CN114529139A - Force feedback interaction method and system based on virtual reality power post evaluation - Google Patents

Abstract

The invention discloses a force feedback interaction method based on virtual reality electric power post evaluation, comprising the following steps: S1, importing equipment model and scene model into a virtual reality simulation platform; S2, adding rigid body to the equipment model, setting gravity parameters of the model and Interaction force and collision logic between models; S3, adjust the model operation mode, when the current model is selected, start automatic recording, after the disassembly is completed, destroy the current model, stop recording, automatically select the next model and start a new recording; S4, connect the virtual reality simulation platform to the CAVE display system, and connect the force feedback device to the CAVE display system; S5, after completing the login verification, test questions and model loading of the electric power post assessment through the CAVE display system, the students pass the virtual reality interactive device. The force feedback device operates the model in the virtual scene, and by adding automatic selection and automatic recording functions, the students can complete the power post assessment task more smoothly and disassemble more realistically.

Description

Force feedback interaction method and system based on virtual reality electric power job evaluation

technical field

The invention relates to the technical field of virtual reality simulation interaction, in particular to a force feedback interaction method and system based on virtual reality electric power post evaluation.

Background technique

Virtual Reality (VR, Virtual Reality) technology is an important research branch in the field of computer graphics. Its unique visual presentation and virtual simulation interaction method enables users to be in a virtual three-dimensional scene and feel highly immersive vision. Roaming experience. Through the introduction of multi-modal vision, hearing, touch, smell and other perception technologies that integrate virtual and real, the dynamic interaction with virtual scene objects can be realized, and the knowledge learning and visual shock brought by the virtual world can be experienced, which can be effectively applied to medical simulation and education. Training, game entertainment, military simulation, assembly manufacturing, industrial intelligent robots and other fields provide a wide range of intelligent digital interaction convenience for human production and life, and become the research hotspot and computer frontier technology that researchers pay attention to.

The emergence of virtual reality technology has brought about great changes in the education industry, and the training and job evaluation of trainees in pumped storage power plants are gradually developing in the direction of virtual reality. Its immersive interactive experience and simulation scenarios allow power plant employees to be as if they were in a real power plant, and use advanced interactive equipment to simulate real operations to improve training effectiveness.

With the combination of virtual reality technology and force feedback technology in the job evaluation of pumped storage power stations, the application is more and more widely, and the following problems are becoming more and more obvious:

1) The volume of the courseware is too large, the model making, the rigid body setting are complicated, and there is no experience in the disassembly and development of hydropower plant parts;

2) The disassembly and assembly experience of the hydropower plant model in the courseware is relatively fixed, lacking the freshness and the authenticity of the force-sensing experience;

3) The numerical setting of gravity feedback of the hydropower plant model is complicated in the actual investigation and setting process;

After retrieval, the Chinese Patent Publication No. CN111882936A discloses a surgical rehearsal and teaching system based on force feedback and virtual reality, which is characterized in that it includes a three-dimensional reconstruction unit, a finite element mechanical analysis unit, a force feedback unit, a PC unit, a wireless Communication module unit and virtual glasses unit. Through the combination of force feedback and virtual reality, the patent provides doctors and medical students with real vision and touch in the simulated operation, and can replace different virtual operations to get different feel, allowing medical students to train or doctors to operate during surgery. The simulation exercise has a more realistic feeling, and achieves the purpose of allowing users to immerse themselves in the virtual reality environment to conduct surgical training. Through this method, the reconstructed cases and scenes can be used for repeated practice, while saving resources, it helps users to continuously improve their skills, thereby greatly improving the efficiency of preoperative planning for doctors and surgical teaching for medical students, reducing surgical risk. Although force feedback is introduced in this patent, the volume of the courseware is too large, the model making and rigid body setting are complicated, and the model operation is complicated.

The Chinese Patent Publication No. CN104657096B discloses a method for realizing visualization and interaction of virtual products in a CAVE environment. The focus of this patent is to effectively integrate new technologies such as virtual reality technology, digital prototyping technology, and digital media technology, which is different from the complex process of traditional multimedia animation technology. Material mapping and real-time rendering, real-time visual display and interactive application in the CAVE environment, and other major aspects of new technology ideas and methods, and practically applied to the visualization and interaction of virtual products of multiple helicopter models, providing a way to realize virtual reality in the CAVE environment. Methods of product visualization and interaction. However, the patent does not use force feedback in the process of interaction, lacks the authenticity of the operation, and the experience effect is not good.

