Pumped storage power station equipment-oriented multi-person cooperative maintenance simulation method and system

Abstract

The invention belongs to the technical field of maintenance of energy storage power stations, and provides a multi-person collaborative maintenance simulation method and system for pumped storage power station equipment, and the technical scheme is as follows: modeling is performed on each part based on an obtained CAD drawing of the parts of the pumped storage power station equipment to obtain three-dimensional models of all the parts; encoding the constructed three-dimensional model of the part; modeling a tool used for part maintenance to obtain a tool three-dimensional model; and receiving a to-be-overhauled scene request command of the client, disassembling the part according to the set multi-person disassembling sequence and the multi-person disassembling target function, completing multi-person collaborative disassembling based on interaction of the constructed part three-dimensional model and the tool three-dimensional model, and putting the disassembled part into a backpack according to the code of the part three-dimensional model. And the development efficiency of the interactive virtual maintenance system of the pumped storage power station equipment is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent maintenance of pumped storage power stations, and in particular relates to a multi-person collaborative maintenance method and system for pumped storage power station equipment. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Maintenance plays a critical role in the life cycle of power equipment. During long-term operation, it is inevitable that parts of power equipment will be damaged or worn, which will lead to power generation equipment failure. Therefore, in order to enable power equipment to perform at high performance and extend the service life of the equipment, daily maintenance and regular inspection and repair are necessary.

[0004] With the continuous change and development of the maintenance mode of hydropower stations, digital technology has gradually been applied to the intelligent and information-based construction of hydropower stations. Due to the limited visual expression, insufficient opportunities for active participation of personnel, poor safety, and high learning costs, traditional equipment maintenance makes it difficult for maintenance personnel to understand the characteristics of equipment and the maintenance process in terms of time, space, and visibility. Therefore, compared with the traditional maintenance mode, computer-based digital simulation technology can effectively help personnel quickly master maintenance knowledge and improve maintenance efficiency to ensure the stability of power generation in the power system.

[0005] Digital simulation technology in hydropower stations mainly refers to three-dimensional visualization technology and virtual reality (VR) technology. VR technology is a computer simulation technology that allows people to experience a man-made virtual world in an immersive way. VR technology originated from graphics and has now expanded to multiple disciplines such as sensing and simulation. Systems based on VR technology have the advantages of being free from time and space restrictions and having a high safety factor. VR technology has been widely used in engineering education, industrial safety, and industrial product maintenance. With the development of VR technology, equipment maintenance simulation has also been extensively studied.

[0006] However, the maintenance operation process of most pumped storage power station equipment maintenance simulation systems is linear, and the expression form is mostly presented in the form of animation or video, and the interactivity is not strong enough. When faced with complex nonlinear equipment maintenance, the coding method of the previous system will become complicated and inapplicable, and more in-depth research is needed to adapt to the simulation of more complex operations, such as hundreds of disassembly states, complex logical operations, and component operations that interact with each other during maintenance. And in the face of the actual maintenance operation of large-scale pumped storage power station equipment, it is generally carried out simultaneously by multiple people. Therefore, the traditional offline single-person maintenance system cannot simulate the situation when multiple people are performing maintenance well. Summary of the invention

[0007] In order to solve at least one technical problem existing in the above-mentioned background technology, the present invention provides a multi-person collaborative maintenance simulation method and system for pumped-storage power station equipment. Its multi-person disassembly optimization model realizes multi-person collaborative maintenance, thereby improving the development efficiency of the interactive virtual maintenance system of pumped-storage power station equipment.

[0008] In order to achieve the above object, the present invention adopts the following technical solution:

[0009] A first aspect of the present invention provides a multi-person collaborative maintenance simulation method for pumped storage power station equipment, comprising the following steps:

[0010] Based on the acquired CAD drawings of the pumped storage power station equipment parts, each part is modeled to obtain all the parts 3D models, and the constructed parts 3D models are encoded;

[0011] Model the tools used for parts maintenance to obtain a three-dimensional model of the tools;

[0012] Receive the client's request command for the maintenance scene, disassemble the parts according to the set multi-person disassembly sequence and multi-person disassembly objective function, complete multi-person collaborative disassembly based on the interaction of the constructed part 3D model and the tool 3D model, and put the disassembled parts into the backpack according to the part 3D model coding.

