CN104573230A - Virtual human work task simulation analyzing system and method for spacecraft repair - Google Patents
Virtual human work task simulation analyzing system and method for spacecraft repair Download PDFInfo
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Abstract
The invention discloses virtual human work task simulation analyzing system and method for spacecraft repair. The virtual human work task simulation analyzing system for spacecraft repair comprises a virtual reality real-time rendering and movement data acquiring module for simulating relatively complex action of a spaceman in track repair and moving with constraint or support so as to achieve the real human movement postures, a microgravity virtual environment creating module for achieving free state movement without constraint or support or position transfer movement under total body action so as to obtain the virtual human movement postures under a virtual microgravity environment, and an work task simulation analyzing module for quickly creating and pre-analyzing a general virtual scene and space layout to generate various actions for work task operation process as well as performing man-machine efficiency simulation analyzing for virtual human action so as to achieve feedback optimization or feasibility decision making of the virtual human work task planning.
Description
Technical field
The present invention relates to and manufacture emulation field, particularly relate to a kind of visual human's job task simulation analysis system towards spacecraft maintenance and simulating analysis.
Background technology
The space-orbit job task that someone participates in is one of gordian technique of the manned astro-engineering, the assembling in-orbit and maintenance, the space science that comprise manned spacecraft are tested, space payload discharges or reclaim, space rescue etc.Current spacefarer in-orbit the training of job task (comprising deliver from vault and extravehicular activity) and checking mainly such as neutral buoyancy tank, zero gravity airplane, extravehicular activity training simulators, pressure chamber, de-extension in the large-scale analog machine of the hardware-in-the-loop simulation such as testing table, hover platform are carried out.The limitation of this method is that system cost is high, application flexibility is poor, the space microgravity environment analogue difference opposite sex is large.
Virtual reality technology refers to that comprehensive utilization department of computer science unifies various special soft and hardware to produce a kind of simulated environment that can substitute real world and environment, and has the feature of feeling of immersion, interactivity and real-time.Utilize visual human's limbs attitude and motion under virtual reality technology simulated weightlessness characteristic, feel in conjunction with immersion graph image, power and the stimulus to the sense organ such as feedback can be the operating experience that spacefarer provides true to nature.Based on visual human under the microgravity environment of virtual reality in-orbit job task simulation analysis system both can be used for training, also can be used for mission planning and analysis.
At present, along with maturation and the development of virtual reality technology, people have started virtual reality technology to introduce to manufacture emulation field.As patent " virtual assembly system and dummy assembly method based on spacecraft assembly simulation technology ", (application number is 200810180605, publication number is 101739478) construct the virtual assembly system comprising CAD MBM, Virtual assemble planning module, Assembly Process planning module, and provide the dummy assembly method based on spacecraft assembly simulation technology.(application number is 201110442411 to patent " the immersion Virtual Maintenance Simulation system virtualization people control method based under DELMIA environment ", publication number is 102521464) utilize second development interface to import on the visual human of the virtual platform for maintenance that professional software provides in real time by motion capture equipment institute catcher body action, effectively realize true man to the control of visual human and efficiency analysis.
There is following problem in above-mentioned sorts of systems and method:
(1) virtual reality of cad model is played up and all need be imported analogue system with set form, and processing procedure both expended time in, and easily brings again the loss of data, especially for large-scale models such as spacecrafts;
(2) visual human of reality environment and model are pure geometry and do not possess physical attribute, cannot build and athletic posture under generating microgravity environment: no matter be Delmia or independently developed simulation software, the attitude storehouse of its visual human and catching from true man's action of locus tracker all from normal gravity environment, under the condition lacking semi-physical simulation hardware, the athletic posture of microgravity environment cannot be generated;
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of visual human's job task simulation analysis system towards spacecraft maintenance and simulating analysis, with the virtual reality real-time rendering by common CAD model, avoid model conversion, the quick immersion realizing virtual digit model machine and environment is assessed alternately; Build microgravity environment and generating virtual people operation attitude in-orbit to generate by professional software, in conjunction with real-time body's action that motion capture system catches, form the simulation of microgravity environment visual human operational simulation; Visual human operated and import professional man-machine efficacy analysis module, complete the quantitative analysis such as posture analysis, fatigue strength assessment, final realization emulates towards visual human's job task of spacecraft maintenance and analyzes.
