CN104573230B - Towards the visual human's job task simulation analysis system and method for spacecraft maintenance - Google Patents

Abstract

The invention discloses a virtual human operation task simulation analysis system and simulation analysis method for spacecraft maintenance. The simulation and analysis system for virtual human tasks for spacecraft maintenance includes virtual reality real-time rendering and motion data acquisition modules, which are used to simulate the more complex movements of astronauts in on-orbit maintenance operations, so as to realize restricted or supported movements, and then obtain The movement posture of real people; the microgravity virtual environment building block, which is responsible for realizing unrestricted or supported free-state movements or position transfer movements that require whole-body coordination, so as to obtain the movement posture of virtual people in a virtual microgravity environment; job task simulation analysis Module, which realizes the rapid construction and pre-analysis of general virtual scenes and spatial layouts, generates various actions required for the operation process of job tasks, and performs man-machine effect simulation analysis of virtual human actions to realize feedback optimization of virtual human job task planning or feasibility decision.

Description

Simulation and Analysis System and Method for Virtual Human Operation Tasks Oriented to Spacecraft Maintenance

technical field

The invention relates to the field of manufacturing simulation, in particular to a virtual human operation task simulation analysis system and simulation analysis method for spacecraft maintenance.

Background technique

Manned space on-orbit operations are one of the key technologies of manned spaceflight engineering, including on-orbit assembly and maintenance of manned spacecraft, space science experiments, release or recovery of space payloads, space rescue, etc. At present, the training and verification of astronauts' on-orbit operation tasks (including extravehicular activities and extravehicular activities) are mainly carried out in semi-autonomous areas such as neutral buoyancy tanks, weightless aircraft, extravehicular activity training simulators, air pressure chambers, detachment test benches, and air cushion platforms. Physical simulation is carried out in large-scale simulation equipment. The limitations of this method lie in the high cost of the system, poor application flexibility, and large differences in the simulation of the microgravity environment in space.

Virtual reality technology refers to the comprehensive use of computer systems and various special software and hardware to generate a simulation environment that can replace the real world and environment, and has the characteristics of immersion, interactivity and real-time. Using virtual reality technology to simulate the posture and movement of virtual human limbs under the characteristics of weightlessness, combined with sensory stimulation such as immersive graphic images and force feedback, it can provide astronauts with a realistic operating experience. The simulation and analysis system of virtual human on-orbit operation tasks in microgravity environment based on virtual reality can be used not only for training, but also for task planning and analysis.

At present, with the maturity and development of virtual reality technology, people have begun to introduce virtual reality technology into the field of manufacturing simulation. For example, the patent "virtual assembly system and virtual assembly method based on spacecraft assembly simulation technology" (application number 200810180605, publication number 101739478) builds a virtual assembly system including CAD modeling module, virtual assembly planning module, and assembly process design module , and a virtual assembly method based on spacecraft assembly simulation technology is given. The patent "virtual human control method for immersive virtual maintenance simulation system based on DELMIA environment" (application number 201110442411, publication number 102521464) uses the secondary development interface to import the human motion captured by the motion capture device into the virtual human body provided by professional software in real time. On the virtual human of the maintenance platform, the real person can effectively realize the control and efficacy analysis of the virtual human.

The above-mentioned various systems and methods have the following problems:

(1) The virtual reality rendering of the CAD model needs to be imported into the simulation system in a fixed format. The processing process is time-consuming and easy to cause data loss, especially for large models such as spacecraft;

(2) The virtual human and the model in the virtual reality environment are all pure geometry without physical properties, and cannot construct and generate motion postures in a microgravity environment: Whether it is Delmia or self-developed simulation software, the virtual human posture library And the real action captured from the space position tracking system comes from the normal gravity environment. In the absence of semi-physical simulation hardware, it is impossible to generate the movement posture of the microgravity environment;

Contents of the invention

The technical problem to be solved by the present invention is to provide a virtual human task simulation analysis system and simulation analysis method for spacecraft maintenance, so as to avoid model conversion through the virtual reality real-time rendering of the general CAD model, and realize the virtual digital prototype and the environment. Rapid immersive interactive evaluation; use professional software to build a microgravity environment and generate virtual human on-orbit operation postures offline, combined with real-time human movements captured by the motion capture system, to form a virtual human operation simulation in a microgravity environment; import virtual human operations into The professional human-machine function analysis module completes the quantitative analysis such as attitude analysis and fatigue evaluation, and finally realizes the simulation and analysis of virtual human operation tasks for spacecraft maintenance.

