CN113393091B - Accessibility evaluation method and system based on comfort in virtual scene - Google Patents
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Abstract
The invention discloses a accessibility evaluation method and a system based on comfort in a virtual scene, wherein the method comprises the following steps: firstly, constructing a limb kinematics model; determining a accessibility evaluation system based on comfort according to the limb kinematics model; secondly, carrying out Monte Carlo simulation on the limb kinematics model according to a accessibility evaluation system based on comfort, and generating two-hand reachable enveloping surfaces at different levels; then, importing the digital prototype and the virtual human into a virtual environment to construct a virtual maintenance scene; and finally, importing the double-hand reachable enveloping surfaces under different levels into the virtual maintenance scene to generate reachability scores. The accessibility evaluation of the comfort to the maintenance personnel is introduced, so that the accessibility is evaluated based on the comfort, the entity accessibility evaluation result is scientifically refined, and the accuracy and the precision of the accessibility evaluation are improved.
Description
Technical Field
The invention relates to the technical field of virtual maintenance, in particular to a accessibility evaluation method and system based on comfort in a virtual scene.
Background
Serviceability is an inherent property of the product. For large complex products, maintainability is very important to product efficiency performance, operating cost and use safety. Accessibility is the most important design criterion in the qualitative requirements for serviceability and is the first element of the maintainability design analysis. The good accessibility can make the product maintenance convenient, fast, accurate and effective, and can greatly save the cost of manpower, physics and time, therefore, the accessibility design should be given sufficient attention in the product design stage.
The virtual maintenance technology can simulate the physical environment, can effectively acquire spatial data and the like, and provides a more vivid maintenance simulation environment for improving the maintainability design level of equipment, shortening the maintainability design time of the equipment, reducing production interruption and cost loss caused by improper maintenance decision and the like. Accessibility design and evaluation through virtual repair is therefore a major trend in current maintainability research. A great deal of research work is done on maintainability design theories and analysis methods in many scientific research institutes and colleges at home and abroad, the maintainability design theories make great progress, a plurality of quantitative evaluation methods are also provided in the aspect of entity accessibility evaluation, and good practical effects are achieved. However, the accessibility evaluation work based on the virtual repair technology still mainly focuses on qualitative evaluation, and many methods need to design and analyze a virtual repair simulation process first, and then quantitatively evaluate the entity accessibility according to the simulation process. The methods not only need to consume a great deal of energy to design a virtual maintenance simulation process, but also the maintenance simulation process is very dependent on the level of designers, so the simulation does not necessarily accord with the real maintenance condition; a large number of subjective behaviors exist in the evaluation process, and objective data cannot be provided to support the evaluation result depending on the experience of experts.
Another main reachability evaluation method in virtual maintenance is to determine whether a target is reachable by using a virtual human entity reachable envelope, for example, a reachability analysis tool provided by DELMIA software developed by daxol, france, can construct a virtual human arm envelope sphere, and an evaluator obtains a maintenance reachability evaluation result by observing a relative position relationship between a maintenance part and the arm envelope sphere, but this method can only provide two evaluation results: reachable and unreachable. In fact, the entity accessibility refers to the difficulty of the arm of the serviceman contacting the service object, and during the assembly maintenance, the operation comfort seriously affects the service efficiency and effect, and even if the service object entity is accessible, the service operation forces the serviceman to maintain the uncomfortable service posture, which also belongs to the accessibility design defect, so the accessibility and the comfort are two interrelated serviceability evaluation factors. Therefore, how to evaluate accessibility based on comfort is a problem which needs to be solved urgently at present.
Disclosure of Invention
The invention aims to provide a method and a system for evaluating accessibility based on comfort in a virtual scene, so that the accessibility is evaluated based on comfort, and the accuracy and the precision of accessibility evaluation are improved.
In order to achieve the above object, the present invention provides a reachability evaluation method based on comfort in a virtual scene, the method comprising:
constructing a limb kinematics model;
determining a accessibility evaluation system based on comfort according to the limb kinematics model;
carrying out Monte Carlo simulation on the limb kinematics model according to a accessibility evaluation system based on comfort, and generating two-hand reachable enveloping surfaces at different levels;
importing the digital prototype and the virtual human into a virtual environment to construct a virtual maintenance scene;
and importing the double-hand reachable enveloping surfaces under different levels into the virtual maintenance scene to generate reachability scores.