In order to solve the problems of the technologies described above, the invention provides a kind of visual human's job task simulation analysis system towards spacecraft maintenance, should comprise towards visual human's job task simulation analysis system of spacecraft maintenance: virtual reality real-time rendering and exercise data acquisition module, for simulating action comparatively complicated in the operation of cosmonaut's maintainable technology on-orbit, thus realize the motion of Constrained or support, and then obtain true people's athletic posture; Microgravity virtual environment building module, realizes without the free state motion retrained or support or the position transfer type games needing whole body to coordinate for responsible, thus motion of virtual human attitude under obtaining virtual microgravity environment; Visual human's driving interface module, for importing motion of virtual human attitude under described true people's athletic posture and described virtual microgravity environment and drive the visual human of job task simulation analysis module, to realize man-machine efficacy simulation analysis; Job task simulation analysis module, it utilizes described virtual reality real-time rendering and exercise data acquisition module to realize general virtual scene, the rapid build of space layout and preanalysis, utilize all kinds of action needed for described virtual reality real-time rendering and exercise data acquisition module and described microgravity virtual environment building CMOS macro cell job task operating process, and carry out the man-machine efficacy simulation analysis of visual human's action, to realize the feedback optimized or feasibility decision of visual human's job task planning.
Present invention also offers a kind of visual human's job task simulating analysis towards spacecraft maintenance, should comprise towards visual human's job task simulating analysis of spacecraft maintenance: step 1: in virtual reality real-time rendering and exercise data acquisition module, action comparatively complicated in the operation of simulation cosmonaut maintainable technology on-orbit, thus realize the motion of Constrained or support, and then obtain true people's athletic posture; Step 2: in microgravity virtual environment building module, is responsible for realizing without the free state motion retrained or support or the position transfer type games needing whole body to coordinate, thus motion of virtual human attitude under obtaining virtual microgravity environment; Step 3: in visual human's driving interface module, imports motion of virtual human attitude under described true people's athletic posture and described virtual microgravity environment and drives the visual human of job task simulation analysis module, to realize man-machine efficacy simulation analysis; Step 4: in job task simulation analysis module, described virtual reality real-time rendering and exercise data acquisition module is utilized to realize general virtual scene, the rapid build of space layout and preanalysis, utilize all kinds of action needed for described virtual reality real-time rendering and exercise data acquisition module and described microgravity virtual environment building CMOS macro cell job task operating process, and carry out the man-machine efficacy simulation analysis of visual human's action, to realize the feedback optimized or feasibility decision of visual human's job task planning.
Visual human's job task simulation analysis system towards spacecraft maintenance provided by the invention and simulating analysis advantage are compared with the existing technology:
(1) by virtual reality real-time rendering and exercise data acquisition module, support by all kinds of CAD scene when not needing to carry out format conversion real-time rendering to virtual reality, and basic interactive operation is provided, realize the application such as general virtual scene rapid build, space layout's preanalysis, virtual digit model machine expedited review, basic operation Pre-Evaluation with auxiliary, avoid time loss and the loss of data of Data Format Transform process;
(2) for two class operating modes of spacefarer's job task in-orbit, respectively constructing virtual reality real-time rendering and exercise data acquisition module and microgravity virtual environment building module, all kinds of athletic posture analog simulation of overwrite job task, overcome the shortcomings such as large-scale semi-physical object simulating simulation hardware system cost is high, application flexibility is poor, compensate for the defect that simple virtual emulation software cannot build microgravity environment.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below
Fig. 1 is the structured flowchart of the visual human's job task simulation analysis system towards spacecraft maintenance of the present invention;
Fig. 2 is the visual human's job task simulating analysis process flow diagram towards spacecraft maintenance of the present invention;
Fig. 3 is the workflow diagram of the job task simulation analysis module in Fig. 1.
Embodiment
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is clearly and completely described.