[0013] Furthermore, the allocation of the multi-person disassembly sequence can adopt a two-stage coding to form a parallel disassembly individual, indicating the maintenance personnel number sequence corresponding to the disassembly of the corresponding part node. The specific two-stage coding is as follows:

[0014] X={sx,nx}

[0015] Among them, X represents the parallel disassembly individual, sx={K1,K2,...,K k} represents the part sequence, nx={N1,N2,...,N n} represents a personnel sequence.

[0016] Furthermore, the multi-person disassembly objective function is expressed as:

[0017]

[0018] in, It indicates the disassembly end time of the last part in the disassembly sequence by a specific maintenance personnel, and the disassembly end time of the kth part in the disassembly sequence by a specific maintenance personnel It can be expressed as:

[0019]

[0020] in, represents the start time of disassembly of the kth part by the disassembly maintenance personnel, B T(k) represents the basic disassembly time of the parts in the sequence, and K represents the total number of parts.

[0021] Furthermore, the interaction process based on the constructed part 3D model and tool 3D model includes:

[0022] Receive mouse detection events of the scene to be repaired, obtain the part name, and load the 3D model of the part in the corresponding scene;

[0023] Determine the disassembly status of the currently loaded part. If the current part is not disassembled, generate a prompt message: Please disassemble other parts first. If the current part has been disassembled, proceed to the disassembly of the next part.

[0024] Receive button detection events, obtain the tool button name, determine whether the currently selected disassembly tool is correct, and if it is incorrect, generate a prompt for the correct disassembly tool, load the 3D model of the correct disassembly tool into the 3D model of the part, and control the movement of the tool to drive the movement of the part to disassemble the part.

[0025] Furthermore, the constructed three-dimensional model of the part is represented as:

[0026] Part = {3DM1, I1, C, D, M1},

[0027] Among them, 3DM represents the three-dimensional model of the part; I1 represents the interface of tool input; C represents the constraint state of the part, which changes with the state of other parts; D represents the conditional discriminant function; M1 represents the motion simulation function of the part.

[0028] The constraint relationship of equipment parts can be expressed through a directed graph model. The constraint relationship matrix can be obtained through the directed graph. The constraint relationship between two disassembly nodes can be converted into a mathematical model and expressed as:

[0029] Y=[d ij ] K×K

[0030] Where i and j are disassembly nodes, K is the total number of disassembled parts, d ij The value of is expressed by the following formula:

[0031]

[0032] The three-dimensional model of the constructed tool is represented as:

[0033] Tool = {3DM2, I2, O, M2},

[0034] Among them, 3DM2 represents the three-dimensional model of the tool; I2 represents the interface for maintenance personnel to input; O represents the output of the tool on the part; and M2 represents the motion simulation function of the tool.

[0035] Furthermore, encoding the constructed three-dimensional model of the part includes attribute encoding, motion encoding and backpack encoding;

[0036] The attribute code includes the position information, disassembly state information and mesh collider of the part;

[0037] The motion coding includes two motion functions: disassembly motion and installation motion;

[0038] The backpack coding includes storing disassembled parts or new parts for replacing old parts;

[0039] The method also includes evaluating the maintenance operation by using a hierarchy analysis method and fuzzy synthesis after the maintenance is completed.

[0040] A second aspect of the present invention provides a multi-person collaborative maintenance simulation system for pumped storage power station equipment, comprising:

[0041] A three-dimensional model building module is used to model each part based on the acquired CAD drawings of the pumped storage power station equipment parts to obtain the three-dimensional models of all parts, encode the constructed three-dimensional models of parts; and model the tools used for parts maintenance to obtain the three-dimensional models of tools;

[0042] The multi-person collaborative maintenance module is used to receive the client's request command for the maintenance scene, disassemble the parts according to the set multi-person disassembly sequence and multi-person disassembly objective function, complete the multi-person collaborative disassembly based on the interaction of the constructed part 3D model and the tool 3D model, and put the disassembled parts into the backpack according to the part 3D model coding.

[0043] A third aspect of the present invention provides a computer-readable storage medium.

[0044] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in the multi-person collaborative maintenance simulation method for pumped-storage power station equipment as described above.

