RU2652721C2 - Control method of astronaut's actions on spacecraft - Google Patents

Abstract

FIELD: astronautics.

SUBSTANCE: invention relates to spacecraft control (SC) with participation of astronaut (A). Method includes finding location parameters A, their comparison with set parameters and team formation K. In this case, parameters of current position and orientation of head A relative to systems and elements of space vehicle are measured, as well as parameters of gaze direction A at given and current positions and head orientation of A. Based on results of these measurements and parameters of current position of spacecraft moving elements, which A gaze is directed to. Current parameters of illumination of spacecraft elements are measured. Parameters are to be compared with set values that determine: objects to which A view is directed, position of A relative to these objects and their illumination. According to results of comparison, teams are formed to carry out actions of A.

EFFECT: technical result is taking into account A's gaze direction when controlling its actions.

1 cl, 1 dwg

Description

The invention relates to the field of navigation and can be used to control the actions of an astronaut on board a spacecraft (SC).

A known method of monitoring vehicles and staff movement (RF patent 2442220, application 2010144354 from 01.11.2010, IPC (2006.01) G08G 1/123), in which information is collected about the object received from the receiver of the positioning system and primary information sensors, and transmission it through a radio network and the Internet to a control center on a communication server. When triggered by sensors placed at the facility, the communication server transmits commands to control executive devices / mechanisms, processes and transmits information about vehicle facilities and the movement of personnel to the server for storing and archiving data and PCs for analysis and automated comparison with information from corporate information systems. This method improves the efficiency of vehicle control and staff movement by generating new knowledge about the objects of control and processes.

The disadvantages of this method include the fact that it does not provide, in particular, taking into account the orientation of the operator relative to the surrounding elements and space.

A known method of controlling a mobile object (RF patent 2370804, priority from 06/28/2005, IPC G05B 19/045 (2006.01) - prototype), including detecting the movement of a mobile object, determining the location of the object, checking the location of the object within a predetermined zone and generating commands to control a mobile object based on the results of this check. This method provides control of a moving object in a single cycle with the determination of the coordinates of its location, which allows real-time control of the movement of the object.

The disadvantage of the prototype method is that it does not provide control of the operator verifying the specified conditions and the state of the parameters of the managed object, including visual verification of the current state of the managed object as required.

The problem to which the present invention is directed is to increase the efficiency of monitoring and controlling the actions of the astronaut.

The technical result achieved in the implementation of the present invention is to control the operator's visual verification of the current state of the controlled object to the desired state by determining and taking into account the direction of the astronaut's gaze while monitoring his actions on board the spacecraft.

The technical result is achieved by the fact that in the method of monitoring the actions of the astronaut on board the spacecraft, including determining the location of the astronaut, comparing the location parameters with the given parameters and generating commands to the astronaut according to the results of the comparison, they additionally measure the parameters of the current position and orientation of the astronaut's head relative to systems and elements spacecraft, measure the directional direction of the astronaut’s gaze relative to the astronaut’s head Given the fixed and current directions of the gaze and the positions and orientations of the astronaut’s head, the objects that the astronaut’s gaze are directed at determine the current illumination parameters from the measured parameters of the position and orientation of the astronaut’s head and the direction of the astronaut’s gaze and the determined parameters of the current position of the moving elements on the spacecraft. spacecraft, compare the parameters that determine the objects that the astronaut's gaze is directed at, the position parameters to of the astronaut regarding these objects and the illumination parameters of these objects with set values corresponding to the flight operations performed by the astronaut, and, based on the results of the comparison, form commands for the astronaut to take actions.

Let us explain the proposed method of action.

The drawing shows a block diagram of a system that implements the proposed method, and introduced the following notation:

1 - unit for setting parameters of the fixed directions of the gaze and the positions and orientations of the head of the astronaut;

2 - a unit for measuring the parameters of the position and orientation of the astronaut's head relative to the spacecraft;

3 - unit for measuring the parameters of the direction of the astronaut's gaze relative to the head of the astronaut;

4 - unit for determining calibration parameters;

5 - block determining the position parameters of the moving elements on the spacecraft;

6 - a block for determining objects that the astronaut's gaze is directed to;

7 - a block for determining the parameters of the position of the astronaut relative to objects that the astronaut's gaze is directed to;

8 - block determining the parameters of the illumination of the spacecraft elements;

9 - unit for setting flight operations parameters;

10 - block forming commands to the astronaut;

11 - block playback commands;

12 - block calibration;

13 - a unit for monitoring the actions of an astronaut during ongoing flight operations.