Therefore, there is an urgent need to provide a force feedback interaction method based on virtual reality electric power job evaluation to solve the above technical problems.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a force feedback interaction method and system based on virtual reality electric power post evaluation for the problems existing in the prior art.

For achieving the above object, the technical scheme adopted in the present invention is:

A force feedback interaction method based on virtual reality electric power job evaluation, comprising the following steps:

S1, import the electric power post equipment model and scene model established in the 3D software into the virtual reality simulation platform;

S2, add a rigid body to the equipment model through the virtual reality simulation platform, set the gravity parameters of each equipment model and the interaction force and collision logic between the various part models, and adjust the axis of each rigid body to make the center of gravity of each equipment model Consistent with the center of gravity of the corresponding actual equipment parts, after adjustment, the force-sensing experience of picking up parts can be truly reproduced through force feedback.

S3, add the functions of automatic selection and automatic recording, adjust the operation mode of the model through the virtual reality simulation platform, and automatically select the model according to the sequence of the questions selected by the candidates. When the current model is selected, the automatic recording starts, and the candidates are prompted to answer the device name and Functional principle; after the disassembly is completed, destroy the current model and stop recording; automatically select the next model and start a new recording;

S4, connect the virtual reality simulation platform to the CAVE display system, and connect the calibrated force feedback device to the CAVE display system through the local area network;

S5, after completing the login verification, test questions and model loading of the electric power post assessment through the CAVE display system, the students operate the model in the virtual scene through the virtual reality interactive device and force feedback device to complete the electric power post evaluation and assessment task.

Specifically, in step S1, the equipment model and the scene model are 1:1 simulating the equipment and scene of a real electric power post, which can truly reproduce the detailed structure of the parts of the hydropower plant and the internal structure of the parts combination.

Specifically, the equipment model includes an overall equipment model and an equipment part model, and the three-dimensional model of the unit equipment in the station is divided into parts and reorganized, so that each reorganized part unit can be called separately based on different assessment services. .

Specifically, the virtual reality simulation platform uses the Makereal3D software as the development engine to visually program the model, set the model parameters, and adjust the operation mode, so that the students can better experience the hydropower plant job evaluation and assessment.

Preferably, in step S3, the operation mode of the model further includes: after the model is selected, the rigid body of the model is turned on, and the gravity of the model itself and the interaction force with other models are fed back at the same time; when the model is not selected, The rigid body of the model is closed, and the gravity of the model itself and the interaction force with other models are not fed back. In the present invention, it is not necessary for all models to activate the rigid body and gravity effects in real time, and the rigid body and gravity effects are activated only after the model is selected, which greatly reduces the energy consumption of the system.

Specifically, the cognitive assessment of the job evaluation structure requires familiarity with any device model. During the assessment process, the current model is automatically selected according to the sequence of questions selected by the candidates and the recording function is turned on. After selection, the candidates are prompted to start dismantling the current model. Model and explain the name and function of the device. When the current step is completed, that is, after the model is moved to the designated position, the current device model will be automatically destroyed, the recording of the current device will be completed, and then the next device model corresponding to the test question will be selected and the recording will be restarted. The traditional interaction method is: after completing the disassembly and assembly of the current device model through the force feedback device, switch to the virtual reality interactive device to close the model corresponding to the current test question, select the next model and manually start the recording; then switch to the force feedback device for the test questions. In this way, during the assessment process, it is necessary to frequently switch between the virtual reality interactive device and the force feedback device, which is complicated to operate and prone to errors. By setting the model interaction logic of the present invention, students only need to complete the login verification through the virtual reality interactive device, and then they can use the force feedback device to operate the whole process. Switching back and forth between devices simplifies the operation steps for students.

Specifically, in step S5, during the assessment process, the student disassembles the equipment model through the force feedback device, and controls the disassembly direction and strength of the part model in the virtual scene according to the magnitude and direction of the feedback force perceived by the hand; the present invention During the disassembly process, students must strictly follow the preset disassembly sequence and method in order to successfully complete the disassembly of the equipment model.