In order to solve the above-mentioned technical problems, the present invention provides a virtual human task simulation analysis system oriented to spacecraft maintenance. The virtual human task simulation analysis system oriented to spacecraft maintenance includes: virtual reality real-time rendering and motion data acquisition modules, It is used to simulate the more complex movements of astronauts in on-orbit maintenance operations, so as to realize restricted or supported movements, and then obtain real human motion postures; the microgravity virtual environment building block is used to realize unconstrained or supported free-state movements Or position transfer movements that require whole-body coordination, so as to obtain the movement posture of the virtual human in the virtual microgravity environment; the virtual human driving interface module is used to import the movement posture of the real person and the movement posture of the virtual human in the virtual microgravity environment And drive the virtual human of the job task simulation analysis module to realize the man-machine effect simulation analysis; the job task simulation analysis module, which utilizes the virtual reality real-time rendering and motion data acquisition module to realize the rapid construction and prediction of general virtual scenes and spatial layouts Analysis, using the virtual reality real-time rendering and motion data acquisition module and the microgravity virtual environment construction module to generate various actions required for the operation process of the job task, and perform human-machine effect simulation analysis of virtual human actions to realize virtual human Feedback optimization or feasibility decision for job task planning.

The present invention also provides a virtual human task simulation analysis method for spacecraft maintenance. The spacecraft maintenance-oriented virtual human task simulation analysis method includes: Step 1: In the virtual reality real-time rendering and motion data acquisition module, Simulate the more complex movements of astronauts in on-orbit maintenance operations, so as to realize the movement with constraints or supports, and then obtain the real human motion posture; Step 2: In the microgravity virtual environment building block, it is responsible for realizing the free state without constraints or supports Movement or position transfer movement that requires whole-body coordination, so as to obtain the movement posture of the virtual human in the virtual microgravity environment; Step 3: In the virtual human driving interface module, combine the movement posture of the real person with the virtual human movement posture in the virtual microgravity environment. Human motion posture imports and drives the virtual human in the job task simulation analysis module to realize man-machine efficiency simulation analysis; Step 4: In the job task simulation analysis module, use the virtual reality real-time rendering and motion data acquisition module to realize a general virtual scene , rapid construction and pre-analysis of spatial layout, using the virtual reality real-time rendering and motion data acquisition module and the microgravity virtual environment construction module to generate various actions required for the operation process of the job task, and perform the human-machine movement of the virtual human Efficacy simulation analysis to realize feedback optimization or feasibility decision of virtual human task planning.

Compared with the prior art, the virtual human task simulation analysis system and simulation analysis method for spacecraft maintenance provided by the present invention have the following advantages:

(1) Through the virtual reality real-time rendering and motion data acquisition module, it supports real-time rendering of various CAD scenes to virtual reality without format conversion, and provides basic interactive operations to assist in the rapid construction of general virtual scenes, Applications such as spatial layout pre-analysis, virtual digital prototype rapid review, and basic operation pre-evaluation avoid time consumption and data loss in data format conversion processing;

(2) Aiming at the two types of working conditions of astronauts' on-orbit operation tasks, the virtual reality real-time rendering and motion data acquisition module and the microgravity virtual environment building module were respectively constructed to cover various motion posture simulations of the operation tasks and overcome the large-scale semi-physical The shortcomings of the simulation hardware system, such as high cost and poor application flexibility, make up for the shortcomings that pure virtual simulation software cannot build a microgravity environment.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art

Fig. 1 is the structural block diagram of the simulation analysis system of the virtual human operation task facing the spacecraft maintenance of the present invention;

Fig. 2 is the flow chart of the simulation analysis method of virtual human task for spacecraft maintenance of the present invention;

Fig. 3 is a working flow chart of the job task simulation analysis module in Fig. 1 .

