CN112329246A - Virtual verification method and system for maintainability design of solar cell array of space station - Google Patents
Virtual verification method and system for maintainability design of solar cell array of space station Download PDFInfo
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Abstract
The invention relates to a virtual verification method and a virtual verification system for maintainability design of a solar cell array of a space station, wherein the system comprises a motion positioning system, a helmet display interaction system, a data glove interaction system, a graphic workstation and a display system; the graphic workstation is used for constructing a maintenance task environment of the virtual space station; the helmet display interaction system interacts with the graphic workstation to immerse the astronaut in the virtual environment; performing virtual maintenance operation by the astronaut in the virtual environment according to maintainability design; the motion positioning system tracks the 6-degree-of-freedom data of the marker on the astronaut in real time, and the data glove interaction system acquires hand motion data of the astronaut; the motion positioning system and the data glove interaction system interact with the graphic workstation to determine motion information and hand action information of the virtual astronaut in a maintenance task environment of the virtual space station; the display system displays the virtual maintenance operation process of the astronaut in multiple visual angles; and the graphic workstation evaluates the maintainability design of the solar cell array according to the virtual maintenance operation of the astronaut.
Description
Technical Field
The invention belongs to the technical field of virtual reality, and particularly relates to a virtual verification method and a virtual verification system for maintainability design of a solar cell array of a space station.
Background
The maintainability design is a process of incorporating the maintainability requirements into the product design, and the task is to ensure that the final designed product technical state meets the maintainability requirements of the product from distributed maintainability indexes. The efficiency and the benefit of the maintenance work are determined by the quality of the maintainability design. The traditional maintainability design and evaluation solution is to analyze and evaluate the maintainability design in the design stage, compile a maintenance technical manual in the later stage of development, and carry out maintenance training after delivery to a user. The process is a serial process, has strong dependence on a physical prototype or an actual product, has high evaluation cost and lagged evaluation, is influenced and limited by various factors, does not conform to the idea of product integrated design, and cannot meet the requirement of parallel design of the whole life cycle of the product.
The appearance and the gradual maturity of the virtual reality technology bring a new opportunity for solving the problems. The virtual maintenance can improve the maintainability of product equipment in the design stage, and cultivate a batch of maintenance personnel familiar with the maintenance process before the fault occurs, thereby improving the maintenance efficiency, shortening the maintenance time and reducing the influence of the equipment fault on the operation and production of enterprises.
With the development of the aerospace industry in China and the establishment of space stations in the future, astronauts in China will face more space operation tasks, and the space stations stably operate in orbit for a long time and cannot be maintained in orbit by the astronauts. The method is characterized in that a space station is subjected to preventive maintenance and restorative maintenance periodically and aperiodically by a spaceman, operation verification before the spaceman flies is crucial to successfully completing an on-orbit task, and how to perform ground operation verification on the spaceman becomes an important link for ensuring successful completion of a follow-up task of manned spaceflight. The particularities of the in-orbit environment make it much more difficult for astronauts to perform operational tasks in space than on the ground. The main points are as follows: (1) due to the weightlessness, the capability of the human body for controlling the posture and the movement of the human body is poor, so that the operation difficulty is increased, and the operation accuracy cannot be guaranteed; (2) the operation of the on-orbit operation is more difficult and dangerous, and if the operation is improper, the astronauts even can lose the connection relationship with the cabin body, thereby losing lives; (3) in an actual space mission, two or more people commonly cooperate to complete the space mission, the cooperation between the two people is very important, maintenance is performed by an astronaut, the maintenance skill of the astronaut is limited, and the maintenance working time is limited.
At present, the main maintenance verification means adopted by the ground operation verification of the astronauts in China comprise a flight maintenance verification simulator, a neutral buoyancy water tank, an EVA program maintenance verification simulator and the like, and all the operation verification devices adopt a physical or semi-physical simulation mode to carry out the operation verification of the operating programs inside and outside the cabin on the astronauts. These verification methods generally require the construction of large-scale operation verification equipment, and have large floor space, high manufacturing cost, limited capability of supporting maintenance verification, high maintenance cost, and high soft consumption for each operation verification. It is imperative to construct a suitable virtual collaborative maintenance verification system for astronauts on the ground.