Corresponding to the above-mentioned force feedback interaction method, the present invention also proposes a force feedback interaction system based on virtual reality electric power job evaluation, including:

Building modules for building scene models and equipment models of electric power positions;

The simulation module is used to add rigid bodies to the equipment model, set the gravity parameters of each equipment model and the interaction force and collision logic between the various part models, and adjust the axis of each rigid body so that the center of gravity of each equipment model corresponds to the The center of gravity of the actual equipment parts is consistent; it is also used to adjust the operation mode of the model;

The CAVE display module is used to display virtual work scenes and provide human-computer interaction interface;

The force feedback module is used to interact with the virtual equipment model in the virtual reality environment to complete the disassembly of the equipment model.

Corresponding to the above-mentioned force feedback interaction method, the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above-mentioned force feedback interaction method are implemented.

Compared with the prior art, the beneficial effects of the present invention are:

(1) The present invention realizes human-machine force-sensing interaction by introducing force feedback interaction equipment, and combines with traditional audio-visual interaction to form a multi-sensory channel fusion interaction mode, which can not only provide users with rich audition information, but also allow users to By manipulating the force feedback device to perceive the motion and force information of objects in the virtual environment, the authenticity and immersion of virtual simulation training are enhanced;

(2) The present invention adjusts the operation mode of the model, so that after the user completes the disassembly of the current corresponding equipment model, the user destroys the corresponding equipment model selected in the current test question and saves the explanation recording, and then automatically selects the next equipment part corresponding to the test question model and start a new recording; students only need to complete the login verification through the virtual reality interactive device, and subsequent operations do not need to use the virtual reality interactive device, and there is no need to switch back and forth between the virtual reality interactive device and the force feedback device, which simplifies the students operation steps;

(3) In the present invention, it is not necessary for all models to enable the rigid body and gravity effects in real time, and the rigid body and gravity effects are enabled only after the model is selected, which greatly reduces the energy consumption of the system.

Description of drawings

FIG. 1 is a schematic block diagram of the flow of a force feedback interaction method based on virtual reality electric power job evaluation according to an embodiment of the present invention.

FIG. 2 is a schematic block diagram of the structure of a force feedback interaction system based on virtual reality electric power job evaluation according to an embodiment of the present invention.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in FIG. 1 , as an embodiment of this implementation, a force feedback interaction method based on virtual reality electric power job evaluation is provided, including the following steps:

S1, import the electric power post equipment model and scene model established in the 3D software into the virtual reality simulation platform;

S2, add a rigid body to the equipment model through the virtual reality simulation platform, set the gravity parameters of each equipment model and the interaction force and collision logic between the various part models, and adjust the axis of each rigid body to make the center of gravity of each equipment model Consistent with the center of gravity of the corresponding actual equipment parts, after adjustment, the force-sensing experience of picking up parts can be truly reproduced through force feedback.

S3, adjust the operation mode of the model through the virtual reality simulation platform, after the disassembly of the current model is completed, the current model is automatically destroyed and the next model is selected;

S4, connect the virtual reality simulation platform to the CAVE display system, and connect the calibrated force feedback device to the CAVE display system through the local area network;

S5, after completing the login verification, test questions and model loading of the electric power post assessment through the CAVE display system, the students operate the model in the virtual scene through the virtual reality interactive device and force feedback device to complete the electric power post assessment task.

Specifically, in step S1, the equipment model and the scene model are 1:1 simulating the equipment and scene of a real electric power post, which can truly reproduce the detailed structure of the parts of the hydropower plant and the internal structure of the parts combination.

Specifically, the equipment model includes an overall equipment model and an equipment part model, and the three-dimensional model of the unit equipment in the station is divided into parts and reorganized, so that each reorganized part unit can be called separately based on different assessment services. .

Specifically, the virtual reality simulation platform uses the Makereal3D software as the development engine to visually program the model, set the model parameters, and adjust the operation mode, so that the students can better experience the hydropower plant job evaluation and assessment.

