Application Research Of Flight Simulation System For Powerline Inspection Robot Based On Vega Prime

An simulation system of flying robot for overhead power-line inspection(FROPI) is researched in this paper, which dynamically demonstrates the whole flying process of FROPI, providing visual flight experimental basis for further study of power line inspection robot. In this paper, Three-dimensional modeling tools are used to construct realistic and smoothly browsing flight scene model, the system is developed by using C++ under the VisualStudio.NET 2003 and Vega Prime platform to realize movement control of perspective, and collision detection and response operations between flying robots and scene models.(1)Creator and other modeling tools are used to construct a realistic flight environment model and the Level of Detail technology and model instantiation techniques etc. are used to improve the speed of traversing the OpenFlight model database, for getting much more smoothly browsing model.(2)By use of the experimental flight data of the FROPI, we have driven the flight of the three-dimension real mould in the virtual scene, and we have achieved the scene graph emulation for the flight of the FROPI by the alternant function of Vega Prime. The emulation is effective and brings us an actual sense.(3)A network communication interface is given for data transmission between the machine for path planning and the machine for three-dimensional visual simulation; MFC framework is used to achieve a simulation system interface, greatly enhanced the interactive capacity of simulation system and readability of the program.In this paper, with the Matlab's powerful mathematical ability, a computer in the LAN obtains the FROPI path planning results. Then through the network the data is sent to another visual simulation computer in the LAN, which renders the process of flying robot's inspection tasks in 3D virtual environment in real-time with Vega Prime's strong visual simulation capacity. In this way, path planning of FROPI is separated from the three-dimensional display, and researchers can focus on research of the path planning problem without spending a lot of time in achieving the track display. With this system, researchers just need to write obstacle avoidance algorithm code in the experimental PC, and then can observe the effect directly in the visual simulation PC. So the effectiveness of the algorithm is determined, and greatly improves the efficiency of research on FROPI.