[0045] A fourth aspect of the present invention provides a computer device.

[0046] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the multi-person collaborative maintenance simulation method for pumped storage power station equipment as described above are implemented.

[0047] A fifth aspect of the present invention provides a program product.

[0048] A program product, which is a computer program product, includes a computer program, and is characterized in that when the computer program is executed by a processor, it implements the steps in the multi-person collaborative maintenance simulation method for pumped-storage power station equipment as described above.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] 1. The present invention is based on the constructed pumped storage power station equipment parts and maintenance tools, realizes multi-person collaborative maintenance through multi-person disassembly optimization, and proposes a multi-person disassembly optimization model to minimize the disassembly time of maintenance workers with relatively long disassembly completion time. The equipment disassembly and installation coding optimization method based on virtual reality realizes the simulation of parts and tools in the maintenance scene, and also realizes higher degree of freedom and nonlinear disassembly.

[0051] 2. The present invention defines disassembly and installation constraints for each part, and the added backpack mechanism makes the entire maintenance operation process closer to the actual operation on site. The same disassembly tool can be matched with a variety of parts, and the basic motion simulation of the parts replaces the complicated animation production, which improves the efficiency of pumped storage power station equipment maintenance software development.

[0052] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0054] Figure 1 It is a flow chart of a multi-person collaborative maintenance simulation method for pumped storage power station equipment provided by an embodiment of the present invention;

[0055] Figure 2 is a parts coding diagram provided by an embodiment of the present invention;

[0056] Figure 3 is a tool coding diagram provided by an embodiment of the present invention;

[0057] Figure 4 is a schematic diagram of a disassembly operation flow provided by an embodiment of the present invention;

[0058] Figure 5 It is a schematic diagram of the installation operation flow provided by an embodiment of the present invention;

[0059] Figure 6is an interactive operation structure diagram provided by an embodiment of the present invention;

[0060] Figure 7 This is a practical diagram of shaft sleeve replacement provided by an embodiment of the present invention;

[0061] Figure 8 An architecture diagram of a multi-person collaborative maintenance system provided by an embodiment of the invention. DETAILED DESCRIPTION

[0062] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0063] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0064] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0065] In view of the fact that most of the current pumped storage power station equipment maintenance simulation systems are not interactive enough, and the traditional offline single-person maintenance system cannot well simulate the situation when multiple people are performing maintenance, the present invention

[0066] Embodiment 1

[0067] like Figure 1 As shown, this embodiment provides a multi-person collaborative maintenance simulation method for pumped storage power station equipment, including the following steps:

[0068] Step 1: Based on the obtained CAD drawings of the pumped storage power station equipment parts, each part is modeled to obtain the three-dimensional models of all parts, and the constructed three-dimensional models of parts are encoded;

[0069] The specific steps include:

[0070] Step 101, modeling each part to obtain three-dimensional models of all parts;

[0071] In this embodiment, according to the CAD drawings of the equipment parts of the pumped-storage power station, each part is modeled using the 3D modeling software SolidWorks, and then the built 3D model is lightweighted with the help of 3DSMax software and exported to Unity3D. Finally, metal materials, wooden materials, etc. are downloaded and loaded onto the model to obtain a rendered 3D model of the parts.

[0072] The constructed three-dimensional model of the part is represented as:

[0073] Part = {3DM1, I1, C, D, M1},

[0074] Among them, 3DM represents the three-dimensional model of the part; I1 represents the interface of tool input; C represents the constraint state of the part, which changes with the state of other parts; D represents the condition discrimination function, which is a function used to determine the state of the part or the interaction conditions with other parts, which affects the movement of the part or the relationship between the part and other parts; M1 represents the motion simulation function of the part.

[0075] The constraint relationship of the equipment parts in this embodiment can be expressed by a directed graph model. The nodes in the directed graph model can be divided into free nodes, leaf nodes, ordinary nodes, and combined nodes according to their types.