Preferably, in step S3, the operation mode of the model further includes: after the model is selected, the rigid body of the model is turned on, and the gravity of the model itself and the interaction force with other models are fed back at the same time; when the model is not selected, The rigid body of the model is closed, and it does not feedback the gravity of the model itself and the interaction force with other models (when screwing the bolt, the nut and bolt have their own gravity, and there is also friction and friction between the nut and the bolt. squeezing force). In the present invention, it is not necessary for all models to activate the rigid body and gravity effects in real time, and the rigid body and gravity effects are activated only after the model is selected, which greatly reduces the energy consumption of the system.

Specifically, after the disassembly of the corresponding equipment part model in the current assessment is completed, the recording is automatically completed, the corresponding equipment model selected in the current assessment is destroyed, the next equipment model corresponding to the assessment is automatically selected, and the recording is restarted. The traditional interaction method is: after completing the disassembly of the current device model through the force feedback device, click the UI to turn on and off the recording, then switch to the virtual reality interactive device to close the model corresponding to the current test question, and select the next model to repeat the recording again; then Switch to the force feedback device to disassemble the device model corresponding to the next test question; in this way, during the assessment process, it is necessary to frequently switch between the virtual reality interactive device and the force feedback device, which is complicated to operate and prone to errors. By setting the model interaction logic of the present invention, students only need to complete the login verification through the virtual reality interactive device (the virtual reality interactive device uses data gloves in this embodiment) and select the first model corresponding to the disassembly sequence in the assessment. There is no need to use a virtual reality interactive device, and there is no need to switch back and forth between the virtual reality interactive device and the force feedback device, which simplifies the operation steps of the students.

Specifically, in step S5, during the disassembly process, the student disassembles the device model through the force feedback device, and controls the disassembly direction and strength of the part model in the virtual scene according to the magnitude and direction of the feedback force sensed by the hand, and feels Realistic experience of on-site disassembly of hydropower plant parts; compared with the teaching method of simply watching experts explain the operation video, the application of force feedback teaching not only provides a more realistic and immersive teaching situation, but also combines learning and practice. The model helps to improve the efficiency of students' mastery of hydropower plant maintenance and disassembly skills. In the present invention, the parts disassembly sequence and method of each equipment model are preset. During the disassembly process, students must strictly follow the preset disassembly sequence and method to successfully complete the disassembly operation of the equipment model.

In this embodiment, the force feedback device, as an important human-machine interface interaction device, combines other virtual reality technologies to enable the post evaluation students to interact with the virtual environment through visual, auditory and tactile channels, which is helpful for the students to Familiarity and mastery of the virtual environment of disassembly and assembly of hydropower plants. By introducing force feedback technology into the post evaluation and assessment of hydropower plants, students can observe the teaching situation through the graphic window on the one hand, and on the other hand, they can feel the force feedback information generated when they use the force feedback device to interact with objects in the teaching situation. It enables students to learn more and experience more in the post evaluation and assessment of hydropower plants.

As another implementation of this embodiment, as shown in FIG. 2 , this embodiment also proposes a force feedback interaction system based on virtual reality electric power job evaluation, including:

Building modules for building scene models and equipment models of electric power positions;

The simulation module is used to add rigid bodies to the equipment model, set the gravity parameters of each equipment model and the interaction force and collision logic between the various part models, and adjust the axis of each rigid body so that the center of gravity of each equipment model corresponds to the The center of gravity of the actual equipment parts is consistent; it is also used to adjust the operation mode of the model;

The CAVE display module is used to display virtual work scenes and provide human-computer interaction interface;

The force feedback module is used to interact with the virtual equipment model in the virtual reality environment to complete the disassembly of the equipment model.

In this embodiment, the CAVE display module is a multi-channel display unit, an immersive virtual reality display environment enclosed by multi-sided screens, specifically a five-sided LED-CAVE display system; it also includes a single-channel display unit, which is composed of projection A virtual reality display environment consisting of a computer and a screen.

As another implementation of this embodiment, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, implements the steps of the above-mentioned force feedback interaction method.

A processor may be implemented in any suitable manner, for example, a processor may take the form of, for example, a microprocessor and a computer-readable medium storing computer-readable program code (eg, software or firmware) executable by the microprocessor, logic gates, switches Memory controllers can also be implemented as part of the memory's control logic in the form of , application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers.