Detailed ways

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments.

The present invention provides a simulation analysis system and simulation analysis method for virtual human task tasks oriented to spacecraft maintenance, so as to avoid model conversion through virtual reality real-time rendering of general CAD models, and realize fast immersive interactive evaluation of virtual digital prototypes and environments ; Use professional software to build a microgravity environment and generate the virtual human on-orbit operation posture offline, combined with the real-time human body movements captured by the motion capture system, to form a virtual human operation simulation in a microgravity environment; import the virtual human operation into professional man-machine efficiency analysis module, and complete quantitative analysis such as attitude analysis and fatigue evaluation, and finally realize the simulation and analysis of virtual human operation tasks for spacecraft maintenance.

FIG. 1 is a structural block diagram of a virtual human task simulation analysis system 100 oriented to spacecraft maintenance according to the present invention. The simulation and analysis system of virtual human tasks for spacecraft maintenance includes: a virtual reality real-time rendering and motion data acquisition module 110 , a microgravity virtual environment construction module 120 , a virtual human driver interface module 130 , and a task simulation analysis module 140 .

The virtual reality real-time rendering and motion data acquisition module 110 is used to simulate and collect astronauts’ more complex actions in on-orbit maintenance operations, such as body-limited upper limb activities, feet-limited upper-body activities, and hand-limited straight body activities, correspondingly realizing instrument panel operations, switch Doors, auxiliary interactive docking, equipment replacement and other operating tasks, so as to achieve restricted or supported movements, and then obtain real human motion postures. The virtual reality real-time rendering and motion data collection module 110 includes a virtual reality hardware module 111 and a virtual reality real-time rendering module 112 .

Virtual reality hardware module 111, comprises data helmet (VR 1280), data glove (CyberGlove II), motion capture system (for example, ART whole body motion capture system), three-dimensional space handle (interactive handle Flystick), two-channel projection (Christie Mirage DS +10K-M), hard screen, 3D glasses, etc. Among them, the data helmet provides the operator with the first-view experience of the general virtual scene, and the operator provides real human motion input for the task simulation analysis module through the data headgear and motion capture system; dual-channel projection, hard screen, and 3D glasses are the reviewers Provide a third-person perspective experience, and the judges can use the three-dimensional space handle to realize the modification of the spatial layout of the general virtual scene and other operations. The virtual reality hardware module 111 provides hardware support for the creation of an immersive virtual reality environment, assists real people to realize various motion operations that are as close as possible to the real situation of on-orbit maintenance, and captures real-time movements of the human body. , Spatial layout analysis provides real experience support.

The virtual reality real-time rendering module 112 includes a multi-channel display module 113 , a viewing angle tracking and navigation module 114 , an interactive browsing evaluation module 115 and a virtual assembly module 116 . The virtual reality real-time rendering module 112 adopts French Techviz software, a visualization solution based on OpenGL. The multi-channel display module 113 can use the TechvizXL Basic license basic module in the Techviz software and the TechViz XL dual-channel active stereo node authorization to support real-time rendering of various CAD scenes to virtual reality without format conversion. The scene is visualized in high resolution and supports multiple virtual reality display solutions, including data helmets and hard screens. The data helmets and hard screens provide the operator's perspective and the third-party review perspective respectively. The angle of view tracking navigation module 114 adopts the NavigationOption basic navigation module and the Tracking Option advanced tracking module in the Techviz software to provide the angle of view tracking and navigation function, and realizes the free navigation of the system angle of view or the virtual scene through hardware support such as a three-dimensional space handle and a main angle of view 3D glasses. And it can track the position of the human body. The interactive browsing evaluation module 115 can use the DMU1 and DMU2 modules in the Techviz software to provide an interactive browsing evaluation function, to assist the operator to use the three-dimensional space handle to realize the evaluation of the virtual scene, to provide bookmark functions, measurement functions, profile functions, zoom functions, Comment function, hide and show component function, snapshot function, etc. The virtual assembly module 116 adopts the virtual assembly module in the Techviz software, allowing the operator to interactively move any part in the virtual scene, see the collision situation during the disassembly and assembly movement process and record the path, and quickly lay out the virtual scene Provide support for pre-analysis and pre-assessment of assembly, disassembly, maintenance and other operations. The virtual reality real-time rendering module 112 provides basic interactive operations to assist applications such as rapid construction of general virtual scenes, pre-analysis of spatial layout, rapid review of virtual digital prototypes, and pre-evaluation of basic operations.