Disclosure of Invention
The invention aims to provide a virtual verification method and a virtual verification system for maintainability design of a solar cell array of a space station.
In order to achieve the aim, the invention provides a virtual verification system for maintainability design of a solar cell array of a space station, which comprises a motion positioning system, a helmet display interaction system, a data glove interaction system, a graphic workstation and a display system, wherein the motion positioning system comprises a motion positioning system, a helmet display interaction system, a data glove interaction system, a graphic workstation and a display system; the helmet of the helmet display interaction system and the data gloves of the data glove interaction system are worn on the astronaut, and a marker is arranged on the astronaut; the graphic workstation is used for constructing a virtual space station maintenance task environment, and the virtual space station maintenance task environment comprises a virtual space environment, a virtual space station, a virtual maintenance tool and a virtual astronaut; the helmet display interaction system interacts with the graphic workstation to immerse the astronaut in a maintenance task environment of the virtual space station; performing virtual maintenance operation by the astronaut in the virtual environment according to maintainability design; in the virtual maintenance operation process, the motion positioning system tracks 6-degree-of-freedom data of a marker on the astronaut in real time, and the data glove interaction system acquires hand motion data of the astronaut; the motion positioning system and the data glove interaction system interact with the graphic workstation to determine motion information and hand action information of a virtual astronaut in a virtual space station maintenance task environment; the display system displays the virtual maintenance operation process of the astronaut in multiple channels and multiple visual angles; and the graphic workstation evaluates the maintainability design of the solar cell array according to the virtual maintenance operation of the astronaut.
The system for virtually verifying the maintainability design of the solar cell array of the space station comprises a graphic workstation, a space station maintenance task maintainability design virtual verification software and a Unity virtual engine, wherein the graphic workstation is loaded with the space station maintenance task maintainability design virtual verification software, and the software architecture adopts an Oracle database and a Unity virtual engine.
The system for virtually verifying maintainability design of the solar cell array of the space station comprises a functional layer of maintainability design virtual verification software of the space station maintenance task, wherein the functional layer comprises a model construction module, a model processing module, a scene construction module, a maintenance task setting module, an interactive device control module, a motion positioning processing module, a multi-channel display module, a maintenance operation module, a data management module and a maintainability design evaluation module; the model building module is used for creating a space station, a maintenance tool and an astronaut model; the model processing module is used for setting dynamic and physical attributes for each model established by the model establishing module; the scene construction module is used for constructing a virtual space environment, and importing and distributing each model processed by the model processing module according to the requirement of an actual maintenance operation environment; the motion positioning processing module determines motion information of the astronaut model in a virtual space station maintenance task environment by utilizing 6-degree-of-freedom data of a marker on the astronaut, which is tracked by the motion positioning system in real time; the interactive equipment control module provides an interactive interface based on a VRPN protocol, and utilizes a helmet display interactive system and a data glove interactive system to complete the interactive functions of various scenes, space station equipment and maintenance tool tools in the process of the astronaut and virtual maintenance operation; the maintenance task setting module is used for setting a maintenance task; the maintenance operation module provides a maintenance operation flow; the multi-channel display module records the virtual maintenance operation process by utilizing a camera arranged in a scene in advance, and can randomly switch the observation visual angle of the current three-dimensional scene, so that observers can comprehensively, stereoscopically and multi-angularly observe, and field explanation is facilitated; the data management module is used for storing and reading a three-dimensional scene library, a three-dimensional model library, a maintenance service rule library, a spaceman human body model library and a maintainability design evaluation library in the virtual maintenance operation process; the maintainability design evaluation module evaluates the maintainability design according to the virtual maintenance work.
