CN104573230B - Towards the visual human's job task simulation analysis system and method for spacecraft maintenance - Google Patents
Towards the visual human's job task simulation analysis system and method for spacecraft maintenance Download PDFInfo
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Abstract
The invention discloses a kind of visual human's job task simulation analysis systems and simulating analysis towards spacecraft maintenance.This includes virtual reality real-time rendering and exercise data acquisition module towards visual human's job task simulation analysis system of spacecraft maintenance, for simulating more complicated action in the operation of astronaut's maintainable technology on-orbit, so as to fulfill Constrained or the movement of support, and then obtain true people's athletic posture；Microgravity virtual environment building module, for the position transfer type games be responsible for realizing the free state movement without constraint or support or whole body is needed to coordinate, so as to obtain motion of virtual human posture under virtual microgravity environment；Job task simulation analysis module, it realizes general virtual scene, the rapid build of space layout and preanalysis, generate all kinds of actions needed for job task operating process, and the man-machine efficacy simulation analysis of visual human's action are carried out, to realize the feedback optimized or feasibility decision of visual human's job task planning.
Description
Technical field
The present invention relates to manufacture emulation field more particularly to a kind of visual human's job task emulation towards spacecraft maintenance
Analysis system and simulating analysis.
Background technology
The space-orbit job task that someone participates in is one of key technology of the manned astro-engineering, including manned spacecraft
In-orbit assembling and repair, space science experiment, space payload release or recycling, space rescue etc..Spacefarer exists at present
The training of rail job task (including going out cabin and extravehicular activity) and verification are mainly in such as neutral buoyancy sink, zero gravity airplane, out of my cabin
Exercises simulator, pressure chamber, de- hang in the HWIL simulations large size analog machines such as testing stand, air cushion platform carry out.It is this
Method is limited in that system cost is high, application flexibility is poor, space microgravity environment simulation otherness is big etc..
Virtual reality technology refers to that comprehensively utilizing computer system and various special soft and hardwares can replace to generate one kind
For the simulated environment of real world and environment, and there is feeling of immersion, interactivity and real-time.Utilize virtual reality technology
Visual human's limbs posture and movement under simulated weightlessness characteristic feel the stimulus to the sense organ such as feedback with reference to immersion graph image, power, can be
Spacefarer provides operating experience true to nature.The in-orbit job task simulation analysis of visual human under microgravity environment based on virtual reality
System can be not only used for training, it can also be used to mission planning and analysis.
At present, the maturation with virtual reality technology and development, people have begun to introduce virtual reality technology and manufacture
Emulation field.Such as patent " virtual assembly system and dummy assembly method based on spacecraft assembly simulation technology " (Application No.
200810180605, Publication No. 101739478) it constructs including CAD modeling modules, Virtual assemble planning module, assembler
Skill designs the virtual assembly system of module, and provides the dummy assembly method based on spacecraft assembly simulation technology.Patent " is based on
Immersion Virtual Maintenance Simulation system virtualization people control method under DELMIA environment " (Application No. 201110442411, it is open
Number 102521464) to utilize second development interface that the action of motion capture equipment institute catcher's body is imported professional software in real time
On the visual human of the virtual platform for maintenance of offer, control and efficiency analysis of the true man to visual human are effectively realized.
Above-mentioned sorts of systems and method have the following problems：
(1) virtual reality of CAD model, which renders, is both needed to import analogue system with fixed form, when processing procedure both expends
Between, and the loss of data is easily brought, particularly with large-scale models such as spacecrafts；
(2) visual human of reality environment and model be pure geometry without possessing physical attribute, can not build and give birth to
Athletic posture under into microgravity environment：Either Delmia or independently developed simulation software, the posture storehouse of visual human
And capture is all from normal gravity environment from true man's action of spatial position tracking system, is lacking semi-physical simulation hardware
Under the conditions of, the athletic posture of microgravity environment can not be generated；
The content of the invention
The technical problem to be solved in the present invention is that providing a kind of visual human's job task towards spacecraft maintenance emulates
Analysis system and simulating analysis, by the virtual reality real-time rendering of common CAD model, to avoid model conversion, realize
The interaction assessment of the quick immersion of virtual digit model machine and environment；Microgravity environment is built and with offline mode by professional software
The in-orbit operation posture of visual human is generated, with reference to real-time body's action that motion capture system captures, it is virtual to form microgravity environment
People's operational simulation is simulated；Visual human is operated and imports the man-machine efficiency analysis module of specialty, completes posture analysis, fatigue strength assessment etc.