The microgravity virtual environment construction module 120 adopts the Endorphin role dynamic generation software of British Natural Motion Company, a professional animation production engine, and completes microgravity virtual scene construction, physical attribute modeling, constraint relationship modeling, virtual human posture setting, Motion operation design, etc., finally generate virtual human motion animation in microgravity environment, and obtain virtual human motion posture. The microgravity virtual environment building module 120 is responsible for realizing unconstrained or supported free-state movement or position transfer movement that requires whole-body coordination, such as lateral drift, single/double crank arm drift, etc. Operation tasks such as transportation and extravehicular walking. The microgravity virtual environment construction module 120 involves the motion simulation of a virtual human in a larger scene, and obtains the motion posture of a virtual human in a virtual microgravity environment.

The virtual human driving interface module 130 is composed of a first virtual human driving interface 131 and a second virtual human driving interface 132 . The first virtual human drive interface 131 adopts the extension module RTID Human (Real-TimeInteraction for Delmia Human) of Delmia V5, which is used to support real-time human movement collected by the motion tracking system (ART whole body motion capture system) to drive Delmia V5 in real time with the solver virtual human model. The second virtual human drive interface 132 is developed and implemented based on the CAA secondary development module of Delmia V5, and the human body movement under microgravity conditions generated by the microgravity virtual environment building module 120 is imported into Delmia through the BVH format and bound to its virtual human motion joints to drive virtual human model. The first avatar driving interface 131 and the second avatar driving interface 132 respectively correspond to the virtual reality real-time rendering and motion data acquisition module 110 and the microgravity virtual environment construction module 120 two types of on-orbit operation motion gesture realization methods, and the virtual reality real-time The movement posture of the real person collected by the rendering and motion data collection module 110 or the movement posture of the virtual person in the virtual microgravity environment are respectively imported in real-time or offline and drive the virtual person in the task simulation analysis module 140 to realize the simulation analysis of human-machine efficiency.

The operation task simulation analysis module 140 adopts the Delmia V5 commercial suite of Dassault Corporation to provide functions such as general virtual scene construction, spatial layout analysis, operation process planning, collision detection, and man-machine efficiency analysis, which is the core support part of the system of the present invention. With the support of the virtual reality real-time rendering module, the above-mentioned general virtual scene construction and spatial layout analysis can quickly build operation task scenes that conform to the real cabin or extravehicular activities, and the operation process planning and collision detection are used to assist in planning all tasks involved in the complete operation task Operation sequence, human-machine efficacy analysis is used to evaluate the feasibility of virtual human operation of job tasks. Evaluation methods for man-machine efficacy analysis include RULA (Rapid Upper Limb Assessment), NIOSH (National Institute of Occupational Safety and Health), OWAS (Owako Working-posture Analyzing System), Snook table, etc.