In the presented system, the different outputs of block 1 are connected to the inputs of blocks 2, 3, and 4.

The output of block 2 is connected to the second input of block 4 and the first inputs of blocks 6 and 7.

The output of block 3 is connected to the third input of block 4 and to the second input of block 6.

The outputs of blocks 4 and 5 are connected to, respectively, the third and fourth inputs of block 6.

The output of block 6 is connected to the second input of block 7 and the inputs of blocks 8 and 10.

The outputs of blocks 7, 8 and 9 are connected to, respectively, the second, third and fourth inputs of block 10.

The output of block 10 is connected to the input of block 11.

Blocks 1 through 4 comprise together a calibration execution unit 12.

Blocks 2 through 11 comprise together a block for monitoring the actions of an astronaut during ongoing flight operations 13.

In the proposed method, at the initial stage, the calibration execution unit 12 is activated, with the help of which the following actions are performed, which ensure the "adjustment" of the process of determining the direction of the astronaut's gaze.

In the block for setting the parameters of the fixed directions of the gaze and the positions and orientations of the astronaut's head 1, the parameters of the fixed directions of the gaze and the fixed positions and the orientations of the head of the astronaut are set to determine the calibration parameters that will be further used in the calculations to determine the objects that the astronaut’s current gaze is directed at arbitrary moments of time. For example, the parameters of fixed directions of gaze are set by setting the fixed position and orientation of the astronaut's head relative to the spacecraft and the fixed environmental objects (SC) spaced in the field of view of the astronaut, to which the astronaut's gaze should be directed.

In the unit for measuring the parameters of the position and orientation of the astronaut’s head relative to KA 2, in accordance with the data received from block 1, the set parameters of the fixed positions and orientations of the astronaut’s head are stored. If the specified fixed positions and the orientation of the astronaut’s head are not specified formally (for example, by a simple description of how the astronaut’s head should be oriented relative to the spacecraft), then at the specified specified fixed positions and the orientation of the astronaut’s head, formalized parameters of the position and orientation of the astronaut’s head relative to the spacecraft are measured. For example, the measurement of formalized parameters of the current position and orientation of the astronaut's head relative to the spacecraft can be carried out as follows:

- place at least four positionally sensitive infrared radiation detectors equipped with optical systems at spaced points;

- place on the head of the astronaut at least three emitters of infrared pulse signals,

- carry out the formation of control actions on the said emitters of infrared pulse signals at the current position of the head of the astronaut;

- the aforementioned position-sensitive infrared radiation detectors register infrared signals emitted by infrared emitters (i.e. measure the parameters generated by the position-sensitive infrared radiation detectors);

- from the measured values of the parameters generated by position-sensitive detectors of infrared radiation, and the given values of the location parameters of the detectors and optical systems, determine the coordinates of the locations of the emitters of infrared pulse signals in the coordinate system of the spacecraft, which determine the parameters of the relative position of the locations of the emitters of infrared pulse signals,

- based on the current values of the coordinates of the locations of the emitters of infrared pulsed signals determine the parameters of the current position and orientation of the astronaut’s head relative to the spacecraft,

at the same time, the control and synchronization of the moments of radiation, reception and transmission of data according to the results of the reception of infrared pulse signals is carried out over the air.