[0076] The constraint relationship matrix can be obtained through the directed graph. The constraint relationship between two disassembly nodes can be transformed into a mathematical model and expressed as:

[0077] Y=[d ij ] K×K

[0078] Where i and j are disassembly nodes, K is the total number of disassembled parts, d ij The value of is expressed by the following formula:

[0079]

[0080] Step 102, encoding the constructed three-dimensional model of the part, wherein the part encoding includes attribute encoding, motion encoding and backpack encoding;

[0081] The attribute code includes the position information, disassembly state information and mesh collider of the part;

[0082] The motion coding includes two motion functions, namely, disassembly motion and installation motion. These functions are edited and packaged in C# programming language for being called at any time.

[0083] The backpack coding refers to storing disassembled parts or new parts for replacing old parts, and installing parts when installation operations are required, which is mainly achieved through buttons in the UI component.

[0084] like Figure 2As shown, taking the nut part as an example, a part needs to have an attribute value, which will be used to identify other parts or tools. At the same time, the part should also have a motion function for rotation and movement. Since equipment maintenance is different from product recycling, it does not need to disassemble all equipment parts, but the equipment needs to be restored after replacing the target part. Therefore, in order to make the interaction process more in line with the characteristics of maintenance and more in line with reality, this embodiment proposes a new backpack mechanism for storing disassembled parts. The part coding includes attribute coding, motion coding and backpack coding. The attribute coding, in order to make the part simulation more in line with reality, must add a mesh collider MeshCollider. It also has the disassembly state DisassembleState of the part, which is a bool value. When the part is in the InstallPosition installation position in the scene, the disassembly state value is true, and when the part is in the SetPosition placement position, the disassembly state value is false. This key state value is used by other parts to determine whether the part has been disassembled or installed, so as to proceed to the next step. The motion coding defines a total of two motion functions, namely MoveToInstall() function and MoveToSet() function. When the functions are executed, the transform.Translate() method and transform.Rotate() method they contain will be called to control the movement and rotation of the parts. The backpack code, the function of the backpack is to store the disassembled parts or new parts used to replace the old parts, and install the parts when the installation operation is required, which is mainly achieved through the buttons in the UI component.

[0085] Step 2: Model the tool used for parts maintenance to obtain a three-dimensional model of the tool, and encode the three-dimensional model of the tool; in this embodiment, the constructed three-dimensional model of the tool is expressed as:

[0086] Tool = {3DM2, I2, O, M2},

[0087] Among them, 3DM2 represents the three-dimensional model of the tool; I2 represents the interface for maintenance personnel to input; O represents the output of the tool on the part; and M2 represents the motion simulation function of the tool.

[0088] The 3D modeling of the tool is the same as that of the parts. The tools in reality also need to be modeled and lightweight before they can be imported into Unity3D. After the metal material is attached, the display of the tool can be closer to reality. For simple tools, it is only necessary to draw a 1:1 3D model according to the drawing. For complex tools, it is necessary to model the general appearance and the parts that interact with the parts.

[0089] The tool coding is mainly the coding of the UI interface.

[0090] After the operator selects a tool from the toolbox UI and clicks the load button, the system selects the tool prefab from the Resources folder and loads it to the bolt part position. After the tool is loaded onto the part, the system will display the corresponding operation panel, and the operator can click the button on the operation panel to realize the interaction between the tool and the part.

[0091] like Figure 3 As shown in the figure, taking the No. 65 open-end wrench as an example, the tool coding mentioned is mainly the coding of the UI interface. After the operator selects the wrench from the toolbox and clicks the load button, the system selects the wrench prefabricated body from the Resources folder and loads it to the ToolPosition position carried by the bolt part itself. After the tool is loaded onto the part, the system will display the corresponding operation panel. There are two options in the control panel: clockwise rotation and counterclockwise rotation. The operator clicks clockwise rotation to call the MoveToInstall() function in the bolt part to move it to the installation position. Clicking counterclockwise rotation can call the MoveToSet() function in the bolt part to move it to the placement position, thereby realizing the interaction between the tool and the part.

[0092] Step 3: Receive a request command from the client for the maintenance scene, and perform multi-person collaborative disassembly based on the constructed three-dimensional model of parts and three-dimensional model of tools;

[0093] The specific steps include:

[0094] Step 301: Receive a mouse detection event of a scene to be repaired, obtain a part name, and load a three-dimensional model of the part in the corresponding scene;

[0095] Step 302: determine the disassembly status of the currently loaded part. If the current part is in a non-disassembly state, generate a prompt message: please disassemble other parts first. If the current part has been disassembled, proceed to the disassembly of the next part.