The actual on-orbit maintenance tasks of astronauts mainly include two working conditions: one is restricted or supported movements, such as restrained by seats or foot restraints, holding pneumatic equipment, grabbing handrails or pushing back bulkheads, etc.; The other category is the free state without constraints or supports. Aiming at the simulation of motion gestures of the two types of working conditions, a virtual reality real-time rendering and motion data acquisition module 110 and a microgravity virtual environment construction module 120 are respectively constructed. The virtual reality real-time rendering and motion data collection module 110 combines the data glove and the motion capture system of the virtual reality hardware module 111 to collect and obtain real human motion gestures, and imports and drives the operation task simulation analysis module in real time through the first virtual human driving interface 131 The virtual person at 140, the virtual reality experience during the operation of the real person is provided by the multi-channel display module 113 of the virtual reality real-time rendering module 112. The movement posture of the virtual human in the virtual microgravity environment of the microgravity virtual environment construction module 120 is directly imported and driven offline by the second virtual human driving interface 132 to the virtual human of the task simulation analysis module 140 .

The job task simulation analysis module 140 uses the virtual reality real-time rendering module 112 to realize the rapid construction and pre-analysis of general virtual scenes and spatial layouts, and uses the virtual reality real-time rendering and motion data collection module 110 and the microgravity virtual environment construction module 120 to generate job tasks All kinds of actions required by the operation process, and the man-machine efficiency analysis of the virtual human action, and finally complete the feedback optimization or feasibility decision of the virtual human task planning.

FIG. 2 is a flow chart 200 of the simulation analysis method for virtual human tasks oriented to spacecraft maintenance according to the present invention. FIG. 2 will be described in conjunction with FIG. 1 . Those skilled in the art can understand that although specific steps are disclosed in FIG. 2, these steps are only used as an example for illustration, that is to say, the virtual human task simulation analysis method for spacecraft maintenance in the embodiment of the present invention A number of other steps or transformations of the steps in FIG. 2 may also be performed. Specifically, the embodiment of the present invention includes the following steps:

In step 201, in the virtual reality real-time rendering and motion data acquisition module, the relatively complex movements of astronauts in on-orbit maintenance operations are simulated, so as to realize restricted or supported movements, and then obtain real human motion postures. Specifically, in the virtual reality hardware module 111 of the virtual reality real-time rendering and motion data collection module 110, hardware support is provided for the creation of an immersive virtual reality environment, assisting real people to use various motion operations that are as close as possible to the real situation on the track. , and capture the real-time motion of the human body, and at the same time, provide real experience support for general virtual scene construction, spatial layout analysis, and rapid review of virtual prototypes; in the virtual reality real-time rendering module 112 of the virtual reality real-time rendering and motion data collection module Various CAD scenes are rendered to virtual reality in real time without format conversion, and basic interactive operations are provided to assist in the rapid construction of general virtual scenes, pre-analysis of spatial layout, rapid review of virtual digital prototypes, and pre-evaluation of basic operations. Further, in the virtual reality real-time rendering module 112, the Techviz XL Basic license basic module and the TechViz XL dual-channel active stereo node in the Techviz software are used to render various CAD scenes to the virtual reality in real time without format conversion. , to perform high-resolution visualization of the current virtual scene, while supporting multiple virtual reality display solutions, including data helmets and hard screens, wherein the data helmet and the hard screen provide the operator's perspective and the third-party review perspective respectively ;Using the Navigation Option basic navigation module and the Tracking Option advanced tracking module in the Techviz software to provide perspective tracking and navigation functions, through the three-dimensional space handle and the main perspective 3D glasses, it can realize the free navigation of the system perspective or virtual scene, and can track the position of the human body; The DMU1 and DMU2 modules in the Techviz software are used to provide interactive browsing and evaluation functions to assist the operator to use the three-dimensional space handle to realize the evaluation of the virtual scene, providing bookmark functions, measurement functions, section functions, zoom functions, annotation functions, hiding and displaying components function, snapshot function; using the virtual assembly module in Techviz software, it allows the operator to interactively move any part in the virtual scene, see the collision situation during the disassembly and assembly movement process and record the path, and quickly lay out the virtual scene Provide support for the pre-analysis and pre-assessment of assembly, disassembly and maintenance operations.

In step 202, in the microgravity virtual environment building block, it is responsible for realizing unconstrained or supported free-state movement or position transfer movement requiring whole-body coordination, so as to obtain the motion posture of the virtual human in the virtual microgravity environment. In the microgravity virtual environment construction module, microgravity virtual scene construction, physical attribute modeling, constraint relationship modeling, virtual human posture setting, and motion operation design are also carried out.