The invention provides another technical scheme which is a virtual verification method for maintainability design of a space station solar cell array, wherein the adopted virtual verification system for maintainability design of the space station solar cell array comprises a motion positioning system, a helmet display interaction system, a data glove interaction system, a graphic workstation and a display system, the graphic workstation carries virtual verification software for maintainability design of a space station maintenance task, and a functional layer of the software comprises a model construction module, a model processing module, a scene construction module, a maintenance task setting module, an interaction equipment control module, a motion positioning processing module, a multi-channel display module, a maintenance operation module, a data management module and a maintainability design evaluation module; the virtual verification method comprises the following steps:
1) designing a solar cell array maintenance task and a maintainability verification check item through a maintenance task setting module, and designing a solar cell array maintainability design verification task through a maintainability design evaluation module;
2) a three-dimensional model is established through a model establishing module, and the three-dimensional model comprises a space station, a maintenance tool and an astronaut model;
3) constructing a virtual space environment through a scene construction module, and importing the three-dimensional model created in the step 2) into the virtual space environment;
4) adding physical attributes and service attributes to the virtual space environment and the three-dimensional model through a model processing module;
5) constructing a motion positioning system, a data glove interaction system and a helmet display interaction system;
6) the astronaut wears a helmet of the helmet display interaction system and data gloves of the data glove interaction system, and sets a mark body on the astronaut;
7) the astronaut carries out virtual maintenance operation according to the solar cell array maintenance operation flow provided by the maintenance operation module, and the motion positioning system, the helmet display interaction system and the data glove interaction system capture maintenance operation action data in real time;
8) the multi-channel display module provides a panorama and a third person weighing visual angle at a specific position, and the panorama and the third person weighing visual angle are displayed by the display system;
9) a maintainability design evaluation module evaluates the maintainability design based on the virtual maintenance work.
Compared with the prior art, the invention has the beneficial technical effects that:
the virtual verification method and the virtual verification system for the maintainability design of the solar cell array of the space station construct a proper virtual cooperative maintenance verification system, the virtual cooperative maintenance verification system constructs a virtual space task environment through a virtual reality technology, enables astronauts to immerse in the virtual environment of a flight task, move and operate in the virtual environment and interact with the virtual environment, and forms a virtual reality maintenance verification simulation system of a human-in-loop by utilizing comprehensive information such as vision, hearing, force feedback and the like provided by the virtual cooperative maintenance verification system, so that the maintenance operation process of the solar cell array of the space station is simulated, the maintenance design efficiency is greatly improved, and the research and development cost is reduced.
Drawings
The virtual verification method and system for the maintainability design of the solar cell array of the space station are provided by the following embodiments and attached drawings.
Fig. 1 is a general block diagram of a virtual verification system for maintainability design of a solar cell array in a space station according to a preferred embodiment of the invention.
FIG. 2 is a flow chart of the solar array (single-side) replacement in the preferred embodiment of the present invention.
Fig. 3 is a flow chart of the expanding and contracting operation of the auxiliary expanding mechanism of the solar cell array in the preferred embodiment of the invention.
FIG. 4 is a schematic diagram of model weight reduction processing of an engineering digital prototype according to a preferred embodiment of the present invention.
FIG. 5 is a simplified diagram of a model mesh model according to a preferred embodiment of the present invention.
FIG. 6 is a diagram illustrating the configuration of the kinematic locating system IK in accordance with the preferred embodiment of the present invention.
FIG. 7 is a schematic diagram of the data glove interaction system according to the preferred embodiment of the present invention.
Fig. 8 is a schematic diagram of a helmet-mounted display interactive system according to a preferred embodiment of the present invention.
FIG. 9 is a schematic view of a maintenance task setup in accordance with a preferred embodiment of the present invention.
FIG. 10 is a schematic view of a multi-channel display in accordance with a preferred embodiment of the present invention.
Detailed Description
The method and system for virtual verification of maintainability design of a solar cell array of a space station according to the present invention will be described in further detail with reference to fig. 1 to 10.
The invention aims to construct a proper virtual cooperative maintenance verification system for an astronaut (astronaut) on the ground, the virtual cooperative maintenance verification system constructs a virtual space task environment through a virtual reality technology, so that the astronaut can be immersed in the virtual environment of a flight task, moves and operates in the virtual environment and interacts with the virtual environment, and a virtual reality maintenance verification simulation system of a human-in-loop is formed by utilizing comprehensive information such as vision, hearing, force feedback and the like provided by the virtual cooperative maintenance verification system, the maintenance operation process of a solar cell array of a space station is simulated, the maintenance design efficiency is greatly improved, and the research and development cost is reduced.