Quantitative analysis, the final emulation of visual human's job task and analysis realized towards spacecraft maintenance.
In order to solve the above technical problem, the present invention provides a kind of visual human's job tasks towards spacecraft maintenance to imitate
True analysis system should include towards visual human's job task simulation analysis system of spacecraft maintenance：Virtual reality real-time rendering
And exercise data acquisition module, for simulating more complicated action in the operation of astronaut's maintainable technology on-orbit, so as to fulfill Constrained
Or the movement of support, and then obtain true people's athletic posture；Microgravity virtual environment building module, for being responsible for realizing without constraint
Or the free state of support moves or needs the position transfer type games that whole body is coordinated, so as to obtain visual human under virtual microgravity environment
Athletic posture；Visual human's driving interface module, for will under true people's athletic posture and the virtual microgravity environment it is empty
Anthropomorphic athletic posture imports and drives the visual human of job task simulation analysis module, to realize man-machine efficacy simulation analysis；Make
Industry task simulation analysis module realizes general virtual field using the virtual reality real-time rendering and exercise data acquisition module
Scape, the rapid build of space layout and preanalysis utilize the virtual reality real-time rendering and exercise data acquisition module and institute
All kinds of actions needed for microgravity virtual environment building module generation job task operating process are stated, and carry out the people of visual human's action
Machine effect simulation analysis, to realize the feedback optimized or feasibility decision of visual human's job task planning.
It, should be towards boat the present invention also provides a kind of visual human's job task simulating analysis towards spacecraft maintenance
Visual human's job task simulating analysis of its device repair includes：Step 1：It is adopted in virtual reality real-time rendering and exercise data
Collect in module, more complicated action in simulation astronaut maintainable technology on-orbit operation, so as to fulfill Constrained or the movement of support, into
And obtain true people's athletic posture；Step 2：In microgravity virtual environment building module, be responsible for realize without constraint or support
Free state moves or needs the position transfer type games that whole body is coordinated, so as to obtain motion of virtual human appearance under virtual microgravity environment
State；Step 3：It, will be empty under true people's athletic posture and the virtual microgravity environment in visual human's driving interface module
Anthropomorphic athletic posture imports and drives the visual human of job task simulation analysis module, to realize man-machine efficacy simulation analysis；Step
Rapid 4：In job task simulation analysis module, realized using the virtual reality real-time rendering and exercise data acquisition module logical
With virtual scene, the rapid build of space layout and preanalysis, the virtual reality real-time rendering and exercise data acquisition are utilized
All kinds of actions needed for module and microgravity virtual environment building module generation job task operating process, and carry out visual human
The man-machine efficacy simulation analysis of action, to realize the feedback optimized or feasibility decision of visual human's job task planning.
Visual human's job task simulation analysis system and simulating analysis provided by the invention towards spacecraft maintenance
Compared with the existing technology the advantages of, is：
(1) by virtual reality real-time rendering and exercise data acquisition module, support be not required to carry out by all kinds of CAD scenes
Real-time rendering is to virtual reality in the case of format conversion, and provides basic interactive operation, and general virtual scene is realized with auxiliary
The applications such as rapid build, space layout preanalysis, virtual digit model machine expedited review, basic operation Pre-Evaluation, avoid data
The time loss of format conversion processing and loss of data；
(2) two class operating modes of the in-orbit job task of spacefarer are directed to, construct virtual reality real-time rendering and movement number respectively
According to acquisition module and microgravity virtual environment building module, all kinds of athletic posture analog simulations of overwrite job task overcome big
The shortcomings of type semi-physical object simulating simulation hardware system cost is high, application flexibility is poor, compensating for simple virtual emulation software can not structure
The defects of building microgravity environment.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required attached drawing used in technology description to be briefly described
Fig. 1 is the structure diagram of visual human's job task simulation analysis system towards spacecraft maintenance of the present invention；
Fig. 2 is visual human's job task simulating analysis flow chart towards spacecraft maintenance of the present invention；
Fig. 3 is the work flow diagram of the job task simulation analysis module in Fig. 1.