[0096] Step 303: receiving a button detection event, obtaining a tool button name, determining whether the currently selected disassembly tool is correct, and if the selected tool is incorrect, generating a prompt for the correct disassembly tool, loading the 3D model of the correct disassembly tool into the 3D model of the part, and controlling the tool movement to drive the part movement to disassemble the part;

[0097] Step 304: disassemble the parts according to the set multi-person disassembly sequence and multi-person disassembly objective function, complete multi-person collaborative disassembly, and put the disassembled parts into the backpack according to the backpack code;

[0098] Set the maintenance personnel N∈{1,2,...,n}, where n is the number of maintenance personnel.

[0099] For the same disassembly task, the difference between multi-person disassembly and single-person disassembly is that in multi-person disassembly, the disassembly task can be performed by multiple people simultaneously, so multi-person parallel disassembly can be achieved by simply allocating the disassembly sequence.

[0100] The allocation of disassembly sequence can adopt two-stage coding to form parallel disassembly individuals, which indicates the maintenance personnel number sequence corresponding to the disassembly of the corresponding part node. The specific two-stage coding is as follows:

[0101] X={sx,nx},

[0102] Among them, X represents the parallel disassembly individual, sx={K1,K2,...,K k} represents the part sequence, nx={N1,N2,...,N n} represents a personnel sequence.

[0103] The multi-person disassembly optimization model is actually an optimization function of the multi-person disassembly target, and its purpose is to minimize the disassembly time of maintenance workers who have a relatively long disassembly completion time.

[0104] The specific multi-person disassembly optimization model can be expressed as:

[0105]

[0106] in, It indicates the disassembly end time of the last part in the disassembly sequence by a specific maintenance personnel, and the disassembly end time of the kth part in the disassembly sequence by a specific maintenance personnel It can be expressed as:

[0107]

[0108] in, represents the start time of disassembly of the kth part by the disassembly maintenance personnel, B T(k) represents the basic disassembly time of the parts in the sequence, and K represents the total number of parts.

[0109] like Figure 4 As shown, the disassembly process first uses the mouse ray to detect the parts in the scene to obtain their part information, then clicks the button with the tool map in the toolbox to select the tool, and clicks the load button to trigger the part identification function to determine whether the part disassembly status of the part is disassembled. If it is not disassembled, the user is prompted to disassemble other parts first. If it has been disassembled, the next step can be entered. Then determine whether the selected disassembly tool is correct. If the wrong tool is selected, the system will prompt the user to select the correct tool. After the correct selection, the tool is loaded onto the part, and the button on the operation panel is used to control the movement of the tool to drive the movement of the part to achieve the disassembly function;

[0110] Step 4: Receive the backpack button detection event, obtain the parts to be installed, and determine whether the parts can be installed. If they have not been installed, prompt the user to install other parts first. If they have been installed, install the parts in the scene to be repaired.

[0111] like Figure 5 As shown, the installation operation first selects the part to be installed by clicking the backpack part button with the mouse. After clicking the installation button, the judgment function is triggered to determine whether the part can be installed. If it has not been installed, the user is prompted to install other parts first. If it has been installed, the part is installed in the scene.

[0112] In the interactive control mode, the user can use the keyboard, mouse or handle and other devices that come with the computer as the user's operation input method. In this embodiment, the mouse and keyboard are the main input methods. The operation of pressing the button in the UI to select the tools in the work box or the parts in the backpack is completed by clicking the left mouse button, and the keyboard can be used to define the movement mode of the virtual maintenance personnel in the maintenance system. However, the three-dimensional objects in the scene cannot be obtained through buttons or keyboards, so the Unity3D ray detection method can be used to realize the selection of parts in the scene and the acquisition of parts information. The maintenance operation of the equipment is basically divided into two actions: disassembly and assembly.