Fig. 1 is a general block diagram of a virtual verification system for maintainability design of a solar cell array in a space station according to a preferred embodiment of the invention.
Referring to fig. 1, the virtual verification system for maintainability design of a solar cell array in a space station includes a motion positioning system, a helmet display interaction system, a data glove interaction system, a graphic workstation, a display system, and an audio system;
the helmet of the helmet display interaction system and the data gloves of the data glove interaction system are worn on the astronaut, and a marker is arranged on the astronaut;
the graphic workstation is used for constructing a virtual space station maintenance task environment (in the embodiment, only a solar cell array maintenance task is taken as an example), and the virtual space station maintenance task environment comprises a virtual space environment, a virtual space station, a virtual maintenance tool and a virtual astronaut;
the helmet display interaction system interacts with the graphic workstation to immerse the astronaut in a maintenance task environment of the virtual space station;
performing virtual maintenance operation by the astronaut in the virtual environment according to the solar cell array maintainability design (namely the solar cell array maintenance operation flow); in the virtual maintenance operation process, the motion positioning system tracks the 6-degree-of-freedom data of the marker body on the astronaut in real time and transmits the data to the graphic workstation, and the graphic workstation determines the motion information of the virtual astronaut in the virtual space station maintenance task environment according to the data; the data glove interaction system interacts with the graphics workstation;
the display system displays the virtual maintenance operation process of the astronaut in multiple channels and multiple visual angles; the sound system provides sound effects in the virtual maintenance operation process;
and the graphic workstation evaluates the maintainability design of the solar cell array according to the virtual maintenance operation of the astronaut.
The graphic workstation is loaded with maintainability design virtual verification software of a space station maintenance task, and the software architecture adopts an Oracle database and a Unity virtual engine and is divided into a functional layer, an application service layer and a data layer; the functional layer comprises a model construction module, a model processing module, a scene construction module, a maintenance task setting module, an interactive device control module, a motion positioning processing module, a multi-channel display module, a maintenance operation module, a data management module, a maintainability design evaluation module and the like; the application service layer comprises material, illumination, baking processing of the model, three-dimensional model rendering, three-dimensional scene layout, three-dimensional scene switching, three-dimensional scene roaming, three-dimensional object interaction, interference checking and the like; the data layer comprises a three-dimensional scene library, a three-dimensional model library, a maintenance business rule library, a spaceman human body model library, a maintainability design evaluation library and the like, as shown in figure 1.
The model construction module is used for designing models of space environment, space stations, maintenance tool tools, astronauts and the like; common model formats (fbx, obj, dae, 3ds, mesh and the like) can be imported through a data interface of the model building module, and all models in the system are built according to a real ratio of 1: 1;
the model processing module is used for defining interfaces, constraint conditions, node data, gravity, collision detection conditions and the like among models, and setting dynamic and physical attributes for each model constructed by the model construction module;
the scene construction module is used for constructing a virtual maintenance scene (virtual space environment), and importing and distributing each model processed by the model processing module according to the requirement of an actual maintenance operation environment;
the motion positioning processing module determines motion information of the astronaut model in a virtual space station maintenance task environment by using 6-degree-of-freedom data of a marker on the astronaut, which is tracked by the motion positioning system in real time, and the motion information comprises position and angle information;
the interactive equipment control module provides an interactive interface based on a Virtual Reality Personal Network (VRPN) protocol, and utilizes interactive equipment such as a helmet display, a data glove or a control handle to complete the interactive functions of the astronaut and various scenes, space station equipment and maintenance tools in the Virtual maintenance operation process;
the maintenance task setting module is used for setting maintenance verification check items such as space size detection, identification detection, interference detection, accessibility requirements and the like according to maintenance design;
the maintenance operation module carries out operation preparation, cabin outlet, installation, dismantling, collaboration, unfolding, debugging and other solar cell array replacement business activities according to a maintenance operation flow, ensures that a correct tool is selected in the operation process, verifies maintenance design contents according to a correct disassembly and assembly sequence, and provides online help of voice, characters and the like at any time;
the multi-channel display module records working conditions, sites, personnel activities and the like in the virtual maintenance operation process by utilizing a camera arranged in a scene in advance, and can randomly switch the observation visual angle of the current three-dimensional scene, so that observers can observe comprehensively, three-dimensionally and at multiple angles, and the field explanation is convenient;
the data management module is used for storing and reading a three-dimensional scene library, a three-dimensional model library, a maintenance service rule library, a spaceman human body model library and a maintainability design evaluation library in the virtual maintenance operation process;
the maintainability design evaluation module evaluates the maintainability design according to the virtual maintenance operation, and the evaluation items comprise:
(1) the maintenance operation space limitation requirement and the limitation and fixation of the astronaut in the microgravity environment are met;
(2) the man-machine efficiency requirement is to improve the quality and efficiency of maintenance work, reduce the maintenance workload and reduce the requirement on the maintenance skill of astronauts;
(3) the requirement of anti-misoperation is met, and whether the marks of various connectors are clear or not is judged;
(4) average repair time requirement of an on-track Replaceable Unit-ORU (Orbital Replaceable Unit-ORU);
(5) maximum repair time requirement of the ORU.