In step 203, in the virtual human driving interface module, import the motion posture of the real human and the virtual human motion posture in the virtual microgravity environment into and drive the virtual human in the job task simulation analysis module, so as to realize the ergonomics simulation analyze. Specifically, the virtual human driving interface further includes: a first virtual human driving interface, corresponding to a constrained or supported motion working condition, importing the real human motion posture into real-time mode and driving the virtual human body of the task simulation analysis module. Human; the second virtual human driving interface, corresponding to unconstrained or supported free-state motion or position transfer motion conditions that require whole-body coordination, imports and drives the motion posture of the virtual human in the virtual microgravity environment in an offline manner The virtual human of the simulation analysis module of the job task.

In step 204, in the task simulation analysis module, use the virtual reality real-time rendering and motion data collection module to realize the rapid construction and pre-analysis of general virtual scenes and spatial layouts, and use the virtual reality real-time rendering and motion data collection The module and the microgravity virtual environment building module generate various actions required for the operation process of the task, and perform the man-machine effect simulation analysis of the virtual human action, so as to realize the feedback optimization or feasibility decision of the virtual human task planning. General virtual scene construction and spatial layout analysis With the support of the virtual reality real-time rendering module, the operation task scene that conforms to the real cabin or extravehicular activities can be quickly constructed; the operation process planning and collision detection are used to assist in the planning of all operations involved in the complete operation task sequence.

FIG. 3 shows a work flow chart 300 of the job task simulation analysis module 140 in FIG. 1 . FIG. 3 will be described in conjunction with FIG. 1 and FIG. 2 . Specifically, the job task simulation analysis module 140 of the present invention includes the following steps:

In step 301, a virtual scene that conforms to the real situation as much as possible is constructed according to the job task requirements;

In step 302, the operation space is arranged according to the requirements of the operation task, for example, the equipment space inside/outside the cabin is arranged;

In step 303, through the fast virtual reality experience provided by the virtual reality real-time rendering module 112, the results of steps 301 and 302 are pre-evaluated, and if the requirements are not met, then steps 301 to 303 are repeated; if the pre-evaluation results meet the requirements, then Execute step 304;

In step 304, the operation actions involved in the whole process are designed in detail according to the job task requirements, and the planning of the operation process is completed;

In step 305, according to the results of the operation planning, the types of actions involved are classified. For the movement with constraints or support or the movement with relatively complex local operations, go to step 306; For the motion of scene position transformation, go to step 307;

In step 306, use the virtual reality real-time rendering and motion data collection module 110 to generate and collect real human motion gestures, and drive the virtual human in the job task simulation analysis module 140 in real time through the first virtual human driving interface 131 to complete this operation simulation;

In step 307, use the microgravity virtual environment construction module 120 to generate the motion posture of the virtual human in the virtual microgravity environment, and drive the virtual human in the task simulation analysis module 140 to complete the operation through the second virtual human driving interface 132 in an offline manner simulation;

In step 308, all the actions of the whole operation process are generated in the manner of steps 306 and 307 to generate corresponding movement gestures and combined into a complete operation sequence of the whole process;

In step 309, using the individualized human body function model, the job task simulation analysis module 140 completes the human-machine function analysis of each sequence of motion postures;

In step 310, it is judged whether the motion posture needs to be optimized, if optimization is required, then step 305 to step 310 are repeatedly performed; if optimization is not required, then step 311 is performed;

In step 311, use the comprehensive analysis evaluation model to evaluate the whole process planning results of the operation tasks;

In step 312, it is judged whether optimization is needed according to the evaluation result of the whole process planning of the task. If optimization is needed, step 301 to step 312 are repeated to obtain the optimal result; if optimization is not needed, the simulation analysis process ends.