The invention provides a kind of visual human's job task simulation analysis system towards spacecraft maintenance and simulating analysis, with the virtual reality real-time rendering by common CAD model, avoid model conversion, the quick immersion realizing virtual digit model machine and environment is assessed alternately; Build microgravity environment and generating virtual people operation attitude in-orbit to generate by professional software, in conjunction with real-time body's action that motion capture system catches, form the simulation of microgravity environment visual human operational simulation; Visual human operated and import professional man-machine efficacy analysis module, and complete the quantitative analysis such as posture analysis, fatigue strength assessment, final realization emulates towards visual human's job task of spacecraft maintenance and analyzes.
Figure 1 shows that the structured flowchart of the visual human's job task simulation analysis system 100 towards spacecraft maintenance of the present invention.Visual human's job task simulation analysis system towards spacecraft maintenance comprises: virtual reality real-time rendering and exercise data acquisition module 110, microgravity virtual environment building module 120, visual human's driving interface module 130, job task simulation analysis module 140.
Virtual reality real-time rendering and exercise data acquisition module 110 are for action comparatively complicated in the operation of analog acquisition cosmonaut maintainable technology on-orbit, as health limits, upper limbs is movable, pin limits upper limbs activity, hand restriction stretched is movable, correspondence realizes the job task such as dashboard operation, switch hatch door, auxiliary mutual docking, more exchange device, thus realize the motion of Constrained or support, and then obtain true people's athletic posture.Virtual reality real-time rendering and exercise data acquisition module 110 comprise virtual reality hardware module 111 and virtual reality real-time rendering module 112.
Virtual reality hardware module 111, comprise the data helmet (VR 1280), data glove (CyberGlove II), motion capture system (such as, ART double capture system), three dimensions handle (mutual handle Flystick), binary channels projection (Christie Mirage DS+10K-M), hard screen, 3D glasses etc.Wherein, the data helmet provides the first visual angle of general virtual scene to experience for operator, operator by data headgear and motion capture system for job task simulation analysis module provides true people to move input; Binary channels projection, hard screen, 3D glasses provide the 3rd visual angle to experience for reviewer, and reviewer is by operations such as the three dimensions handle space layout's amendments realizing general virtual scene.Described virtual reality hardware module 111 provides hardware supported for the establishment of immersive VR environment, auxiliary true man realize as far as possible close to all kinds of motor performances of maintainable technology on-orbit truth, and catch human body real-time action, meanwhile, can be general virtual scenario building, space layout's analysis provides actual experience to support.
Virtual reality real-time rendering module 112, comprises hyperchannel display module 113, visual angle track navigation module 114, interactive browser evaluation module 115 and Virtual assemble module 116.Virtual reality real-time rendering module 112, adopts the visibility solution France Techviz software based on OpenGL.Hyperchannel display module 113, can adopt Techviz XL Basic license basic module in Techviz software and TechViz XL binary channels active stereo node mandate support by all kinds of CAD scene when not needing to carry out format conversion real-time rendering to virtual reality, current virtual scene is carried out high-resolution visual, support multiple virtual reality displaying scheme simultaneously, comprise the data helmet, firmly shield, wherein, the data helmet and hard screen provide operator visual angle and the third party to evaluate visual angle respectively.Visual angle track navigation module 114, the Navigation Option basic navigation module in Techviz software and the senior tracking module of Tracking Option is adopted to provide visual angle track navigation function, by hardware support such as three dimensions handle, main perspective 3D glasses, realize the free navigation of syetematic view or virtual scene, and can position of human body tracking be carried out.Interactive browser evaluation module 115, DMU1 and the DMU2 module in Techviz software can be adopted to provide interactive browser evaluation function, three dimensions handle is utilized to realize, to virtual scene assessment, providing bookmark function, measurement function, section function, zoom function, annotation function, hiding and display module function, snapshot functions etc. in order to assist operator.Virtual assemble module 116, adopt the Virtual assemble module in Techviz software, allow operator to carry out interactive mode to the arbitrary parts in virtual scene to move, see the collision situation of dismounting moving process and carry out record to path, the Pre-Evaluation that preanalysis and assembling, dismounting, maintenance etc. for virtual scene fast layout operate provides support.Virtual reality real-time rendering module 112 provides basic interactive operation, realizes the application such as general virtual scene rapid build, space layout's preanalysis, virtual digit model machine expedited review, basic operation Pre-Evaluation with auxiliary.