Specific embodiment
Technical scheme is clearly and completely described with reference to the accompanying drawings and detailed description.
The present invention provides a kind of visual human's job task simulation analysis systems and simulation analysis towards spacecraft maintenance
Method, by the virtual reality real-time rendering of common CAD model, to avoid model conversion, realize virtual digit model machine and environment
Quick immersion interaction assessment；Microgravity environment is built by professional software and the in-orbit operation of visual human is generated with offline mode
Posture with reference to real-time body's action that motion capture system captures, forms the simulation of microgravity environment visual human operational simulation；By void
Personification operation imports the man-machine efficiency analysis module of specialty, and completes the quantitative analysis such as posture analysis, fatigue strength assessment, final real
Now towards the emulation of visual human's job task and analysis of spacecraft maintenance.
Fig. 1 show the structure of visual human's job task simulation analysis system 100 towards spacecraft maintenance of the present invention
Block diagram.Visual human's job task simulation analysis system towards spacecraft maintenance includes：Virtual reality real-time rendering and movement number
According to acquisition module 110, microgravity virtual environment building module 120, visual human's driving interface module 130, job task emulation point
Analyse module 140.
Virtual reality real-time rendering and exercise data acquisition module 110 are in the operation of analog acquisition astronaut maintainable technology on-orbit
More complicated action, it is corresponding to realize instrument if body limits upper limb activity, foot limits upper limb activity, hand limits stretched activity
Plate operation, switch hatch door, auxiliary interaction docking, the job tasks such as more exchange device, so as to fulfill Constrained or the movement of support, into
And obtain true people's athletic posture.Virtual reality real-time rendering and exercise data acquisition module 110 include virtual reality hardware mould
Block 111 and virtual reality real-time rendering module 112.
Virtual reality hardware module 111, including the data helmet (VR 1280), data glove (CyberGlove II), fortune
Dynamic capture system (for example, ART doubles capture system), three dimensions handle (interaction handle Flystick), binary channels are thrown
Shadow (Christie Mirage DS+10K-M), hard screen, 3D glasses etc..Wherein, the data helmet provides general virtual for operator
The first visual angle experience of scene, operator are provided by data headgear and motion capture system for job task simulation analysis module
True people moves input；Binary channels projection, hard screen, 3D glasses provide the experience of the 3rd visual angle for reviewer, and reviewer passes through three-dimensional
Space handle realizes the operations such as the space layout modification of general virtual scene.The virtual reality hardware module 111 is immersion
The establishment of reality environment provides hardware supported, and auxiliary true man realize all kinds of fortune as close possible to maintainable technology on-orbit truth
Dynamic operation, and human body real-time action is captured, meanwhile, actual experience can be provided for general virtual scenario building, space layout analysis
Support.
Virtual reality real-time rendering module 112 including multichannel display module 113, visual angle track navigation module 114, is handed over
Mutually browsing evaluation module 115 and Virtual assemble module 116.Virtual reality real-time rendering module 112, using based on OpenGL's
Visibility solution France Techviz softwares.The Techviz in Techviz softwares can be used in multichannel display module 113
XL Basic license basic modules and TechViz XL binary channels active stereo nodes mandate support exist all kinds of CAD scenes
Real-time rendering in the case of carrying out format conversion is not required to, to virtual reality, current virtual scene to be carried out high-resolution visual
Change, while support a variety of virtual reality displaying schemes, including the data helmet, hard screen, wherein, the data helmet and hard screen provide respectively
Operator visual angle and the third party evaluate visual angle.Visual angle track navigation module 114, using the Navigation in Techviz softwares
Option basic navigations module and the advanced tracking modules of Tracking Option provide visual angle track navigation function, pass through three-dimensional
The hardware supports such as space handle, main perspective 3D glasses, realize the free navigation of syetematic view or virtual scene, and can carry out human body
Position tracking.Interactive browser evaluation module 115, DMU1 the and DMU2 modules that can be used in Techviz softwares provide interactive browser
Evaluation function is realized using three dimensions handle to auxiliary operation person and virtual scene is assessed, and provides bookmark function, measurement work(
Energy, section function, zoom function, annotation function, hiding and display module function, snapshot functions etc..Virtual assemble module 116,
Using the Virtual assemble module in Techviz softwares, operator is allowed to interact formula to the either component in virtual scene and is moved
It is dynamic, it is seen that dismount the collision situation of moving process and path recorded, be virtual scene fast layout preanalysis and
The Pre-Evaluation of the operations such as assembling, dismounting, repair provides support.Virtual reality real-time rendering module 112 provides basic interactive operation,
Realize that general virtual scene rapid build, space layout preanalysis, virtual digit model machine expedited review, basic operation are pre- with auxiliary
The applications such as assessment.