[0113] like Figure 6 As shown, the operation sequence of the disassembly action is "ABCDE" or "BACDE", where "A" means that the operator selects the part to be disassembled by clicking the component in the scene with the mouse; "B" means clicking the button of the corresponding tool in the toolbox to select the appropriate tool; "C" means loading the selected tool onto the selected part; "D" means that the maintenance personnel selects the operation option on the tool control panel, for example, the control panel of the wrench displays two options of clockwise rotation and counterclockwise rotation; "E" means controlling the movement and rotation of the part according to the maintenance personnel's operation of the tool. The operation sequence of the installation action is "FGHI", "F" means clicking the button corresponding to the disassembled part in the backpack to select the part; "G" means loading the selected part into the scene; "H" means that the maintenance personnel operates the part loaded into the scene; "I" means placing the part into the installation position according to the operation.

[0114] Step 5: Score the maintenance operation and generate guidance suggestions;

[0115] In this embodiment, the hierarchical analysis method is used to evaluate the maintenance operation, combining quantitative and qualitative methods, dividing multiple levels that affect decision-making and assigning weights to each level in a quantitative manner. The specific scoring steps are:

[0116] Step 501: Divide the factors that affect the maintenance operation into the following levels:

[0117] Target layer: Final evaluation of the maintenance operation;

[0118] Criteria layer: key factors affecting decision-making, such as maintenance efficiency, maintenance quality, safety, environmental impact, cost, etc.;

[0119] Sub-criteria layer: specific to the detailed factors of each criterion, such as maintenance personnel proficiency, equipment availability, quality of tools and materials, working hours, etc.

[0120] Step 502: Through pairwise comparison, experts or decision makers judge the relative importance of each pair of factors based on experience and assign a weight to each factor.

[0121] Step 504: Calculate the overall score using a weighted summation method based on the obtained weights of the various factors and the actual scores of the various evaluation indicators.

[0122] Example Analysis

[0123] Taking the water inlet ball valve of the water inlet system in the hydropower station equipment as an example, the water turbine unit, which is one of the important equipment in the hydropower station, has a water inlet ball valve installed at its water inlet to ensure that the unit can still operate stably for a period of time when a system failure occurs. However, the structure and working principle of the water inlet ball valve are complex, and there are certain difficulties in both overhaul and maintenance. In order to enable maintenance personnel to obtain maintenance knowledge about the ball valve and quickly grasp the maintenance content without being at the maintenance site, the present invention models and programs a water inlet ball valve component, maintenance scenario and tool of the main water inlet system of a hydropower station to realize interactive maintenance of the ball valve.

[0124] The bearings, valves, sleeves and valve shaft seals of the main water inlet ball valve of the hydropower station are subjected to very large radial and axial thrusts from the water flow during the opening and closing of the water inlet ball valve. At this time, the stable operation and overall performance indicators of the ball valve are completely dependent on the materials of the ball valve sleeve and seal. If the pivot seal and sleeve of the water inlet ball valve are damaged, the valve will be stuck or even leak, which will cause a series of reactions and cause major safety accidents in the turbine unit, thus affecting the response capability of the power grid and the reliability of the unit.

[0125] The present invention takes the replacement of the shaft sleeve as an application example of the interactive maintenance.

[0126] First, make preparations and drain the water inside the upstream pipeline penstock and volute to ensure that there is no water flow when the sleeve is replaced. Then, a sleeve replacement platform needs to be built. The platform is built with a springboard and scaffolding and can accommodate four people. Guardrails should be set up around the platform to ensure the safety of maintenance personnel, and ladders should be set up. Finally, prepare tools or parts for maintenance, the most important of which are the pivot sleeve installation and removal device and the pivot locking device. In addition, other materials and tools such as feeler gauges, jacks, wrenches, slings, bridge cranes, acetylene, etc. should be prepared.

[0127] After the preparation work is completed, you need to select the pin on the right arm first, such as Figure 7 As shown in (a), you can select any of the six right arm pins, then select the pin removal tool and load it, and select the counterclockwise rotation button on the pop-up tool panel to unscrew the pin. After lifting the right arm with the bridge crane, select the pivot locking device in the backpack and install it on the right pivot.

[0128] Since the user is already familiar with the selection and operation of tools during the disassembly operation, in order to improve efficiency, no tools are required for any installation operation. Then remove the left arm and pin in the same way, select the pivot sleeve installation and removal device in the backpack and install it on the left pivot. Figure 7 Install the jack as shown in (b).