Claims (6)

1. A virtual human task simulation analysis system for spacecraft maintenance, characterized in that, the spacecraft maintenance-oriented virtual human task simulation analysis system includes: The virtual reality real-time rendering and motion data acquisition module is used to simulate the more complex movements of astronauts in on-orbit maintenance operations, so as to realize constrained or supported movements, and then obtain real human motion postures; The microgravity virtual environment building module is used to realize the microgravity virtual scene construction, physical attribute modeling, constraint relationship modeling, virtual human posture setting, motion operation design, so as to obtain the virtual human motion posture in the virtual microgravity environment; The virtual human driving interface module is used to import the motion posture of the real person and the virtual human motion posture in the virtual microgravity environment and drive the virtual human in the task simulation analysis module to realize the man-machine efficiency simulation analysis; The job task simulation analysis module, which uses the virtual reality real-time rendering and motion data acquisition module to realize the rapid construction and pre-analysis of general virtual scenes and spatial layouts, uses the virtual reality real-time rendering and motion data acquisition module and the microgravity The virtual environment building module generates various actions required for the operation process of the job task, and performs the man-machine effect simulation analysis of the virtual human action, so as to realize the feedback optimization or feasibility decision of the virtual human job task planning; it is characterized in that the virtual reality The real-time rendering and motion data acquisition module further includes: Virtual reality hardware module, which provides hardware support for the creation of immersive virtual reality environment, assists real people to use various motion operations that are as close as possible to the real situation on orbit, and captures real-time human body movements. Layout analysis and virtual prototype rapid review provide real experience support; The virtual reality real-time rendering module is used to support the real-time rendering of various CAD scenes to virtual reality without format conversion, and provides basic interactive operations to assist in the rapid construction of general virtual scenes, spatial layout pre-analysis, virtual Digital prototype rapid review, basic operation pre-evaluation, the virtual reality real-time rendering module further includes: Multi-channel display module, which uses the Techviz XL Basic license basic module and the Techviz XL dual-channel active stereo node in the Techviz software to render various CAD scenes to virtual reality in real time without format conversion, and make the current virtual scene real-time High-resolution visualization, while supporting multiple virtual reality display solutions, including data helmets and hard screens, wherein the data helmet and the hard screen provide the operator's perspective and the third-party review perspective respectively; The viewing angle tracking navigation module adopts the Navigation Option basic navigation module and the Tracking Option advanced tracking module in the Techviz software to provide the viewing angle tracking and navigation function. Through the three-dimensional space handle and the main viewing angle 3D glasses, the free navigation of the system viewing angle or the virtual scene can be realized. Carry out human position tracking; Interactive browsing evaluation module, which adopts the DMU1 and DMU2 modules in Techviz software to provide interactive browsing evaluation function, to assist the operator to use the three-dimensional space handle to realize the virtual scene evaluation, provide bookmark function, measurement function, section function, zoom function, annotation functions, hide and show component functions, snapshot functions; Virtual assembly module, which uses the virtual assembly module in Techviz software, allows the operator to interactively move any part in the virtual scene, see the collision situation during the disassembly and movement process and record the path, and quickly lay out the virtual scene Provide support for the pre-analysis and pre-assessment of assembly, disassembly and maintenance operations. 2. The virtual human task simulation analysis system for spacecraft maintenance according to claim 1, wherein the virtual human driving interface module further comprises: The first virtual human driving interface, corresponding to the restricted or supported movement conditions, imports the movement posture of the real human in a real-time manner and drives the virtual human of the task simulation analysis module; The second virtual human driving interface, corresponding to unconstrained or supported free-state motion or position transfer motion working conditions that require whole-body coordination, imports the motion posture of the virtual human in the virtual microgravity environment offline and drives the operation The virtual human of the task simulation analysis module. 