Microgravity virtual environment building module 120, using professional cartoon making engine Britain Natural Motion companies
Endorphin role's dynamic generation software, microgravity virtual scene structure, modeling physical attributes, about are completed on this platform
Beam relationship modeling, visual human's posture are set, motor performance designs etc., ultimately generate motion of virtual human animation under microgravity environment,
Obtain motion of virtual human posture.Microgravity virtual environment building module 120 is responsible for realizing the free state movement without constraint or support
Or the position transfer type games that whole body is needed to coordinate, such as lateral drift, mono-/bis-crank arm drift, corresponding realize in cabin drifts about, goes out cabin
Process, out of my cabin cargo transport, the job tasks such as walking.Microgravity virtual environment building module 120 is related to virtual compared with large scene
People moves simulation, obtains motion of virtual human posture under virtual microgravity environment.
Visual human's driving interface module 130 is by 132 groups of first visual human's driving interface 131 and second visual human's driving interface
Into.First visual human's driving interface 131 uses the expansion module RTID Human (Real-Time of Delmia V5
Interaction for Delmia Human), for supporting motion tracking system (ART doubles capture system) acquisition
True people move the virtual human model for driving Delmia V5 in real time with solver.Second visual human's driving interface 132 is based on
The CAA Secondary Development Modules exploitation realization of Delmia V5, the microgravity item that microgravity virtual environment building module 120 is generated
Human motion imports Delmia by BVH forms and is bound with its motion of virtual human joint under part, drives virtual human model.First
131 and second visual human's driving interface 132 of visual human's driving interface corresponds respectively to virtual reality real-time rendering and exercise data
Acquisition module 110 and the in-orbit Working motion posture realization method of 120 liang of classes of microgravity virtual environment building module, by virtual reality
Motion of virtual human under true people's athletic posture or virtual microgravity environment that real-time rendering and exercise data acquisition module 110 gather
Posture is imported with real-time or offline mode and drives the visual human of job task simulation analysis module 140 respectively, man-machine to realize
Effect simulation analysis.
Job task simulation analysis module 140 using the Delmia V5 business external members of Da Suo companies, provides general virtual
The functions such as scenario building, space layout analysis, operating process planning, collision detection, man-machine efficacy analysis, are present system
Core support part.Above-mentioned general virtual scenario building and space layout analysis are under the support of virtual reality real-time rendering module
Can rapid build meet in true cabin or the job task scene of extravehicular activity, operating process planning and collision detection are aiding in
Plan all sequences of operation that complete job task is related to, man-machine efficacy analysis can to assess job task visual human operation
Row.The appraisal procedure of man-machine efficacy analysis includes RULA (Rapid Upper Limb Assessment), NIOSH
(National Institute of Occupational Safety and Health)、OWAS(Owako Working-
Posture Analyzing System), Snook tables etc..
The actual maintainable technology on-orbit job task action of spacefarer mainly includes two kinds of operating modes：One kind is the fortune of Constrained or support
It is dynamic, such as by seat or sufficient limiter constraint, hand-held pneumatic equipment, it gets a grip on the rail or anti-tugboat wall etc.；Another kind of is no constraint
Or the free state of support.For the simulation of two class operating mode athletic postures, virtual reality real-time rendering and exercise data are constructed respectively
Acquisition module 110 and microgravity virtual environment building module 120.Virtual reality real-time rendering and exercise data acquisition module 110
True people's athletic posture is obtained with reference to data glove and the motion capture system acquisition of virtual reality hardware module 111, by the
One visual human's driving interface 131 imports and drives the visual human of job task simulation analysis module 140 in real time, really
Virtual reality experience in people's operating process is provided by the multichannel display module 113 of virtual reality real-time rendering module 112.