[0129] Load a No. 17 open-end wrench onto the sleeve extraction nut and tighten it symmetrically and synchronously, and slowly unscrew the sleeve through the screw. After the left pivot sleeve is completely disengaged, insert the new sleeve to complete the sleeve replacement, such as Figure 7 As shown in (c): After the new sleeve is replaced, the pivot sleeve installation and removal device must be removed, and the previously disassembled left arm and pin must be reinstalled. After the left arm is reinstalled, the pivot locking device must be removed, and finally the right arm and right pin must be installed to complete the installation. Figure 7 Virtual interactive maintenance of bushing replacement in (d).

[0130] Embodiment 2

[0131] like Figure 8As shown, this embodiment provides a multi-person collaborative maintenance simulation system for pumped storage power station equipment, including a database, a Photon server and multiple clients; the network collaboration module is implemented by the photon server; the photon server is based on the client and server (C / S), and the multi-person collaborative maintenance system that uses photon as the network support engine realizes information interaction between the server and the client, and the photon server is an officially operated cloud server, which will not cause the problem of connection interruption due to the disconnection of the host. The basis for the implementation of multi-person collaborative maintenance is network collaboration. The network collaboration technology is to connect the server with multiple clients. The trainee sends a request from the client to the server. The database processes the client request and returns a processing response, such as controlling the movement and rotation of virtual parts. The server updates the data in the virtual scene at this time, and transmits it back to the client to realize the unification of scene information during multi-person collaborative maintenance.

[0132] In this embodiment, in this embodiment, the database stores pumped storage power station equipment information data, maintenance support data and maintenance process data;

[0133] The pumped-storage power station equipment information data refers to the pumped-storage power station equipment 3D model and CAD drawings, plant scene 3D model and tool 3D model;

[0134] The maintenance support data is the constraint relationship data of pumped storage power station equipment parts and tool information data;

[0135] The maintenance process data includes a demonstration animation file, a text description file and a voice explanation file.

[0136] include:

[0137] A three-dimensional model building module is used to model each part based on the acquired CAD drawings of the pumped storage power station equipment parts to obtain the three-dimensional models of all parts, encode the constructed three-dimensional models of parts; and model the tools used for parts maintenance to obtain the three-dimensional models of tools;

[0138] The multi-person collaborative maintenance module is used to receive the client's request command for the maintenance scene, disassemble the parts according to the set multi-person disassembly sequence and multi-person disassembly objective function, complete the multi-person collaborative disassembly based on the interaction of the constructed part 3D model and the tool 3D model, and put the disassembled parts into the backpack according to the part 3D model coding.

[0139] Embodiment 3

[0140] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the multi-person collaborative maintenance simulation method for pumped-storage power station equipment as described above are implemented.

[0141] Embodiment 4

[0142] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the multi-person collaborative maintenance simulation method for pumped-storage power station equipment as described above are implemented.

[0143] Embodiment 5

[0144] This embodiment provides a program product, which is a computer program product, including a computer program, characterized in that when the computer program is executed by a processor, the steps in the multi-person collaborative maintenance simulation method for pumped-storage power station equipment as described above are implemented.

[0145] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0146] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0147] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0148] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0149] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0150] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-person collaborative maintenance simulation method for pumped storage power station equipment, characterized in that: The steps include: Based on the acquired CAD drawings of the pumped storage power station equipment parts, each part is modeled to obtain all the parts 3D models, and the constructed parts 3D models are encoded; Model the tools used for parts maintenance to obtain a three-dimensional model of the tools; Receive the client's request command for the maintenance scene, disassemble the parts according to the set multi-person disassembly sequence and multi-person disassembly objective function, complete multi-person collaborative disassembly based on the interaction of the constructed part 3D model and the tool 3D model, and put the disassembled parts into the backpack according to the part 3D model coding.

2. The multi-person collaborative maintenance simulation method for pumped storage power station equipment according to claim 1, characterized in that: The allocation of the multi-person disassembly sequence can be formed by using a two-stage coding to form a parallel disassembly individual, indicating the maintenance personnel number sequence corresponding to the disassembly of the corresponding part node. The specific two-stage coding is as follows: X={sx,nx} Among them, X represents the parallel disassembly individual, sx={K1,K2,n,K k } represents the part sequence, nx={N1,N2,...,N n } represents a personnel sequence.

