also includes a server, and the first to sixth computing modules are installed on the server.

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