Motion of virtual human posture is directly driven by the second visual human under the virtual microgravity environment of microgravity virtual environment building module 120
Mobile interface 132 imports and drives the visual human of job task simulation analysis module 140 off-line manner.
Job task simulation analysis module 140, using virtual reality real-time rendering module 112 realize general virtual scene,
The rapid build of space layout and preanalysis utilize virtual reality real-time rendering and exercise data acquisition module 110 and microgravity
Virtual environment building module 120 generates all kinds of actions needed for job task operating process, and carries out the man-machine work(of visual human's action
Effect analysis is finally completed the feedback optimized or feasibility decision of visual human's job task planning.
It is visual human's job task simulating analysis flow chart towards spacecraft maintenance that Fig. 2, which show the present invention,
200.Fig. 2 will be described with reference to Fig. 1.It will be appreciated by persons skilled in the art that although specific step is disclosed in Fig. 2
Suddenly, but these steps only as example for illustrating, that is to say, that the embodiment of the present invention towards the virtual of spacecraft maintenance
People's job task simulating analysis can also carry out a number of other steps or perform the shift step of step in Fig. 2.Specifically
Ground, the embodiment of the present invention include the following steps：
In step 201, in virtual reality real-time rendering and exercise data acquisition module, astronaut's maintainable technology on-orbit is simulated
More complicated action in operation so as to fulfill Constrained or the movement of support, and then obtains true people's athletic posture.Specifically
Ground is that immersion is empty in the virtual reality hardware module 111 of virtual reality real-time rendering and exercise data acquisition module 110
The establishment for intending actual environment provides hardware supported, and auxiliary true man utilize each type games realized as close possible to in-orbit truth
Operation, and human body real-time action is captured, meanwhile, it is general virtual scenario building, space layout analysis, virtual prototype expedited review
Actual experience support is provided；In virtual reality real-time rendering and the virtual reality real-time rendering mould of exercise data acquisition module 110
In block 112, support that real-time rendering to virtual reality, and provides in the case where being not required to carry out format conversion by all kinds of CAD scenes
Basic interactive operation realizes that general virtual scene rapid build, space layout preanalysis, virtual digit model machine are quickly commented with auxiliary
It examines, basic operation Pre-Evaluation.Further, in virtual reality real-time rendering module 112, using in Techviz softwares
Techviz XL Basic license basic modules and TechViz XL binary channels active stereo nodes exist all kinds of CAD scenes
Real-time rendering in the case of carrying out format conversion is not required to, to virtual reality, current virtual scene to be carried out high-resolution visual
Change, while support a variety of virtual reality displaying schemes, including the data helmet, hard screen, wherein, the data helmet and the hard screen
Operator visual angle is provided respectively and the third party evaluates visual angle；It is led substantially using the Navigation Option in Techviz softwares
Model plane block and the advanced tracking modules of Tracking Option provide visual angle track navigation function, pass through three dimensions handle, main view
Angle 3D glasses, realize the free navigation of syetematic view or virtual scene, and can carry out position of human body tracking；It is soft using Techviz
DMU1 and DMU2 modules in part provide interactive browser evaluation function, and the realization pair of three dimensions handle is utilized to auxiliary operation person
Virtual scene is assessed, and provides bookmark function, measurement function, section function, zoom function, annotation function, hiding and display module
Function, snapshot functions；Using the Virtual assemble module in Techviz softwares, allow operator to any portion in virtual scene
Part interacts formula movement, it is seen that dismounts the collision situation of moving process and path is recorded, be the quick cloth of virtual scene
The preanalysis and assembling of office, dismounting, the Pre-Evaluation of maintenance operation provide support.
In step 202, in microgravity virtual environment building module, it is responsible for realizing the free state fortune without constraint or support
Position transfer type games dynamic or that whole body is needed to coordinate, so as to obtain motion of virtual human posture under virtual microgravity environment.Micro- heavy
In power virtual environment building module, also carry out microgravity virtual scene structure, modeling physical attributes, restriction relation and model, is virtual
People's posture is set, motor performance design.