Microgravity virtual environment building module 120, the Endorphin role of Natural Motion company of professional cartoon making engine Britain is adopted dynamically to generate software, this platform completes microgravity virtual scene structure, modeling physical attributes, restriction relation modeling, the setting of visual human's attitude, motor performance design etc., motion of virtual human animation under final generation microgravity environment, obtains motion of virtual human attitude.Microgravity virtual environment building module 120 is responsible for realizing without the free state motion retrained or support or the position transfer type games needing whole body to coordinate, as lateral drift, list/Double-crank arm drift etc., correspondence realizes the job task such as drift, deliver from vault process, freight transportation, out of my cabin walking in cabin.Microgravity virtual environment building module 120 relates to be simulated compared with the motion of virtual human of large scene, obtains motion of virtual human attitude under virtual microgravity environment.
Visual human's driving interface module 130 drives interface 131 and the second visual human to drive interface 132 to form by the first visual human.First visual human drives interface 131 to adopt the expansion module RTID Human (Real-Time Interactionfor Delmia Human) of Delmia V5, for supporting the virtual human model of the true people's motion solver Real Time Drive Delmia V5 gathered by motion tracking system (ART double capture system).Second visual human drives interface 132 to realize based on the CAA Secondary Development Module exploitation of Delmia V5, under the microgravity condition generate microgravity virtual environment building module 120, human body moves through BVH form importing Delmia and binds with its motion of virtual human joint, drives virtual human model.First visual human drives interface 131 and the second visual human to drive interface 132 to correspond respectively to virtual reality real-time rendering and exercise data acquisition module 110 and microgravity virtual environment building module 120 liang of classes Working motion attitude implementation in-orbit, under true people's athletic posture virtual reality real-time rendering and exercise data acquisition module 110 gathered or virtual microgravity environment, motion of virtual human attitude imports with real-time or offline mode respectively and drives the visual human of job task simulation analysis module 140, to realize man-machine efficacy simulation analysis.
Job task simulation analysis module 140, adopt the Delmia V5 business external member of Da Suo company, thering is provided the functions such as general virtual scenario building, space layout's analysis, operating process planning, collision detection, man-machine efficacy analysis, is the core support part of present system.Above-mentioned general virtual scenario building and space layout to analyze under the support of virtual reality real-time rendering module and can meet in true cabin or the job task scene of extravehicular activity by rapid build, the all operations sequence that operating process planning and collision detection relate in order to the complete job task of auxiliary programming, man-machine efficacy analysis is in order to assess the feasibility of job task visual human operation.The appraisal procedure of man-machine efficacy analysis comprises RULA (Rapid Upper Limb Assessment), NIOSH (National Institute of Occupational Safety and Health), OWAS (OwakoWorking-posture Analyzing System), Snook table etc.
The action of spacefarer's actual maintainable technology on-orbit job task mainly comprises two kinds of operating modes: a class is the motion of Constrained or support, is such as fettered by seat or sufficient limiter, hand-held pneumatic equipment, gets a grip on the rail or anti-tugboat wall etc.; Another kind of is without the free state retrained or support.For the simulation of two class operating mode athletic postures, respectively constructing virtual reality real-time rendering and exercise data acquisition module 110 and microgravity virtual environment building module 120.Data glove and the motion capture system collection of virtual reality real-time rendering and exercise data acquisition module 110 combined with virtual reality hardware module 111 obtain true people's athletic posture, drive interface 131 to import in real time by the first visual human and drive the visual human of job task simulation analysis module 140, the virtual reality experience in true people's operating process is provided by the hyperchannel display module 113 of virtual reality real-time rendering module 112.Under the virtual microgravity environment of microgravity virtual environment building module 120, motion of virtual human attitude directly drives interface 132 to import off-line manner by the second visual human and drives the visual human of job task simulation analysis module 140.
Job task simulation analysis module 140, virtual reality real-time rendering module 112 is utilized to realize general virtual scene, the rapid build of space layout and preanalysis, virtual reality real-time rendering and exercise data acquisition module 110 and microgravity virtual environment building module 120 is utilized to generate all kinds of action needed for job task operating process, and carry out the man-machine efficacy analysis of visual human's action, finally complete the feedback optimized or feasibility decision of visual human's job task planning.