Also, the measurement of the parameters of the current position and orientation of the astronaut’s head relative to the spacecraft can be carried out according to a similar scheme using generators and receivers of ultrasonic radiation (see. Method of orienting an instrument moved in a manned spacecraft and a system for its implementation. RF Patent 2531781. Bull. No. 30, 2014 )

In the unit for measuring the parameters of the direction of the astronaut’s gaze relative to the head of the astronaut 3, in accordance with the data received from the block 1, the parameters of the direction of the gaze of the astronaut relative to the astronaut’s head are measured at fixed fixed directions of gaze and fixed positions and orientations of the astronaut’s head. For example, the measurement of the direction of gaze can be carried out as follows:

- infrared radiation from at least 2 sources of infrared radiation illuminate the eyes of the astronaut, sequentially aimed at at least five preset fixed fixed in the field of vision of the astronaut environmental object (SC),

- carry out the shooting of the eyes of the astronaut with an infrared camera mounted coaxially with these sources of infrared radiation,

- allocate on the obtained image the eye, the pupil (the center of the pupil) and the glare on the cornea of the eye from said infrared radiation,

- based on their relative position on the basis of the displacement vector between the positions of the center of the pupil and the corneal highlight (Pupil - CR method), the astronaut’s gaze direction relative to the astronaut’s head is determined and stored (stored), corresponding to each combination of the given gaze directions at the given positions and head orientation performed by the astronaut astronaut.

In the block for determining calibration parameters 4, in accordance with the data received from blocks 1–3, the measured parameters are used to determine and record (remember) the calibration parameters, which will later be used in calculations to determine objects, from the gaze direction and position and orientation of the astronaut’s head which directed the current view of the astronaut at arbitrary current points in time.

Further, in the process of monitoring the actions of the astronaut during the execution of current flight operations, a unit for monitoring the actions of the astronaut during the execution of current flight operations 13 is activated, using which the following actions are performed.

In the unit for measuring the parameters of the position and orientation of the astronaut's head relative to the spacecraft 2, the parameters of the current position and orientation of the astronaut's head relative to the spacecraft are measured. Their measurement is carried out as described above.

In the unit for measuring the parameters of the direction of the astronaut's gaze relative to the head of the astronaut 3 measure the parameters of the current direction of the gaze of the astronaut relative to the head of the astronaut. For example, the measurement of the parameters of the current direction of gaze can be carried out as follows:

- illuminate the astronaut’s eyes with infrared radiation from at least 2 sources of infrared radiation,

- carry out shooting of the eyes of the astronaut with an infrared video camera mounted coaxially with these sources of infrared radiation,

- allocate on the obtained image the eye, the pupil (the center of the pupil) and the glare on the cornea of the eye from said infrared radiation,

- based on their relative position on the basis of the displacement vector between the positions of the center of the pupil and the corneal flare (Pupil - CR method), the parameters of the current direction of the astronaut’s gaze relative to the astronaut’s head are determined.

In the unit for determining the position parameters of the moved elements on the spacecraft 5, the parameters of the current position of the moved elements on the spacecraft are determined. For example, the determination of the parameters of the current position of the moving elements on the spacecraft (cargo, equipment, structural elements, etc.) is carried out using a database of moving elements, which indicates all the moving elements and their current positions.

In the unit for determining the objects to which the astronaut's gaze 6 is directed, according to the data received from blocks 2–5, the spacecraft object (element) is determined which the astronaut's gaze is directed to at the current time: by certain parameters of the current position and orientation of the astronaut’s head, parameters of the current the directions of the astronaut’s gaze relative to the astronaut’s head and the calibration parameters used to calculate the direction of the astronaut’s gaze determine the parameters of the current direction of the astronaut’s gaze relative to the spacecraft, according to which Taking into account the formalized description of the “motionless” spacecraft elements and certain parameters of the current position of the moving elements on the spacecraft, the spacecraft object is determined, to which the astronaut’s gaze is directed at the current time.

In the block for determining the parameters of the astronaut’s position relative to the objects that the astronaut’s gaze is directed to from the data received from blocks 2 and 6, the parameters of the astronaut’s position relative to the objects that the astronaut’s gaze is directed to are determined (including determining the distance from the astronaut to these objects).

In the block for determining the parameters of illumination of the spacecraft elements 8, the current parameters of the illumination of the spacecraft elements, to which the astronaut's gaze is directed, are determined. For example, the determination of the parameters of the current illumination of the spacecraft elements can be made on the basis of telemetric information about the lighting devices turned on by the spacecraft and their operability, as well as taking into account navigation data on the motion and orientation of the spacecraft, which determines the level of illumination of the interior elements of the spacecraft with sunlight coming in through the windows.