In step 203, in visual human's driving interface module, by true people's athletic posture and described virtual micro- heavy
Motion of virtual human posture imports and drives the visual human of job task simulation analysis module under force environment, to realize that man-machine efficacy is imitated
True analysis.Specifically, visual human's driving interface further comprises：First visual human's driving interface, corresponding to Constrained or support
Movement operating mode, true people's athletic posture is imported in real time fashion and drives the job task simulation analysis module
Visual human；Second visual human's driving interface moves or needs the position that whole body is coordinated to turn corresponding to the free state without constraint or support
Type games operating mode is moved, motion of virtual human posture under the virtual microgravity environment with offline mode is imported and drives the operation
The visual human of task simulation analysis module.
In step 204, in job task simulation analysis module, the virtual reality real-time rendering and movement number are utilized
General virtual scene, the rapid build of space layout and preanalysis are realized according to acquisition module, utilize the real-time wash with watercolours of the virtual reality
It is all kinds of needed for dye and exercise data acquisition module and the microgravity virtual environment building module generation job task operating process
Action, and carries out the man-machine efficacy simulation analysis of visual human's action, with realize the feedback optimized of visual human's job task planning or
Feasibility decision.General virtual scenario building and space layout analysis can be quick under the support of virtual reality real-time rendering module
Structure meets in true cabin or the job task scene of extravehicular activity；Operating process is planned and collision detection is complete to auxiliary programming
All sequences of operation that whole job task is related to.
Fig. 3 show the work flow diagram 300 of the job task simulation analysis module 140 in Fig. 1.Fig. 3 will combine Fig. 1 and
Fig. 2 is described.Specifically, job task simulation analysis module 140 of the invention includes the following steps：
In step 301, the virtual scene of truth is met as far as possible according to job task demand structure；
In step 302, operating space is laid out according to job task demand, for example, in arrangement behaviour cabin/set out of my cabin
Standby space；
In step 303, the quick virtual reality experience provided by virtual reality real-time rendering module 112, to step
301 and 302 result carries out Pre-Evaluation, performs step 301 repeatedly if undesirable to step 303；If Pre-Evaluation result
It meets the requirements, performs step 304；
In step 304, the operational motion being related to according to job task demand detailed design overall process completes operating process
Planning；
In step 305, according to operation planning as a result, Type division is carried out to involved action, for Constrained or branch
The more complicated movement of the movement or partial operation of support, goes to step 306；Without constraint or support free state movement or be related to compared with
The movement of large scene evolution, goes to step 307；
Within step 306, using virtual reality real-time rendering and exercise data acquisition module 110, generate and gather true
People's athletic posture drives job task simulation analysis module 140 in real time by first visual human's driving interface 131
Visual human completes the emulation of this operation；
In step 307, visual human under virtual microgravity environment is generated using microgravity virtual environment building module 120 to transport
Dynamic posture, the virtual of job task simulation analysis module 140 is driven by second visual human's driving interface 132 off-line manner
People completes the emulation of this operation；
In step 308, full-range everything will be operated to generate in a manner of step 306 and step 307 accordingly
Athletic posture is simultaneously combined into the complete whole process sequence of operation；
In a step 309, using individuation human efficiency's model, job task simulation analysis module 140 completes each sequence
The man-machine efficacy analysis of athletic posture；
In the step 310, judge whether athletic posture needs to optimize, if you need to optimize, then perform step 305 repeatedly to step
310；It need not such as optimize, then perform step 311；
In step 311, using systematic analysis technique mould, the whole process program results of job task is assessed；
In step 312, judge whether to need to optimize according to the whole process planning appraisal result of job task, if you need to excellent
Change, then step 301 is performed repeatedly to step 312, to obtain optimal result；Need not such as it optimize, then simulation analysis process terminates.