Figure 2 shows that of the present invention is the visual human's job task simulating analysis flow process Figure 200 towards spacecraft maintenance.Composition graphs 1 is described by Fig. 2.It will be understood by those skilled in the art that, although disclose concrete step in Fig. 2, but these steps only exemplarily for illustration of, that is, the visual human's job task simulating analysis towards spacecraft maintenance of the embodiment of the present invention can also perform multiple other step or perform the shift step of step in Fig. 2.Particularly, the embodiment of the present invention comprises the steps:
In step 201, in virtual reality real-time rendering and exercise data acquisition module, action comparatively complicated in the operation of simulation cosmonaut maintainable technology on-orbit, thus realize the motion of Constrained or support, and then obtain true people's athletic posture.Particularly, in the virtual reality hardware module 111 of virtual reality real-time rendering and exercise data acquisition module 110, for the establishment of immersive VR environment provides hardware supported, auxiliary true man utilize all kinds of motor performances of the close as far as possible truth in-orbit of realization, and catch human body real-time action, meanwhile, for general virtual scenario building, space layout's analysis, virtual prototype expedited review provide actual experience to support; In the virtual reality real-time rendering module 112 of virtual reality real-time rendering and exercise data acquisition module 110, support by all kinds of CAD scene when not needing to carry out format conversion real-time rendering to virtual reality, and basic interactive operation is provided, realize general virtual scene rapid build, space layout's preanalysis, virtual digit model machine expedited review, basic operation Pre-Evaluation with auxiliary.Further, in virtual reality real-time rendering module 112, adopt Techviz XL Basic license basic module in Techviz software and TechViz XL binary channels active stereo node by all kinds of CAD scene when not needing to carry out format conversion real-time rendering to virtual reality, current virtual scene is carried out high-resolution visual, support multiple virtual reality displaying scheme simultaneously, comprise the data helmet, firmly shield, wherein, the described data helmet and described hard screen provide operator visual angle and the third party to evaluate visual angle respectively; The NavigationOption basic navigation module in Techviz software and the senior tracking module of Tracking Option is adopted to provide visual angle track navigation function, by three dimensions handle, main perspective 3D glasses, realize the free navigation of syetematic view or virtual scene, and can position of human body tracking be carried out; DMU1 and the DMU2 module in Techviz software is adopted to provide interactive browser evaluation function, three dimensions handle is utilized to realize, to virtual scene assessment, providing bookmark function, measurement function, section function, zoom function, annotation function, hiding and display module function, snapshot functions in order to assist operator; Adopt the Virtual assemble module in Techviz software, allow operator to carry out interactive mode to the arbitrary parts in virtual scene to move, see the collision situation of dismounting moving process and record carried out to path, for virtual scene fast layout preanalysis and assembling, dismounting, maintenance operation Pre-Evaluation provide support.
In step 202., in microgravity virtual environment building module, be responsible for realizing without the free state motion retrained or support or the position transfer type games needing whole body to coordinate, thus motion of virtual human attitude under obtaining virtual microgravity environment.In microgravity virtual environment building module, also carry out microgravity virtual scene structure, modeling physical attributes, restriction relation modeling, the setting of visual human's attitude, motor performance design.
In step 203, in visual human's driving interface module, motion of virtual human attitude under described true people's athletic posture and described virtual microgravity environment is imported and drives the visual human of job task simulation analysis module, to realize man-machine efficacy simulation analysis.Particularly, visual human drives interface to comprise further: the first visual human drives interface, corresponding to the motion operating mode of Constrained or support, is imported in real time fashion by described true people's athletic posture and drives the visual human of described job task simulation analysis module; Second visual human drives interface, correspond to without the free state motion retrained or support or the position transfer type games operating mode needing whole body to coordinate, motion of virtual human attitude under described virtual microgravity environment is imported to generate and drives the visual human of described job task simulation analysis module.