Those skilled in the art also know that, in addition to implementing the processor in the form of pure computer-readable program code, the processor can be implemented in logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded devices by logically programming method steps. The same function can be realized in the form of a microcontroller, etc. Therefore, such a processor can be regarded as a hardware component, and the devices included therein for implementing various functions can also be regarded as a structure within the hardware component. Or even, the means for implementing various functions can be regarded as both a software module implementing a method and a structure within a hardware component.

The platforms, systems, terminals, modules or units described in the above embodiments may be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or A combination of any of these devices.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, platforms (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

This specification may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including storage devices.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams. In a typical configuration, a computer includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-persistent memory in computer readable media, random access memory (RAM) and/or non-volatile memory in the form of, for example, read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridges, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc. A particular feature, structure, material, or characteristic described in this embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or some or all of the technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.

Claims (9)

1. A force feedback interaction method based on virtual reality power station evaluation is characterized by comprising the following steps:

s1, importing the electric power post equipment model and the scene model established in the 3D software into a virtual reality simulation platform;

s2, adding rigid bodies to the equipment models through the virtual reality simulation platform, setting the gravity parameters of each equipment model, the interaction force and collision logic among the part models, and adjusting the axle center of each rigid body to make the gravity center of each equipment model consistent with the gravity center of the corresponding actual equipment part;

s3, adding automatic selection and automatic recording functions, adjusting the operation mode of the model through a virtual reality simulation platform, automatically selecting the model according to the question sequence extracted by the examinee, starting automatic recording when the current model is selected, and prompting the examinee to answer the equipment name and the functional principle of the model; after the disassembly is finished, destroying the current model and stopping recording; automatically selecting a next model and starting a new recording;

s4, accessing the virtual reality simulation platform to a CAVE display system, and accessing the calibrated force feedback equipment to the CAVE display system through a local area network;

and S5, after login verification, examination questions and model loading of electric power post examination are completed through the CAVE display system, the trainee operates the model in the virtual scene through the virtual reality interaction equipment and the force feedback equipment, and the electric power post evaluation and examination task is completed.

2. The force feedback interaction method based on virtual reality power station evaluation according to claim 1, wherein in step S1, the device model and the scene model are 1: 1 simulating the equipment and scene of a real power post.

3. The virtual reality power station assessment-based force feedback interaction method as claimed in claim 1, wherein the equipment model comprises an equipment overall model and an equipment part model.

4. The virtual reality power station assessment-based force feedback interaction method as claimed in claim 1, wherein the virtual reality simulation platform adopts Makereal3D software as a development engine to perform visual programming on the model.

5. The virtual reality power station assessment based force feedback interaction method as claimed in claim 1, wherein in step S3, the model further comprises: after the model is selected, the rigid body of the model is opened, and the gravity of the model and the interaction force between the model and other models are fed back at the same time; when the model is not selected, the rigid body of the model is closed, and the gravity of the model and the interaction force between the model and other models are not fed back.

6. The force feedback interaction method based on virtual reality power post evaluation as claimed in claim 1, wherein in the process of disassembling the corresponding equipment model for post evaluation and assessment, after each explanation and recording of the currently selected equipment part model is completed, the model is disassembled to a specified position, the current equipment model is automatically destroyed, and the recording is stopped and saved; and the system automatically selects the next equipment part model according to the extracted questions until the operation of the model corresponding to the examination questions is finished.

7. The force feedback interaction method based on virtual reality power post evaluation as claimed in claim 1, wherein in step S5, the student mounts and detaches the device model through the force feedback device during the mounting and detaching process, and controls the mounting and detaching direction and force of the part model in the virtual scene according to the magnitude and direction of the feedback force sensed by the hand.

8. A force feedback interaction system based on virtual reality power station evaluation, the force feedback interaction method based on any one of claims 1 to 7, characterized by comprising:

the construction module is used for constructing a scene model and an equipment model of the power station;

the simulation module is used for adding rigid bodies to the equipment models, setting the gravity parameters of each equipment model, the interaction force and collision logic among the part models, and adjusting the axis of each rigid body to make the gravity center of each equipment model consistent with the gravity center of the corresponding actual equipment part; the model operation mode is also adjusted;

the CAVE display module is used for displaying the virtual operation scene and providing a human-computer interaction interface;

and the force feedback module is used for carrying out interactive operation with the virtual equipment model in the virtual reality environment to finish the disassembly and assembly of the equipment model.

9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.

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