Optionally, the constructing a limb kinematics model specifically includes:
determining five movable joints and ten degrees of freedom which influence the accessibility of the human body; the movable joint includes: lumbar, cervical and spinal joints, shoulders, elbows and wrists;
determining a relative position change constraint relation between adjacent degrees of freedom according to the movement angle of each degree of freedom and the limb length between each joint;
and determining the relative position change constraint relation of the fingers relative to the waist according to the relative position change constraint relation between the adjacent degrees of freedom.
Optionally, the determining a accessibility evaluation system based on comfort according to the limb kinematics model specifically includes:
selecting six degrees of freedom influencing comfort from the limb kinematics model;
respectively carrying out comfort scoring on the activity ranges of the six degrees of freedom by a rapid upper limb assessment method;
determining an arm comfort score and a trunk comfort score according to the comfort scores of the six-degree-of-freedom motion ranges;
and determining a accessibility evaluation system based on comfort according to the arm comfort score and the trunk comfort score.
Optionally, the performing monte carlo simulation on the limb kinematics model according to a comfort-based reachability evaluation system to generate two-hand reachable enveloping surfaces at different levels specifically includes:
step S31: determining a waist position;
step S32: carrying out Monte Carlo simulation on the limb kinematics model according to the waist position and one grade in the accessibility evaluation system based on comfort, and determining all position points which can be reached by one hand;
step S33: performing surface smoothing on all the position points to generate a convex hull surface;
step S34: constructing a single-hand reachable envelope surface according to the convex hull curved surface;
step S35: according to the accessible envelope surface of one hand, the accessible envelope surface of two hands is constructed by using axial symmetry;
step S36: repeating the steps S32 to S35, the two-hand reachable envelope at each level in the comfort-based reachability evaluation hierarchy is determined.
Optionally, importing the two-hand reachable envelope surfaces at different levels into the virtual maintenance scene, and generating a reachability score, specifically including:
importing the two-hand reachable enveloping surfaces at different levels into the virtual maintenance scene, and calibrating the two-hand reachable enveloping surfaces at different levels according to the position of the virtual human;
and generating accessibility scores according to the calibrated two-hand reachable enveloping surfaces at different levels.
The invention also provides a accessibility evaluation system based on comfort in a virtual scene, which comprises:
the model building module is used for building a limb kinematics model;
the evaluation system determining module is used for determining a accessibility evaluation system based on comfort according to the limb kinematics model;
the two-hand reachable enveloping surface generation module is used for carrying out Monte Carlo simulation on the limb kinematics model according to a accessibility evaluation system based on comfort, and generating two-hand reachable enveloping surfaces at different levels;
the virtual scene building module is used for importing the digital prototype and the virtual human into a virtual environment to build a virtual maintenance scene;
and the scoring module is used for importing the two-hand reachable enveloping surfaces under different levels into the virtual maintenance scene to generate reachability scores.
Optionally, the model building module specifically includes:
a degree-of-freedom determination unit for determining five movable joints and ten degrees of freedom that affect accessibility of the human body; the movable joint includes: lumbar, cervical and spinal joints, shoulders, elbows and wrists;
the first constraint relation determining unit is used for determining the relative position change constraint relation between the adjacent degrees of freedom according to the movement angle of each degree of freedom and the limb length between each joint;
and the second constraint relation determining unit is used for determining the relative position change constraint relation of the fingers relative to the waist according to the relative position change constraint relation between the adjacent degrees of freedom.
Optionally, the evaluation system determining module specifically includes:
the selection unit is used for selecting six degrees of freedom influencing comfort from the limb kinematics model;
the evaluation unit is used for respectively carrying out comfort evaluation on the movement ranges of the six degrees of freedom by a rapid upper limb evaluation method;
the comprehensive evaluation unit is used for determining an arm comfort score and a trunk comfort score according to the comfort scores of the six-degree-of-freedom motion ranges;
and the evaluation system determining unit is used for determining a accessibility evaluation system based on the comfort according to the arm comfort score and the trunk comfort score.