(6) The maintenance tool has the design requirements that the ORU supports the use of general tools, uses less special tools as much as possible, and is convenient for a spaceman to grasp after wearing the spacesuit and carry out anti-floating design;
(7) accessibility requirements, reachable maintenance objects, reachable maintenance paths, reachable viewing angles, and prompt and feedback of in-place design operation.
The virtual verification method for the maintainability design of the solar cell array of the space station comprises the following steps:
1) designing a solar cell array maintenance task and a maintainability verification check item through a maintenance task setting module, and designing a solar cell array maintainability design verification task through a maintainability design evaluation module;
fig. 2 is a flow chart illustrating the replacement of the solar cell array (single-side) in the present embodiment, and fig. 3 is a flow chart illustrating the unfolding/folding operation of the auxiliary stretching mechanism of the solar cell array in the present embodiment;
the maintainability verification check items comprise space size detection, identification detection, interference detection, accessibility requirements and the like;
the solar cell array maintainability design verification task comprises error prevention and identification mark setting, man-machine ergonomics analysis and judgment, man-machine engineering analysis and judgment, calculation of average maintenance time and the like;
2) creating a three-dimensional model through a model construction module;
the device comprises a space station, a maintenance tool, a maintenance guide rail, astronauts and other models, such as a space capsule, a solar cell array, spare parts, a maintenance tool, an astronaut A, an astronaut B, auxiliary equipment, a comprehensive driving controller, a channel unit, a transmission mechanical arm, a mechanical arm adapter, a pallet, a capsule foot stopper, an upper box body, a lower box body, an anti-floating rope, an anti-floating mounting screw, an electric connector, a cell array constraint release mechanism, an extension mechanism, an M8 screw, a motor and the like; all models are constructed according to the real proportion of 1: 1;
the partial model can adopt an engineering digital prototype, the model construction module provides an import function, can receive common model formats (fbx, obj, dae, 3ds, mesh and the like), and carries out lightweight processing on the model derived from the engineering digital prototype, as shown in FIG. 4;
the lightweight processing is mainly realized by surface reduction processing, merging processing, model format conversion and mesh model simplification, as shown in fig. 5;
the face reduction processing mainly comprises the steps of deleting redundant faces in a scene, improving the utilization rate of a map, and improving the running speed of an interactive scene, such as an invisible face and an internal structure of a model, an object with only a far-vision angle and the like;
the merging process mainly aims at models or copies, mirror images and the like with the same material and the same attribute;
on the premise of keeping the appearance and the outline of the model, simplifying the converted grid model, and removing invisible parts and patches in an assembly body;
3) constructing a virtual space environment (namely a virtual space three-dimensional scene) through a scene construction module, and importing the three-dimensional model created in the step 2) into the virtual space environment, wherein the size of each model and the position relation among the models accord with the actual situation;
4) adding physical attributes and service attributes to the virtual space environment and the three-dimensional model through a model processing module;
the physical properties are set for processing such as dynamics, illumination, material, coloring, baking, shielding, rejecting and the like; the business attributes define, for example, interfaces between models, constraints, center of gravity, joints, rigid bodies, perspective ergonomics, human factors engineering, collision detection, etc.;
the color of the model is standardized, and the contrast coefficient of a color valve and the background is not less than 3: 1; the colors of the handle and the handrail are obviously different from the surrounding colors, so that the handle and the handrail are convenient to distinguish;
the rotary device, the part and the transmission mechanism which need to be maintained or can be touched by astronauts need to have dangerous case and fault hazard protection measures and proper warning signs;
mechanical parts, linkages, springs, etc. that are subject to constant tension or load add warning signs;
a limit stop or warning mark is added to the drawout or folding component which can hurt people without restriction;