In step 204, in job task simulation analysis module, described virtual reality real-time rendering and exercise data acquisition module is utilized to realize general virtual scene, the rapid build of space layout and preanalysis, utilize all kinds of action needed for described virtual reality real-time rendering and exercise data acquisition module and described microgravity virtual environment building CMOS macro cell job task operating process, and carry out the man-machine efficacy simulation analysis of visual human's action, to realize the feedback optimized or feasibility decision of visual human's job task planning.General virtual scenario building and space layout to analyze under the support of virtual reality real-time rendering module and can meet in true cabin or the job task scene of extravehicular activity by rapid build; The all operations sequence that operating process planning and collision detection relate in order to the complete job task of auxiliary programming.
Figure 3 shows that the workflow diagram 300 of the job task simulation analysis module 140 in Fig. 1.Composition graphs 1 and Fig. 2 are described by Fig. 3.Particularly, job task simulation analysis module 140 of the present invention comprises the steps:
In step 301, the virtual scene meeting truth is as far as possible built according to job task demand;
In step 302, according to job task demand, layout is carried out to operating space, such as, in layout behaviour cabin/above deck equipment space;
In step 303, the quick virtual reality experience provided by virtual reality real-time rendering module 112, carries out Pre-Evaluation to the result of step 301 and 302, if undesirable, repeatedly performs step 301 to step 303; If Pre-Evaluation result meets the requirements, perform step 304;
In step 304, according to the operational motion that job task demand detailed design overall process relates to, the planning of complete operation flow process;
In step 305, according to operation planning result, Type division is carried out to involved action, for Constrained or the motion of support or the motion of partial operation more complicated, go to step 306; Without the free state motion retrained or support or the motion related to compared with large scene evolution, go to step 307;
Within step 306, utilize virtual reality real-time rendering and exercise data acquisition module 110, generate and gather true people's athletic posture, driving interface 131 to drive the visual human of job task simulation analysis module 140 to complete the emulation of this operation in real time by the first visual human;
In step 307, utilize motion of virtual human attitude under microgravity virtual environment building module 120 generating virtual microgravity environment, drive interface 132 to drive the visual human of job task simulation analysis module 140 to complete the emulation of this operation off-line manner by the second visual human;
In step 308, the full-range everything of operation is generated corresponding athletic posture in the mode of step 306 and step 307 and is combined into the complete whole process sequence of operation;
In a step 309, utilize individuation human efficiency model, job task simulation analysis module 140 completes the man-machine efficacy analysis of each sequence motion attitude;
In the step 310, judging that athletic posture is the need of optimization, as needed to optimize, then repeatedly performing step 305 to step 310; If do not needed to optimize, then perform step 311;
In step 311, utilize systematic analysis technique mould, the whole process program results of assessment job task;
In step 312, judging whether to need to optimize according to the whole process planning appraisal result of job task, as needed to optimize, then repeatedly performing step 301 to step 312, to obtain optimal result; If do not needed to optimize, then simulation analysis process terminates.
Claims (12)
1. towards visual human's job task simulation analysis system of spacecraft maintenance, it is characterized in that, described visual human's job task simulation analysis system towards spacecraft maintenance comprises:
Virtual reality real-time rendering and exercise data acquisition module, for simulating action comparatively complicated in the operation of cosmonaut's maintainable technology on-orbit, thus realize the motion of Constrained or support, and then obtain true people's athletic posture;
Microgravity virtual environment building module, realizes without the free state motion retrained or support or the position transfer type games needing whole body to coordinate for responsible, thus motion of virtual human attitude under obtaining virtual microgravity environment;
Visual human's driving interface module, for importing motion of virtual human attitude under described true people's athletic posture and described virtual microgravity environment and drive the visual human of job task simulation analysis module, to realize man-machine efficacy simulation analysis;
Job task simulation analysis module, it utilizes described virtual reality real-time rendering and exercise data acquisition module to realize general virtual scene, the rapid build of space layout and preanalysis, utilize all kinds of action needed for described virtual reality real-time rendering and exercise data acquisition module and described microgravity virtual environment building CMOS macro cell job task operating process, and carry out the man-machine efficacy simulation analysis of visual human's action, to realize the feedback optimized or feasibility decision of visual human's job task planning.