Optionally, the module for generating a two-hand reachable envelope surface specifically includes:
a waist position determination unit for determining a waist position;
the position point determining unit is used for carrying out Monte Carlo simulation on the limb kinematics model according to the waist position and one grade in the accessibility evaluation system based on the comfort, and determining all position points which can be reached by one hand;
the smooth processing unit is used for carrying out curved surface smooth processing on all the position points to generate a convex hull curved surface;
the single-hand reachable envelope surface constructing unit is used for constructing a single-hand reachable envelope surface according to the convex hull curved surface;
the two-hand reachable envelope surface constructing unit is used for constructing the two-hand reachable envelope surface by using axial symmetry according to the one-hand reachable envelope surface;
and the circulating unit is used for repeatedly executing the position point determining unit to the two-hand reachable envelope surface constructing unit and determining the two-hand reachable envelope surface under each grade in the accessibility evaluation system based on comfort.
Optionally, the scoring module specifically includes:
the calibration unit is used for importing the two-hand reachable enveloping surfaces at different levels into the virtual maintenance scene and calibrating the two-hand reachable enveloping surfaces at different levels according to the position of the virtual human;
and the scoring unit is used for generating accessibility scores according to the calibrated two-hand accessible envelope surfaces under different levels.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a accessibility evaluation method and a system based on comfort in a virtual scene, wherein the method comprises the following steps: firstly, constructing a limb kinematics model; determining a accessibility evaluation system based on comfort according to the limb kinematics model; secondly, carrying out Monte Carlo simulation on the limb kinematics model according to a accessibility evaluation system based on comfort, and generating two-hand reachable enveloping surfaces at different levels; then, importing the digital prototype and the virtual human into a virtual environment to construct a virtual maintenance scene; and finally, importing the double-hand reachable enveloping surfaces under different levels into the virtual maintenance scene to generate reachability scores. The accessibility evaluation of the comfort to the maintenance personnel is introduced, so that the accessibility is evaluated based on the comfort, the entity accessibility evaluation result is scientifically refined, and the accuracy and the precision of the accessibility evaluation are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of a comfort-based reachability evaluation method in a virtual scene in embodiment 1 of the present invention;
FIG. 2 is a schematic view of a limb kinematics model according to example 1 of the present invention;
FIG. 3 is a schematic diagram of a two-hand reachable envelope of embodiment 1 of the present invention at different levels;
fig. 4 is a block diagram of a system for evaluating reachability based on comfort in a virtual scene in embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method and a system for evaluating accessibility based on comfort in a virtual scene, so that the accessibility is evaluated based on comfort, and the accuracy and the precision of accessibility evaluation are improved. In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
As shown in fig. 1, the present invention provides a method for evaluating reachability based on comfort in a virtual scene, where the method includes:
s1: constructing a limb kinematics model; specifically, a limb kinematics model is constructed based on a Denavit-Hartenberg parameter method on the basis of a connecting rod model. The limb kinematics model comprises: five movable joints affecting accessibility of a human body, ten degrees of freedom, a relative position change constraint relation between adjacent degrees of freedom and a relative position change constraint relation of fingers relative to the waist.
S2: and determining a accessibility evaluation system based on comfort according to the limb kinematics model.
S3: according to a accessibility evaluation system based on comfort, Monte Carlo simulation is carried out on the limb kinematics model, and two-hand reachable enveloping surfaces under different levels are generated.
S4: and importing the digital prototype and the virtual human into a virtual environment to construct a virtual maintenance scene.
S5: and importing the double-hand reachable enveloping surfaces under different levels into the virtual maintenance scene to generate reachability scores.
In this embodiment of the present invention, step S1 specifically includes:
five movable joints and ten degrees of freedom affecting the accessibility of the human body are determined. The movable joint includes: lumbar, cervical and spinal joints, shoulders, elbows and wrists. The ten degrees of freedom include: 3 degrees of freedom of the waist: the inclination angle of the upper body of the human body from the waist to the front or the back, the inclination angle of the upper body of the human body from the waist to the left or the right and the rotation angle of the upper body of the human body from the waist are determined; shoulder 3 degrees of freedom: the angle of the big arm for outward skimming or inward fitting, the angle of the big arm for upward lifting or falling and the angle of the shoulder joint rotation by taking the big arm as the shaft; 2 degrees of freedom of the elbow: the included angle of the big arm and the small arm at the elbow and the angle of the elbow joint rotating by taking the small arm as an axis; 2 degrees of freedom of the wrist: the wrist joint is formed by bending the palm to the side (thumb side or little finger side) and the wrist joint is formed by bending the palm to the front and back (palm side or back side).