5) constructing a motion positioning system, a data glove interaction system and a helmet display interaction system;
setting 6 Inverse Kinematics (IK) of a Kinematic positioning system, wherein the positions are head, left hand, right hand, left foot, right foot and waist, as shown in fig. 6; the method comprises the steps that a motion positioning system IK is bound with a spaceman model through a motion positioning processing module, the weight of the IK is set according to motion constraint conditions borne by the spaceman after wearing space suits and helmets in the binding process, and actions of the spaceman during maintenance operation of a space station, such as rotation of the head, movement of hands and feet and the like, are constrained;
setting up a data glove interaction system, as shown in fig. 7; binding the data glove interaction system with the astronaut model through the interaction device control module;
setting a helmet display interactive system, as shown in FIG. 8; binding the helmet display interaction system with the astronaut model through the interaction device control module;
in the embodiment, two astronauts models are created, and two astronauts perform collaborative maintenance operation for verification; two astronauts (trues) are respectively provided with a set of motion positioning system, a set of data glove interaction system and a set of helmet display interaction system, and the motion positioning system, the data glove interaction system and the helmet display interaction system of each astronaut are all arranged, so that the real astronauts are bound with the astronaut model, and can be immersed in the maintenance task environment of the virtual space station;
6) the astronaut wears a helmet of the helmet display interaction system and data gloves of the data glove interaction system, and sets a mark body on the astronaut;
the motion positioning system is used for tracking 6-degree-of-freedom data of a marker on a astronaut in real time in a maintenance operation process, corresponding to the motion positioning system IK, the markers are arranged on the head, the left hand, the right hand, the left foot, the right foot and the waist of the astronaut, and the quantity of the markers arranged on each part is ensured to accurately acquire the motion information of the part;
7) the astronaut carries out virtual maintenance operation according to the solar cell array maintenance operation flow provided by the maintenance operation module, and as shown in fig. 9, the motion positioning system, the helmet display interaction system and the data glove interaction system capture maintenance operation action data in real time;
the solar cell array maintenance operation process comprises the activities of operation preparation, cabin discharge, installation, dismantling, cooperation, expansion, debugging and the like;
in the maintenance operation flow, the system provides online voice, gesture and character help, provides dangerous case and fault hazard protection measures and appropriate warning signs;
in the maintenance operation process, an infrared camera of the motion positioning system carries out coordinate system transformation on the 6-degree-of-freedom data of the real-time tracking marker body through a Cartesian right-hand coordinate system and converts the data into the position and motion information of a virtual space astronaut model through a motion positioning processing module; the data glove interaction system collects hand motion data (grabbing, holding, rotating, dragging and the like) of the astronaut, and converts the hand motion data into hand motion of a virtual space astronaut model through the interaction device control module; the helmet display system interacts with the interactive equipment control module, provides a first-person visual angle for the astronaut, and displays a maintenance operation scene and interactive actions;
8) in the maintenance operation process, the multi-channel display module provides a panorama and a third person weighing visual angle at a specific position, outputs signals to a plurality of display systems through multi-channel output, and displays the signals by the display systems, as shown in fig. 10;
9) the maintainability design evaluation module evaluates the maintainability design according to the virtual maintenance operation;
the maintainability design evaluation module carries out spatial position calculation, distance measurement and calculation between a maintenance object and a tool, maintenance path measurement and calculation of a spaceman, maintenance time calculation and the like according to the captured maintenance operation action data and the collision interference condition, evaluates the calculation result and finally obtains a verification result of the maintainability design;
10) the data management module stores various data generated in the virtual maintenance operation process, the established three-dimensional model and the scene model.