2. the visual human's job task simulation analysis system towards spacecraft maintenance according to claim 1, it is characterized in that, described virtual reality real-time rendering and exercise data acquisition module comprise further:
Virtual reality hardware module, its establishment for immersive VR environment provides hardware supported, auxiliary true man utilize all kinds of motor performances of the close as far as possible truth in-orbit of realization, and catch human body real-time action, meanwhile, for general virtual scenario building, space layout's analysis, virtual prototype expedited review provide actual experience to support;
Virtual reality real-time rendering module, for support by all kinds of CAD scene when not needing to carry out format conversion real-time rendering to virtual reality, and basic interactive operation is provided, realize general virtual scene rapid build, space layout's preanalysis, virtual digit model machine expedited review, basic operation Pre-Evaluation with auxiliary.
3. the visual human's job task simulation analysis system towards spacecraft maintenance according to claim 2, is characterized in that, described virtual reality real-time rendering module comprises further:
Hyperchannel display module, its adopt Techviz XL Basic license basic module in Techviz software and Techviz XL binary channels active stereo node by all kinds of CAD scene when not needing to carry out format conversion real-time rendering to virtual reality, current virtual scene is carried out high-resolution visual, support multiple virtual reality displaying scheme simultaneously, comprise the data helmet, firmly shield, wherein, the described data helmet and described hard screen provide operator visual angle and the third party to evaluate visual angle respectively;
Visual angle track navigation module, it adopts the Navigation Option basic navigation module in Techviz software and the senior tracking module of Tracking Option to provide visual angle track navigation function, by three dimensions handle, main perspective 3D glasses, realize the free navigation of syetematic view or virtual scene, and can position of human body tracking be carried out;
Interactive browser evaluation module, it adopts DMU1 and the DMU2 module in Techviz software to provide interactive browser evaluation function, three dimensions handle is utilized to realize, to virtual scene assessment, providing bookmark function, measurement function, section function, zoom function, annotation function, hiding and display module function, snapshot functions in order to assist operator;
Virtual assemble module, it adopts the Virtual assemble module in Techviz software, allow operator to carry out interactive mode to the arbitrary parts in virtual scene to move, see the collision situation of dismounting moving process and record carried out to path, for virtual scene fast layout preanalysis and assembling, dismounting, maintenance operation Pre-Evaluation provide support.
4. the visual human's job task simulation analysis system towards spacecraft maintenance according to claim 1, it is characterized in that, described microgravity virtual environment building module, for realizing microgravity virtual scene structure, modeling physical attributes, restriction relation modeling, the setting of visual human's attitude, motor performance design.
5. the visual human's job task simulation analysis system towards spacecraft maintenance according to claim 1, it is characterized in that, described visual human's driving interface module comprises further:
First visual human drives interface, corresponding to the motion operating mode of Constrained or support, is imported in real time fashion by described true people's athletic posture and drives the visual human of described job task simulation analysis module;
Second visual human drives interface, correspond to without the free state motion retrained or support or the position transfer type games operating mode needing whole body to coordinate, motion of virtual human attitude under described virtual microgravity environment is imported to generate and drives the visual human of described job task simulation analysis module.
6. the visual human's job task simulation analysis system towards spacecraft maintenance according to claim 1, it is characterized in that, described general virtual scenario building and space layout to analyze under the support of virtual reality real-time rendering module and can meet in true cabin or the job task scene of extravehicular activity by rapid build; The all operations sequence that operating process planning and collision detection relate in order to the complete job task of auxiliary programming.
7. towards visual human's job task simulating analysis of spacecraft maintenance, it is characterized in that, described visual human's job task simulating analysis towards spacecraft maintenance comprises:
Step 1: in virtual reality real-time rendering and exercise data acquisition module, action comparatively complicated in the operation of simulation cosmonaut maintainable technology on-orbit, thus realize the motion of Constrained or support, and then obtain true people's athletic posture;
Step 2: in microgravity virtual environment building module, is responsible for realizing without the free state motion retrained or support or the position transfer type games needing whole body to coordinate, thus motion of virtual human attitude under obtaining virtual microgravity environment;
Step 3: in visual human's driving interface module, imports motion of virtual human attitude under described true people's athletic posture and described virtual microgravity environment and drives the visual human of job task simulation analysis module, to realize man-machine efficacy simulation analysis;
Step 4: in job task simulation analysis module, described virtual reality real-time rendering and exercise data acquisition module is utilized to realize general virtual scene, the rapid build of space layout and preanalysis, utilize all kinds of action needed for described virtual reality real-time rendering and exercise data acquisition module and described microgravity virtual environment building CMOS macro cell job task operating process, and carry out the man-machine efficacy simulation analysis of visual human's action, to realize the feedback optimized or feasibility decision of visual human's job task planning.