Claims (6)
1. a kind of visual human's job task simulation analysis system towards spacecraft maintenance, which is characterized in that described towards space flight
Visual human's job task simulation analysis system of device repair includes：
Virtual reality real-time rendering and exercise data acquisition module, it is more complicated in the operation of astronaut's maintainable technology on-orbit for simulating
Action so as to fulfill Constrained or the movement of support, and then obtains true people's athletic posture；
Microgravity virtual environment building module is used to implement microgravity virtual scene structure, modeling physical attributes, restriction relation and builds
Mould, visual human's posture are set, motor performance design, so as to obtain motion of virtual human posture under virtual microgravity environment；
Visual human's driving interface module, for visual human under true people's athletic posture and the virtual microgravity environment to be transported
Dynamic posture imports and drives the visual human of job task simulation analysis module, to realize man-machine efficacy simulation analysis；
Job task simulation analysis module is realized general using the virtual reality real-time rendering and exercise data acquisition module
Virtual scene, the rapid build of space layout and preanalysis utilize the virtual reality real-time rendering and exercise data acquisition mould
All kinds of actions needed for block and microgravity virtual environment building module generation job task operating process, and carry out visual human and move
The man-machine efficacy simulation analysis of work, to realize the feedback optimized or feasibility decision of visual human's job task planning；Its feature exists
In the virtual reality real-time rendering and exercise data acquisition module further comprise：
Virtual reality hardware module provides hardware supported for the establishment of immersive VR environment, and auxiliary true man are using in fact
Now as close possible to all kinds of motor performances of in-orbit truth, and human body real-time action is captured, meanwhile, it is general virtual scene
Structure, space layout analysis, virtual prototype expedited review provide actual experience support；
Virtual reality real-time rendering module, it is for supporting that all kinds of CAD scenes are real-time in the case where being not required to carry out format conversion
Virtual reality is rendered to, and basic interactive operation is provided, realizes that general virtual scene rapid build, space layout divide in advance with auxiliary
Analysis, virtual digit model machine expedited review, basic operation Pre-Evaluation, the virtual reality real-time rendering module further comprise：
Multichannel display module, use Techviz XL Basic license basic modules in Techviz softwares and
Techviz XL binary channels active stereo nodes by all kinds of CAD scenes be not required to carry out format conversion in the case of real-time rendering extremely
Current virtual scene is carried out high-resolution visualization, while supports a variety of virtual reality displaying schemes by virtual reality, including
The data helmet, hard screen, wherein, the data helmet and the hard screen provide operator visual angle and third party's evaluation visual angle respectively；
Visual angle track navigation module, use Navigation Option basic navigations modules in Techviz softwares and
The advanced tracking modules of Tracking Option provide visual angle track navigation function, by three dimensions handle, main perspective 3D
Mirror, realizes the free navigation of syetematic view or virtual scene, and can carry out position of human body tracking；
Interactive browser evaluation module uses DMU1 the and DMU2 modules in Techviz softwares to provide interactive browser evaluation function,
It is realized to auxiliary operation person using three dimensions handle and virtual scene is assessed, bookmark function, measurement function, section work(are provided
Energy, zoom function, annotation function, hiding and display module function, snapshot functions；
Virtual assemble module uses the Virtual assemble module in Techviz softwares, allows operator to appointing in virtual scene
One component interacts formula movement, it is seen that dismounts the collision situation of moving process and path is recorded, be that virtual scene is fast
The preanalysis and assembling of speed layout, dismounting, the Pre-Evaluation of maintenance operation provide support.
2. visual human's job task simulation analysis system according to claim 1 towards spacecraft maintenance, feature exists
In visual human's driving interface module further comprises：
First visual human's driving interface, corresponding to Constrained or the movement operating mode of support, by true people's athletic posture with reality
When mode import and drive the visual human of the job task simulation analysis module；
Second visual human's driving interface, the position transfer class for moving or needing whole body to coordinate corresponding to the free state without constraint or support
Operating mode is moved, motion of virtual human posture under the virtual microgravity environment with offline mode is imported and drives the job task
The visual human of simulation analysis module.
3. visual human's job task simulation analysis system according to claim 1 towards spacecraft maintenance, feature exists
In the general virtual scenario building and space layout analysis can rapid builds under the support of virtual reality real-time rendering module
Meet in true cabin or the job task scene of extravehicular activity；Operating process is planned and collision detection is completely made to auxiliary programming
All sequences of operation that industry task is related to.