3. The virtual human task simulation analysis system for spacecraft maintenance according to claim 1, wherein the construction of the general virtual scene and the analysis of the spatial layout can be rapidly constructed under the support of the virtual reality real-time rendering module. Operation task scenarios of in-vehicle or extra-vehicle activities; operation process planning and collision detection are used to assist in planning all operation sequences involved in a complete operation task. 4. A virtual human task simulation analysis method for spacecraft maintenance, characterized in that the spacecraft maintenance-oriented virtual human task simulation analysis method comprises: Step 1: In the virtual reality real-time rendering and motion data acquisition module, simulate the more complex movements of astronauts in on-orbit maintenance operations, so as to realize the movement with constraints or support, and then obtain the real human motion posture; Among them, it provides hardware support for the creation of immersive virtual reality environment, assists real people to use various motion operations that are as close as possible to the real situation on orbit, and captures real-time human body movements. Prototype rapid review provides real experience support; It supports real-time rendering of various CAD scenes to virtual reality without format conversion, and provides basic interactive operations to assist in the rapid construction of general virtual scenes, pre-analysis of spatial layout, rapid review of virtual digital prototypes, and basic operation pre-analysis. Evaluation, in which the Techviz XL Basic license basic module and the TechViz XL dual-channel active stereo node in the Techviz software are used to render various CAD scenes to virtual reality in real time without format conversion, and high-resolution the current virtual scene High-efficiency visualization, while supporting a variety of virtual reality display solutions, including data helmets and hard screens, wherein the data helmet and the hard screen provide the operator's perspective and the third party's review perspective respectively; The Navigation Option basic navigation module and the Tracking Option advanced tracking module in the Techviz software are used to provide perspective tracking and navigation functions. Through the three-dimensional space handle and the main perspective 3D glasses, free navigation of the system perspective or virtual scene can be realized, and human body position tracking can be performed; The DMU1 and DMU2 modules in the Techviz software are used to provide interactive browsing and evaluation functions to assist the operator to use the three-dimensional space handle to realize the evaluation of the virtual scene, providing bookmark functions, measurement functions, section functions, zoom functions, annotation functions, hiding and displaying components function, snapshot function; The virtual assembly module in the Techviz software allows the operator to interactively move any part in the virtual scene, see the collision situation during the disassembly and assembly movement process and record the path, and pre-analyze the rapid layout of the virtual scene, and Provide support for pre-assessment of assembly, disassembly and maintenance operations; Step 2: In the building block of the microgravity virtual environment, it is responsible for realizing the free-state movement without constraints or support or the position transfer movement that requires whole-body coordination, so as to obtain the movement posture of the virtual human in the virtual microgravity environment; In the microgravity virtual environment construction module, microgravity virtual scene construction, physical attribute modeling, constraint relationship modeling, virtual human posture setting, and motion operation design Step 3: In the virtual human driving interface module, import the motion posture of the real person and the virtual human motion posture in the virtual microgravity environment and drive the virtual human in the task simulation analysis module to realize the man-machine efficacy simulation analysis; Step 4: In the job task simulation analysis module, use the virtual reality real-time rendering and motion data acquisition module to realize the rapid construction and pre-analysis of general virtual scenes and spatial layouts, use the virtual reality real-time rendering and motion data acquisition module and The microgravity virtual environment building module generates various actions required by the task operation process, and performs man-machine effect simulation analysis of virtual human actions, so as to realize feedback optimization or feasibility decision-making of virtual human task planning. 5. The virtual human task simulation analysis method for spacecraft maintenance according to claim 4, wherein the virtual human driving interface module further comprises: The first virtual human driving interface, corresponding to the restricted or supported movement conditions, imports the movement posture of the real human in a real-time manner and drives the virtual human of the task simulation analysis module; The second virtual human driving interface, corresponding to unconstrained or supported free-state motion or position transfer motion working conditions that require whole-body coordination, imports the motion posture of the virtual human in the virtual microgravity environment offline and drives the operation The virtual human of the task simulation analysis module. 6. The method for simulation and analysis of virtual human tasks for spacecraft maintenance according to claim 4, wherein the general virtual scene construction and spatial layout analysis in step 4 can be quickly constructed with the support of the virtual reality real-time rendering module Operational task scenarios that conform to real cabin or extravehicular activities; operation process planning and collision detection are used to assist in the planning of all operation sequences involved in a complete operation task.