Claims (10)
1. The virtual verification system for the maintainability design of the solar cell array of the space station is characterized by comprising a motion positioning system, a helmet display interaction system, a data glove interaction system, a graphic workstation and a display system;
the helmet of the helmet display interaction system and the data gloves of the data glove interaction system are worn on the astronaut, and a marker is arranged on the astronaut;
the graphic workstation is used for constructing a virtual space station maintenance task environment, and the virtual space station maintenance task environment comprises a virtual space environment, a virtual space station, a virtual maintenance tool and a virtual astronaut;
the helmet display interaction system interacts with the graphic workstation to immerse the astronaut in a maintenance task environment of the virtual space station;
performing virtual maintenance operation by the astronaut in the virtual environment according to maintainability design; in the virtual maintenance operation process, the motion positioning system tracks 6-degree-of-freedom data of a marker on the astronaut in real time, and the data glove interaction system acquires hand motion data of the astronaut; the motion positioning system and the data glove interaction system interact with the graphic workstation to determine motion information and hand action information of a virtual astronaut in a virtual space station maintenance task environment;
the display system displays the virtual maintenance operation process of the astronaut in multiple channels and multiple visual angles;
and the graphic workstation evaluates the maintainability design of the solar cell array according to the virtual maintenance operation of the astronaut.
2. The system of claim 1, wherein the graphic workstation is loaded with space station maintenance task maintainability design virtual verification software, and the software architecture employs an Oracle database and a Unity virtual engine.
3. The system according to claim 2, wherein the functional layer of the virtual validation software for maintainability design of the space station maintenance task comprises a model construction module, a model processing module, a scene construction module, a maintenance task setting module, an interactive device control module, a motion positioning processing module, a multi-channel display module, a maintenance operation module, a data management module and a maintainability design evaluation module;
the model building module is used for creating a space station, a maintenance tool and an astronaut model;
the model processing module is used for setting dynamic and physical attributes for each model established by the model establishing module;
the scene construction module is used for constructing a virtual space environment, and importing and distributing each model processed by the model processing module according to the requirement of an actual maintenance operation environment;
the motion positioning processing module determines motion information of the astronaut model in a virtual space station maintenance task environment by utilizing 6-degree-of-freedom data of a marker on the astronaut, which is tracked by the motion positioning system in real time;
the interactive equipment control module provides an interactive interface based on a VRPN protocol, and utilizes a helmet display interactive system and a data glove interactive system to complete the interactive functions of various scenes, space station equipment and maintenance tool tools in the process of the astronaut and virtual maintenance operation;
the maintenance task setting module is used for setting a maintenance task;
the maintenance operation module provides a maintenance operation flow;
the multi-channel display module records the virtual maintenance operation process by utilizing a camera arranged in a scene in advance, and can randomly switch the observation visual angle of the current three-dimensional scene, so that observers can comprehensively, stereoscopically and multi-angularly observe, and field explanation is facilitated;
the data management module is used for storing and reading a three-dimensional scene library, a three-dimensional model library, a maintenance service rule library, a spaceman human body model library and a maintainability design evaluation library in the virtual maintenance operation process;
the maintainability design evaluation module evaluates the maintainability design according to the virtual maintenance work.