3. The multi-person collaborative maintenance simulation method for pumped storage power station equipment according to claim 1, characterized in that: The multi-person disassembly objective function is expressed as: in, It indicates the disassembly end time of the last part in the disassembly sequence by a specific maintenance personnel, and the disassembly end time of the kth part in the disassembly sequence by a specific maintenance personnel It can be expressed as: in, represents the start time of disassembly of the kth part by the disassembly maintenance personnel, B T(k) represents the basic disassembly time of the parts in the sequence, and K represents the total number of parts.

4. The multi-person collaborative maintenance simulation method for pumped storage power station equipment according to claim 1, characterized in that: The interactive process of the built-in 3D model of the part and the 3D model of the tool includes: Receive mouse detection events of the scene to be repaired, obtain the part name, and load the 3D model of the part in the corresponding scene; Determine the disassembly status of the currently loaded part. If the current part is not disassembled, generate a prompt message: Please disassemble other parts first. If the current part has been disassembled, proceed to the disassembly of the next part. Receive button detection events, obtain the tool button name, determine whether the currently selected disassembly tool is correct, and if it is incorrect, generate a prompt for the correct disassembly tool, load the 3D model of the correct disassembly tool into the 3D model of the part, and control the movement of the tool to drive the movement of the part to disassemble the part.

5. The multi-person collaborative maintenance simulation method for pumped storage power station equipment according to claim 1, characterized in that: The constructed three-dimensional model of the part is represented as: Part = {3DM1, I1, C, D, M1}, Among them, 3DM represents the three-dimensional model of the part; I1 represents the interface of tool input; C represents the constraint state of the part, which changes with the state of other parts; D represents the conditional discriminant function; M1 represents the motion simulation function of the part. The constraint relationship of equipment parts can be expressed through a directed graph model. The constraint relationship matrix can be obtained through the directed graph. The constraint relationship between two disassembly nodes can be converted into a mathematical model and expressed as: Y=[d ij ] K×K Among them, i and j are disassembly nodes, K is the total number of disassembled parts, and d ij The value of is expressed by the following formula: The three-dimensional model of the constructed tool is represented as: Tool = {3DM2, I2, O, M2}, Among them, 3DM2 represents the three-dimensional model of the tool; I2 represents the interface for maintenance personnel to input; O represents the output of the tool on the part; and M2 represents the motion simulation function of the tool.

6. The multi-person collaborative maintenance simulation method for pumped storage power station equipment according to claim 1, characterized in that: The encoding of the constructed three-dimensional model of the parts includes attribute encoding, motion encoding and backpack encoding; The attribute code includes the position information, disassembly state information and mesh collider of the part; The motion coding includes two motion functions: disassembly motion and installation motion; The backpack coding includes storing disassembled parts or new parts for replacing old parts; or The method also includes evaluating the maintenance operation by using a hierarchy analysis method and fuzzy synthesis after the maintenance is completed.

7. A multi-person collaborative maintenance simulation system for pumped storage power station equipment, characterized in that: include: A three-dimensional model building module is used to model each part based on the acquired CAD drawings of the pumped storage power station equipment parts to obtain the three-dimensional models of all parts, encode the constructed three-dimensional models of parts; and model the tools used for parts maintenance to obtain the three-dimensional models of tools; The multi-person collaborative maintenance module is used to receive the client's request command for the maintenance scene, disassemble the parts according to the set multi-person disassembly sequence and multi-person disassembly objective function, complete the multi-person collaborative disassembly based on the interaction of the constructed part 3D model and the tool 3D model, and put the disassembled parts into the backpack according to the part 3D model coding.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in the multi-person collaborative maintenance simulation method for pumped-storage power station equipment as described in any one of claims 1 to 6 are implemented.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the multi-person collaborative maintenance simulation method for pumped-storage power station equipment as described in any one of claims 1 to 6 are implemented.

10. A program product, the program product being a computer program product, comprising a computer program, characterized in that: When the computer program is executed by a processor, the steps in the multi-person collaborative maintenance simulation method for pumped-storage power station equipment as described in any one of claims 1 to 6 are implemented.

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