In the parameter block for flight operations 9, parameters are set for the descriptions of flight operations, which include, among other things, reference (model) values of parameters defining objects that the astronaut should look at during the flight operation, and the astronaut’s position parameters relative to these objects (in including the distance from the astronaut to the objects, which determines the possibility of visual recognition of the observed objects) and the parameters of the required illumination of these objects when they are observed astronaut.

In the unit for generating commands to the astronaut 10, according to the data received from the blocks 6–9, the parameters that determine the objects that the astronaut's gaze is directed to are compared, the parameters of the astronaut’s position relative to these objects, and the illumination parameters of these objects with preset values corresponding to the astronaut’s flight operations are performed analysis of the results of comparison and according to the results of the analysis, the formation of commands to the astronaut, including teams correcting the current actions of the astronaut to complete and current flight operations.

In the unit for reproducing commands 11, according to the data received from block 10, the commands for performing actions to the astronaut are reproduced. For example, prepared teams reproduce through technical means of reproduction in sound or visual formalized formats adapted for perception by the crew of the spacecraft — sound-reproducing equipment that outputs sound, for example, to external speakers or headphones, or by means of visual display that displays an image, for example, to a display or glasses .

Let us explain the actions proposed in relation to the actions of the astronaut.

When performing an arbitrary flight operation on the spacecraft, the astronaut performs a procedure that includes a sequence of commands issued at specified points in time.

In the general case, before issuing each command, the astronaut must evaluate the state of the parameters of the on-board systems and flight situation specified by the on-board instruction. To do this, he must sequentially read the required information from various display means located in the spacecraft cabin.

If the astronaut did not look at any element / indicator on which the parameter specified in the on-board instruction is displayed (i.e. the direction of view was not fixed in the zone of this parameter), this means that the astronaut did not read the required information and did not control the mandatory for visual control astronaut parameter.

In the proposed method, the fact of skipping control of a parameter is recorded and a command is generated to issue a reminder to the astronaut about the need to check this control parameter. In this case, the logic of the spacecraft’s onboard equipment operation may include the automatic blocking of the passage of control commands without receiving appropriate confirmation that the astronaut has performed the necessary visual control of the necessary parameters. After the astronaut’s gaze is fixed in the zone of the controlled parameter, this control lock is removed.

Here is an example of performing numerical estimates of the required characteristics of technical means for implementing the proposed method.

The unit for measuring the parameters of the direction of the gaze of the astronaut relative to the head of the astronaut 3 can be performed on the basis of known systems for determining the direction of gaze. For example, a system for determining the direction of gaze can be used (see, for example, Froimson M.I., Mikhailov D.M., Korsakova A.I., Sorokina M.A., Kondratiev M.D. real-time // "Special equipment and communication" No. 3/2013), including a display, 2 infrared light sources and an infrared video camera (the infrared range is used to increase contrast and reduce interference in the eye image). An infrared video camera and 2 infrared light sources (each of which is directed to the area of one of the eyes) are symmetrically located under the display structure so that the image plane of the sensor matrix of the video camera coincides with the display plane.

Let us give an example of determining the resolution requirements for the video camera used in this system.

For example, we believe that the astronaut is looking at a standard display of size d = 0.21 m horizontally, which is located at a distance r = 0.6 m from the astronaut’s eyes. This corresponds to the fact that the angle θ at which the astronaut sees the display is

,

,

where θ = 2α;

α is the angle between the direction to the center and the edge of the display;

tanα = d / (2r) -0.175;

α = 10 °.

At this angle, the human eye works without tension.

The standard number of elements (executable or controlled by an astronaut command) in a horizontal line on the display screen is ten (with spaces between them). From this we obtain that the angle of the cosmonaut’s field of view on one element (command) on the screen from a distance of 0.6 m is ≈2 °.

According to Kotelnikov’s theorem, to accurately distinguish an element (command) on the screen, at least two spatial samples are required. Therefore, the pupil of the astronaut must move for this with an accuracy of at least 1 °.

We consider the human eye as an optical system. The pupil on the cornea of the eyeball along with the lens represents the diaphragm together with the lens, which form the image on the retina.