As shown in fig. 2, the invention establishes a 6-node 5-link limb kinematics model from the waist to the finger tip based on a link model, the link model principle is to establish a coordinate system for each degree of freedom, and describe the relative motion relationship between joints and the control movement angle and range by a change matrix between the coordinate system and the coordinate system, and the change transfer matrix of the coordinate system i relative to the coordinate system i-1 is shown in formula (1):
wherein, a i Is the length of the rod, and represents the distance between the two joint axes connected; alpha (alpha) ("alpha") i Is a corner, represents x on the coordinate system i i Axis from z i-1 The axis being rotated to z according to the right-hand rule i The angle of the shaft; d is a radical of i Representing the difference in distance between adjacent links at the joint axis, z, as an amount of translation i-1 The positive direction of the shaft is the positive direction; theta i To rotate, the z-axis is shown from x according to the right hand rule i-1 The shaft rotates to x i The angle of the shaft. Degree of freedom is set to N i-1 (i＝1,2,…10)。
The link model parameters, including the angle of motion for each degree of freedom and the length between each joint (rod length), were then determined from ergonomics, national standards, and experimentation, as shown in tables 1, 2, and 3.
TABLE 1 connecting rod model parameter table
| i | N i-1 | a i | α i | d i | θ i |
| 1 | N 0 | 0 | π/2 | 0 | θ 1 |
| 2 | N 1 | 0 | π/2 | 0 | θ 2 |
| 3 | N 2 | L 2 | -π/2 | L 1 | θ 3 |
| 4 | N 3 | 0 | π/2 | 0 | θ 4 |
| 5 | N 4 | 0 | π/2 | 0 | θ 5 |
| 6 | N 5 | 0 | π/2 | L 3 | θ 6 |
| 7 | N 6 | 0 | π/2 | 0 | θ 7 |
| 8 | N 7 | 0 | π/2 | L 4 | θ 8 |
| 9 | N 8 | 0 | π/2 | 0 | θ 9 |
| 10 | N 9 | L 5 | 0 | 0 | θ 10 |
TABLE 2 Angle of freedom of motion
TABLE 3 Length between joints (Bar Length) parameter Table
And determining the relative position change constraint relation between adjacent degrees of freedom according to the movement angle of each degree of freedom and the limb length between each joint. Determining a relative position change constraint relation (one-step change matrix) between adjacent degrees of freedom according to the parameters, and the following steps;
and determining the relative position change constraint relation of the fingers relative to the waist according to the relative position change constraint relation between the adjacent degrees of freedom. Multiplying the multiple one-step change matrixes to obtain a relative position change constraint relation of the leaf node (finger) relative to the root node (waist), as shown in a formula (2).
Let P denote the model start in the coordinate system z 0 X represents the model end position vector, and the relation between P and X is:
in this embodiment of the present invention, the step S2 specifically includes:
selecting six degrees of freedom influencing comfort from the limb kinematics model; wherein, six degrees of freedom are respectively: the angle of the big arm which is left or right, the angle of the big arm which is lifted or fallen, the included angle of the big arm and the small arm at the elbow, the inclination angle of the upper body of the human body from the waist to the front or the back, the inclination angle of the upper body of the human body from the waist to the left or the right and the rotation angle of the upper body of the human body from the waist.
And respectively carrying out comfort scoring on the activity ranges of the six degrees of freedom by a rapid upper limb assessment method. A lower score indicates more comfort within this range.
TABLE 4 comfort score table
And determining an arm comfort score and a trunk comfort score according to the comfort scores of the six-degree-of-freedom motion ranges. The arm comfort score and the trunk comfort score are obtained by accumulating the degree of freedom comfort scores contained in the two scores.
And determining a accessibility evaluation system based on comfort according to the arm comfort score and the trunk comfort score.