4. The virtual verification method for the maintainability design of the solar cell array of the space station is characterized in that the adopted virtual verification system for the maintainability design of the solar cell array of the space station comprises a motion positioning system, a helmet display interaction system, a data glove interaction system, a graphic workstation and a display system, wherein the graphic workstation carries virtual verification software for the maintainability design of a maintenance task of the space station, and a functional layer of the software comprises a model construction module, a model processing module, a scene construction module, a maintenance task setting module, an interaction equipment control module, a motion positioning processing module, a multi-channel display module, a maintenance operation module, a data management module and a maintainability design evaluation module; the virtual verification method comprises the following steps:
1) designing a solar cell array maintenance task and a maintainability verification check item through a maintenance task setting module, and designing a solar cell array maintainability design verification task through a maintainability design evaluation module;
2) a three-dimensional model is established through a model establishing module, and the three-dimensional model comprises a space station, a maintenance tool and an astronaut model;
3) constructing a virtual space environment through a scene construction module, and importing the three-dimensional model created in the step 2) into the virtual space environment;
4) adding physical attributes and service attributes to the virtual space environment and the three-dimensional model through a model processing module;
5) constructing a motion positioning system, a data glove interaction system and a helmet display interaction system;
6) the astronaut wears a helmet of the helmet display interaction system and data gloves of the data glove interaction system, and sets a mark body on the astronaut;
7) the astronaut carries out virtual maintenance operation according to the solar cell array maintenance operation flow provided by the maintenance operation module, and the motion positioning system, the helmet display interaction system and the data glove interaction system capture maintenance operation action data in real time;
8) the multi-channel display module provides a panorama and a third person weighing visual angle at a specific position, and the panorama and the third person weighing visual angle are displayed by the display system;
9) a maintainability design evaluation module evaluates the maintainability design based on the virtual maintenance work.
5. The virtual validation method for the maintainability design of a solar array of a space station according to claim 4, wherein the solar array maintainability design validation tasks include error protection and identification flag setting, ergonomic analysis and determination, calculation of average maintenance time; the maintainability verification check item comprises space size detection, identification detection, interference detection and accessibility requirements.
6. The virtual verification method for the maintainability design of a solar cell array of a space station according to claim 4, wherein in the step 2), the model building module provides an import function, and the three-dimensional model can be imported after a light-weight treatment is performed on a model derived from an engineering digital prototype by using the engineering digital prototype.
7. The virtual validation method for the maintainability design of a solar cell array in a space station according to claim 4, wherein in step 4), the physical attributes include setting dynamics, lighting, material, coloring, baking, blocking, and rejecting; the business attributes include defining interfaces between models, constraints, center of gravity, joints, rigid bodies, perspective ergonomics, human factors engineering, and collision detection.
8. The virtual verification method for the maintainability design of a space station solar array according to claim 4, wherein in step 5), a kinematic positioning system IK is provided, and the parts are respectively head, left hand, right hand, left foot, right foot and waist; binding a motion positioning system IK with a spaceman model through a motion positioning processing module, setting the weight of the IK according to motion constraint conditions borne by the spaceman after wearing space suits and helmets in the binding process, and constraining the action of the spaceman in the maintenance operation of a space station;
setting a data glove interaction system; binding the data glove interaction system with the astronaut model through the interaction device control module;
setting a helmet display interactive system; and binding the helmet display interaction system with the astronaut model through the interaction device control module.
9. The virtual verification method for the maintainability design of a solar cell array of a space station according to claim 4, wherein in the step 7), the solar cell array maintenance work flow comprises work preparation, cabin exit, installation, dismantling, cooperation, expansion and debugging;
in the maintenance operation flow, the system provides online voice, gesture and character help, provides dangerous case and fault hazard protection measures and appropriate warning signs;
an infrared camera of the motion positioning system performs coordinate system transformation on the 6-degree-of-freedom data of the real-time tracking marker body through a Cartesian right-hand coordinate system, and converts the data into virtual space astronaut model position and motion information through a motion positioning processing module; the data glove interaction system collects hand motion data of the astronaut and converts the hand motion data into hand motion of a virtual space astronaut model through the interaction equipment control module; the helmet display system interacts with the interactive equipment control module, provides a first-person visual angle for the astronaut, and shows a maintenance operation scene and interactive actions.
10. The virtual verification method for the maintainability design of the solar cell array of the space station according to claim 4, wherein in the step 9), the maintainability design evaluation module performs the calculation of the spatial position, the calculation of the distance between the maintenance object and the tool, the calculation of the maintenance path of the astronaut, and the calculation of the maintenance time according to the captured maintenance work operation data and the collision interference condition, evaluates the calculation result, and finally obtains the verification result of the maintainability design.
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