The resolution of an infrared video camera is determined based on the size of the distinguishable offset. As was shown, it is necessary to distinguish the movement (rotation) of the eye by 1 °.

For an adult, the linear eye displacement corresponding to a 1 ° pupil rotation of the eyeball is

,

,

where X = Rϕπ / 180 °;

R is the radius of curvature of the eyeball (in an adult, R≈13 mm);

φ is the angle of rotation of the pupil of the eyeball (ϕ≈1 ° from the calculation above).

According to Kotelnikov’s theorem, in order to distinguish the X offset, 2 reference points are needed, i.e., 1 pixel of the video camera matrix has a pupil shift of 0.1135 mm. Hence, taking into account the rounding of 1 mm along the surface of the eye, it should correspond to 10 pixels horizontally in the image.

The vertical offset is similar to the horizontal offset.

On average, the size of the eye area is 20 mm in height and 30 mm in width, which implies that the horizontal image size of the eye in the image should be at least 300 pixels.

On average, the size of the eye area is 20 mm in height and 30 mm in width, which implies that the horizontal image size of the eye in the image should be at least 300 pixels.

Given that the area around the eye is larger (take a factor of 1.5), at least 450 pixels are required.

Thus, for shooting it is required to use a video camera, no worse than the standard with a resolution of 640 × 420 pixels.

For changes in the position of the eye that occur when the fixation points are changed and the object is examined in detail, eye movements, called macroaccades, are responsible. The duration of macroaccades is approximately T = 70 ms, whence it follows that, taking into account the Kotelnikov theorem, the minimum frame rate for shooting a video camera should be

,

,

;Where

;

.

.

кадров/секунду.Given rounding, we have

frames / second.

Also, the system (glasses) SMI Eye Tracking Glasses (Germany) can be used to measure gaze direction parameters. For each eye in the temple of glasses installed on a portable infrared video camera and infrared light source. The binocular mode of determining the direction of view allows you to increase the accuracy of the calculations.

We describe the technical effect of the invention.

The proposed method ensures that the astronaut’s gaze is taken into account when monitoring the execution of actions onboard the spacecraft, which, in turn, increases the efficiency of monitoring the actions of the spacecraft crew during flight operations. Consideration of the astronaut’s gaze when monitoring his actions onboard the spacecraft can be carried out both inside the pressurized spacecraft compartment and in open space outside the spacecraft, while the possible technical means presented for implementing the method do not limit the astronaut’s movement and do not interfere with his activity on board KA.

The achievement of the technical result in the proposed invention is ensured by the proposed measurement and determination of the proposed parameters (parameters of the current position and orientation of the astronaut’s head relative to the spacecraft and the parameters of the astronaut’s gaze direction relative to the astronaut’s head at given fixed and current gaze directions and positions and orientation of the astronaut’s head, parameters of the current position moving elements on the spacecraft, the current parameters of the illumination of the spacecraft elements), the proposed definition Nia objects that are sent to the astronaut look at the current time offered by the comparison of the proposed parameters with the set values corresponding to the executable astronaut flight operations, proposed the formation of teams to perform an astronaut action on the results of the comparison.

Currently, everything is technically ready for the implementation of the proposed method. Industrial execution of the essential features characterizing the invention is not complicated and can be performed using existing technical means.

Claims (1)

A method for monitoring the actions of an astronaut on board a spacecraft, including determining the location of the astronaut, comparing the location parameters with the given parameters and generating instructions to the astronaut according to the results of the comparison, characterized in that the parameters of the current position and orientation of the astronaut’s head relative to the spacecraft are additionally measured, direction parameters are measured the astronaut’s gaze relative to the astronaut’s head with given fixed and current directions According to the measured positions and the positions and orientations of the astronaut’s head, the objects that the astronaut’s gaze is directed at determine the current illumination of the elements of the spacecraft by the measured parameters of the position and orientation of the astronaut’s head and the direction of the astronaut’s gaze and the determined parameters of the current position of the moving elements on the spacecraft; defining objects that the astronaut's gaze is directed at, parameters of the cosmonaut's position relative to these objects, and illumination parameters of data objects with set values corresponding executable astronaut flight operations, and the results of the comparison form teams to perform an astronaut action.

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