8. the visual human's job task simulating analysis towards spacecraft maintenance according to claim 7, it is characterized in that, step 1 comprises further:
For the establishment of immersive VR environment provides hardware supported, auxiliary true man utilize all kinds of motor performances of the close as far as possible truth in-orbit of realization, and catch human body real-time action, meanwhile, for general virtual scenario building, space layout's analysis, virtual prototype expedited review provide actual experience to support;
Support by all kinds of CAD scene when not needing to carry out format conversion real-time rendering to virtual reality, and basic interactive operation is provided, realize general virtual scene rapid build, space layout's preanalysis, virtual digit model machine expedited review, basic operation Pre-Evaluation with auxiliary.
9. the visual human's job task simulating analysis towards spacecraft maintenance according to claim 8, it is characterized in that, support by all kinds of CAD scene when not needing to carry out format conversion real-time rendering to virtual reality, and basic interactive operation is provided, with auxiliary realize general virtual scene rapid build, space layout's preanalysis, virtual digit model machine expedited review, basic operation Pre-Evaluation step comprise further:
Adopt Techviz XL Basic l icense basic module in Techviz software and TechViz XL binary channels active stereo node by all kinds of CAD scene when not needing to carry out format conversion real-time rendering to virtual reality, current virtual scene is carried out high-resolution visual, support multiple virtual reality displaying scheme simultaneously, comprise the data helmet, firmly shield, wherein, the described data helmet and described hard screen provide operator visual angle and the third party to evaluate visual angle respectively;
The Navigation Option basic navigation module in Techviz software and the senior tracking module of Tracking Option is adopted to provide visual angle track navigation function, by three dimensions handle, main perspective 3D glasses, realize the free navigation of syetematic view or virtual scene, and can position of human body tracking be carried out;
DMU1 and the DMU2 module in Techviz software is adopted to provide interactive browser evaluation function, three dimensions handle is utilized to realize, to virtual scene assessment, providing bookmark function, measurement function, section function, zoom function, annotation function, hiding and display module function, snapshot functions in order to assist operator;
Adopt the Virtual assemble module in Techviz software, allow operator to carry out interactive mode to the arbitrary parts in virtual scene to move, see the collision situation of dismounting moving process and record carried out to path, for virtual scene fast layout preanalysis and assembling, dismounting, maintenance operation Pre-Evaluation provide support.
10. the visual human's job task simulating analysis towards spacecraft maintenance according to claim 7, it is characterized in that, in microgravity virtual environment building module, carry out microgravity virtual scene structure, modeling physical attributes, restriction relation modeling, the setting of visual human's attitude, motor performance design.
The 11. visual human's job task simulating analysis towards spacecraft maintenance according to claim 7, it is characterized in that, described visual human's driving interface module comprises further:
First visual human drives interface, corresponding to the motion operating mode of Constrained or support, is imported in real time fashion by described true people's athletic posture and drives the visual human of described job task simulation analysis module;
Second visual human drives interface, correspond to without the free state motion retrained or support or the position transfer type games operating mode needing whole body to coordinate, motion of virtual human attitude under described virtual microgravity environment is imported to generate and drives the visual human of described job task simulation analysis module.
The 12. visual human's job task simulating analysis towards spacecraft maintenance according to claim 7, it is characterized in that, the general virtual scenario building in step 4 and space layout to analyze under the support of virtual reality real-time rendering module and can meet in true cabin or the job task scene of extravehicular activity by rapid build; The all operations sequence that operating process planning and collision detection relate in order to the complete job task of auxiliary programming.
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