As shown in table 5, a comfort-based reachability evaluation system was constructed with the score of possible arm comfort and the score of possible trunk comfort. Comfort evaluation is carried out on each condition in the table 4 through a fuzzy comprehensive evaluation method (evaluation factor discourse domain is 'arm comfort' and 'trunk comfort', the weights are the same and are respectively 0.5, the evaluation level discourse domain is composed of 7 levels from 2 to 8, a fuzzy evaluation vector synthesis operator is matrix multiplication, and the evaluation adopts the principle of maximum membership degree), so as to determine the score, and as shown in the table 5, the score is 2 to 8, and 8 represents that the maintenance target position exists in the most comfortable reachable area.
TABLE 5 comprehensive evaluation chart of accessibility based on comfort
In this embodiment of the present invention, the step S3 specifically includes:
step S31: determining a waist position;
step S32: carrying out Monte Carlo simulation on the limb kinematics model according to the waist position and one grade in the accessibility evaluation system based on comfort, and determining all position points which can be reached by one hand;
step S33: performing surface smoothing on all the position points to generate a convex hull surface;
step S34: constructing a single-hand reachable envelope surface according to the convex hull curved surface;
step S35: according to the accessible envelope surface of one hand, the accessible envelope surface of two hands is constructed by using axial symmetry;
step S36: steps S32 through S35 are repeated, and as shown in fig. 3, the two-hand reachable envelope at each level in the comfort-based reachability evaluation hierarchy is determined.
In the embodiment of the present invention, the importing, into the virtual repair scene, the two-hand reachable envelope surfaces at different levels to generate the reachability score specifically includes:
importing the two-hand reachable enveloping surfaces at different levels into the virtual maintenance scene, and calibrating the two-hand reachable enveloping surfaces at different levels according to the position of the virtual human. And generating accessibility scores according to the calibrated two-hand reachable enveloping surfaces at different levels. And if the target point is not in the range of the two-hand reachable enveloping surface under the level 2, the target point is not reachable, and the reachability score is generated to be 1.
Firstly, determining a maintenance target point to be evaluated in a product, sequentially importing two-hand reachable envelope surfaces with the range from large to small (the level is from low to high) into a constructed virtual maintenance scene through a reachability parameterization evaluation tool interactive interface, and calibrating the positions of the two-hand reachable envelope surfaces according to the position of a virtual human; and if the two-hand reachable envelope surface under a certain score k completely covers the reachable target point and the two-hand reachable envelope surface with the score k +1 cannot completely cover the target point, the reachability score of the check point is k. For example, the following steps are carried out: importing a double-hand reachable enveloping surface under the level 2 in a accessibility evaluation system based on comfort into a virtual maintenance scene, if a target point is not covered, the enveloping surface is unreachable, and a reachability score of 1 is generated; and if the target point is covered, continuously importing the two-hand reachable envelope surface under the level 3, and so on until the two-hand reachable envelope surface under the level k +1 cannot completely cover the target point, and generating the reachability score k. The service personnel can determine if it is reachable and the service location based on the accessibility score.
The reachability scores generated correspond to the ranges of motion of the six degrees of freedom in each case. By way of example: generating an accessibility score of 8, then the corresponding arm score and torso score are both 1, while there is only one case where the arm score is 1: the outer side of the big arm or the inner side of the big arm theta 5 is equal to 0 DEG, and the score is 0; the large arm is lifted up or down to theta 4 of more than or equal to-20 degrees and less than or equal to 20 degrees, and the score is 1; the included angle theta 7 between the large arm and the small arm at the elbow is more than or equal to 60 degrees and less than or equal to 100 degrees, and the score is 0; there is also only one condition with a torso score of 1: the forward and backward bending of the waist theta 1 is equal to 0 DEG, and the score is 1; left and right waist inclination θ 2 is equal to 0 °, and the score is 0; the waist rotation θ 3 is 0 °, and the score is 0.
Example 2
As shown in fig. 4, the present invention further provides a system for evaluating reachability based on comfort in a virtual scene, where the system includes:
a model construction module 101, configured to construct a limb kinematics model;
an evaluation system determination module 102, configured to determine a accessibility evaluation system based on comfort according to the limb kinematics model;
the two-hand reachable envelope surface generating module 103 is used for carrying out Monte Carlo simulation on the limb kinematics model according to a accessibility evaluation system based on comfort, and generating two-hand reachable envelope surfaces at different levels;
the virtual scene building module 104 is used for importing the digital prototype and the virtual human into a virtual environment to build a virtual maintenance scene;
and the scoring module 105 is configured to import the two-hand reachable enveloping surfaces at different levels into the virtual maintenance scene, and generate reachability scores.
