Driving Method of Virtual Multi-person Disassembly and Assembly Task for Aeroengine

doi:10.16182/j.issn1004731x.joss.22-1026

Abstract

Abstract:

To meet the needs of virtual multi-person collaborative disassembly and assembly system for different disassembly and assembly tasks, this paper proposes a data-driven method with configurable task sequence. Taking an aeroengine prototype as the research object, the paper studies the task elements of multi-person collaborative disassembly and assembly. It parameterizes and expresses the task based on JSON (JavaScript object notation) and drives the task sequence by JSON parametrical files, defining the interactive operation of each task step. The practice shows that this method is applied to the multi-person collaborative disassembly and assembly system, which makes the system configurable and can drive the task flow according to the user-defined task sequence. The method can effectively improve deployment efficiency when dealing with multiple terminals and large tasks.

Key words: virtual disassembly and assembly, multi-person collaboration, aeroengine, parametric model, task-driven

CLC Number:

TP391.9

Zeng Qiuwei, Hu Zhaoyong, Wang Zhile, Zhang Ruilin, Zou Gang. Driving Method of Virtual Multi-person Disassembly and Assembly Task for Aeroengine[J]. Journal of System Simulation, 2024, 36(1): 220-231.

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运动类型	操作对象	实际操作
公转	套筒	用套筒将螺栓拧松或拧紧
自转	高温合金螺栓	捏住对象使其自转
自转	反馈调整螺钉	用螺丝刀拧松/拧紧
平移	高温合金螺栓	插入或抽出螺栓孔
平移	转子叶片	从扇叶底座插入或抽出
单手拾取	转速传感器	单手控制对象位姿
	滑油回油管
	滑油散热器
	作动半环
	燃油喷嘴
多手搬运	前整流锥	多手共同控制对象位姿
	滑油箱
	燃油总管
	进气机闸

抽象运动	所需参数	执行效果
公转	操作模式、公转轴、工具类型、工具轴向偏移值和目标值	使用指定工具根据公转轴和轴向偏移动态调节自然就位位姿，待手触发，使物体自转、工具绕公转轴旋转，一同达到目标角度
自转	操作模式、自转轴、工具类型、工具轴向偏移值和目标值	使用指定工具根据自转轴和轴向偏移动态调节自然就位位姿，待手触发，使工具和物体一同自转达到目标角度
平移	操作模式、移动方向、工具类型和目标值	使用指定工具，使物体根据移动方向平移目标距离
单手拾取	操作模式、目标位置、手势	为物体动态加载单手控制行为模型封装脚本，识别手势，实现单手自由控制物体位姿，放至目标位置
多手搬运	操作模式、目标位置、手势	为物体动态加载多手协同行为模型封装脚本，识别手势，实现多手协同控制物体位姿，放至目标位置

运行时属性名称	数据类型	释义
Tasks	List<Task>	由所有任务组成的任务列表
Task	Task	自定义任务类
TaskID	int	任务序号
OperationalObject	GameObject	操作对象
OperationMode	(Enum) MoveType	操作模式
AbsAxis	Vector3	轴向量
TargetValue	float	目标值
ToolBias	float	工具轴向偏移量
DestinationTransform	Transform	目标位置
IsDone	bool	是否完成
IsMove_ OtherChildren	bool	是否连带其他同级物体
ToolType	(Enum)ToolType	工具类型
PromptInfoTitle	string	任务提示标题
PromptInfo	string	任务具体信息
Gesture	（Enum）Gesture	手势类型
PreviousTaskIDs	List<int>	前序任务列表
NextTaskIDs	List<int>	后序任务列表
ColliderType	(Enum) ColliderType	碰撞体类型
TriggerBeAdd	bool	是否已添加触发器

数学表达	含义	系统数据类型
U	总任务集合	List<int>
U₀	未完成任务集合	List<int>
U₁	可执行任务集合	List<int>
U₂	已完成任务集合	List<int>
i	任务序号	int
P_i	任务i的前序任务集合	List<int>
N_i	任务i的后序任务集合	List<int>
P_i [k]	任务i的前序任务集合中第k个任务	int
N_i [j]	任务i后序任务集合中第j个任务	int

任务数量	配置文件	占用空间/Byte	JSON较XML小/％
500	XML	271 795	27.98
500	JSON	195 752	27.98
1 000	XML	539 797	28.17
1 000	JSON	387 754	28.17
1 500	XML	811 535	28.10
1 500	JSON	583 492	28.10
2 000	XML	1 079 537	28.16
2 000	JSON	775 494	28.16