4. a kind of visual human's job task simulating analysis towards spacecraft maintenance, which is characterized in that described towards space flight
Visual human's job task simulating analysis of device repair includes：
Step 1：In virtual reality real-time rendering and exercise data acquisition module, in simulation astronaut maintainable technology on-orbit operation more
Complicated action so as to fulfill Constrained or the movement of support, and then obtains true people's athletic posture；
Wherein, the establishment for immersive VR environment provides hardware supported, auxiliary true man using realize as close possible to
All kinds of motor performances of rail truth, and human body real-time action is captured, meanwhile, it is general virtual scenario building, space layout
Analysis, virtual prototype expedited review provide actual experience support；
Support that real-time rendering to virtual reality, and provides basic in the case where being not required to carry out format conversion by all kinds of CAD scenes
Interactive operation, with auxiliary realize general virtual scene rapid build, space layout preanalysis, virtual digit model machine expedited review,
Basic operation Pre-Evaluation, wherein using the Techviz XL Basic l icense basic modules in Techviz softwares and
TechViz XL binary channels active stereo nodes by all kinds of CAD scenes be not required to carry out format conversion in the case of real-time rendering extremely
Current virtual scene is carried out high-resolution visualization, while supports a variety of virtual reality displaying schemes by virtual reality, including
The data helmet, hard screen, wherein, the data helmet and the hard screen provide operator visual angle and third party's evaluation visual angle respectively；
Using the Navigation Option basic navigations modules in Techviz softwares and the advanced tracking of Tracking Option
Module provides visual angle track navigation function, by three dimensions handle, main perspective 3D glasses, realizes syetematic view or virtual scene
Free navigation, and position of human body tracking can be carried out；
Interactive browser evaluation function is provided using DMU1 the and DMU2 modules in Techviz softwares, is utilized to auxiliary operation person
Three dimensions handle, which is realized, assesses virtual scene, provides bookmark function, measurement function, section function, zoom function, annotation work(
Energy, hiding and display module function, snapshot functions；
Using the Virtual assemble module in Techviz softwares, operator is allowed to interact the either component in virtual scene
Formula move, it is seen that dismount the collision situation of moving process and path recorded, be virtual scene fast layout preanalysis,
And assembling, dismounting, the Pre-Evaluation offer support of maintenance operation；
Step 2：In microgravity virtual environment building module, it is responsible for realizing the free state movement without constraint or support or needs whole body
The position transfer type games of coordination, so as to obtain motion of virtual human posture under virtual microgravity environment；
In microgravity virtual environment building module, carry out microgravity virtual scene structure, modeling physical attributes, restriction relation and build
Mould, visual human's posture are set, motor performance design
Step 3：It, will be empty under true people's athletic posture and the virtual microgravity environment in visual human's driving interface module
Anthropomorphic athletic posture imports 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, the virtual reality real-time rendering and exercise data acquisition module are utilized
It realizes general virtual scene, the rapid build of space layout and preanalysis, utilizes the virtual reality real-time rendering and movement number
According to all kinds of actions needed for acquisition module and microgravity virtual environment building module generation job task operating process, and carry out
The man-machine efficacy simulation analysis of virtual human action, to realize the feedback optimized or feasibility decision of visual human's job task planning.
5. visual human's job task simulating analysis according to claim 4 towards spacecraft maintenance, feature exists
In visual human's driving interface module further comprises：
First visual human's driving interface, corresponding to Constrained or the movement operating mode of support, by true people's athletic posture with reality
When mode import and drive the visual human of the job task simulation analysis module；
Second visual human's driving interface, the position transfer class for moving or needing whole body to coordinate corresponding to the free state without constraint or support
Operating mode is moved, motion of virtual human posture under the virtual microgravity environment with offline mode is imported and drives the job task
The visual human of simulation analysis module.
6. visual human's job task simulating analysis according to claim 4 towards spacecraft maintenance, feature exists
In general virtual scenario building and space layout analysis in step 4 can be fast under the support of virtual reality real-time rendering module
Speed structure meets in true cabin or the job task scene of extravehicular activity；Operating process is planned and collision detection is to auxiliary programming
All sequences of operation that complete job task is related to.
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