In an embodiment of the present invention, the model building module specifically includes:
a degree-of-freedom determination unit for determining five movable joints and ten degrees of freedom that affect accessibility of the human body; the movable joint includes: lumbar, cervical and spinal joints, shoulders, elbows and wrists;
the first constraint relation determining unit is used for determining the relative position change constraint relation between the adjacent degrees of freedom according to the movement angle of each degree of freedom and the limb length between each joint;
and the second constraint relation determining unit is used for determining the relative position change constraint relation of the fingers relative to the waist according to the relative position change constraint relation between the adjacent degrees of freedom.
In an embodiment of the present invention, the evaluation system determining module specifically includes:
the selection unit is used for selecting six degrees of freedom influencing comfort from the limb kinematics model;
the evaluation unit is used for respectively carrying out comfort evaluation on the activity ranges of the six degrees of freedom by a rapid upper limb evaluation method;
the comprehensive evaluation unit is used for determining an arm comfort score and a trunk comfort score according to the comfort scores of the six-degree-of-freedom motion ranges;
and the evaluation system determining unit is used for determining a accessibility evaluation system based on the comfort according to the arm comfort score and the trunk comfort score.
In an embodiment of the present invention, the module for generating a two-hand reachable envelope surface specifically includes:
a waist position determination unit for determining a waist position;
the position point determining unit is used for carrying out Monte Carlo simulation on the limb kinematics model according to the waist position and one grade in the accessibility evaluation system based on comfort, and determining all position points which can be reached by one hand;
the smooth processing unit is used for carrying out curved surface smooth processing on all the position points to generate a convex hull curved surface;
the single-hand reachable envelope surface construction unit is used for constructing a single-hand reachable envelope surface according to the convex hull curved surface;
the two-hand reachable envelope surface constructing unit is used for constructing the two-hand reachable envelope surface by using axial symmetry according to the one-hand reachable envelope surface;
and the circulating unit is used for repeatedly executing the position point determining unit to the two-hand reachable envelope surface constructing unit and determining the two-hand reachable envelope surface under each grade in the accessibility evaluation system based on comfort.
In an embodiment of the present invention, the scoring module specifically includes:
the calibration unit is used for importing the two-hand reachable enveloping surfaces at different levels into the virtual maintenance scene and calibrating the two-hand reachable enveloping surfaces at different levels according to the position of the virtual human;
and the scoring unit is used for generating accessibility scores according to the calibrated two-hand accessible enveloping surfaces at different levels.
The invention has the following beneficial effects:
(1) the invention can carry out rapid and accurate reachability evaluation of the product entity. Some reachability evaluation technologies in the existing virtual scene need to perform virtual maintenance process simulation and perform analysis to quantitatively evaluate entity reachability. The method not only needs to consume a great deal of energy to design the virtual maintenance simulation process, but also the maintenance simulation process design does not necessarily accord with the real maintenance situation. The method does not need virtual maintenance simulation, and can directly evaluate in a virtual environment through a accessibility evaluation system based on comfort, so that the evaluation efficiency and accuracy are improved.
(2) The method can scientifically refine the entity accessibility evaluation result, the accessibility evaluation method under the traditional virtual scene can judge and evaluate by utilizing the entity accessibility enveloping surface of the virtual human, the method can only give two evaluation results of reachable and unreachable, and the method carries out scientific parameterized grading on the entity accessibility from the aspect of comfort based on a limb kinematics model and a rapid upper limb evaluation method, thereby refining the granularity of accessibility evaluation.
(3) The invention provides a set of entity accessibility evaluation system which can be implemented at the initial design stage of a product, and accessibility evaluation can be carried out at a PC end only by acquiring a digital prototype model of a target product, so that the maintainability design of the product is assisted, the requirement of the current complex product design is met, the design period is shortened, the design cost is reduced, and the design efficiency is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (4)
1. A accessibility evaluation method based on comfort in a virtual scene is characterized by comprising the following steps:
constructing a limb kinematics model;
the method for constructing the limb kinematics model specifically comprises the following steps:
determining five movable joints and ten degrees of freedom which influence the accessibility of the human body; the movable joint includes: lumbar, cervical and spinal joints, shoulders, elbows and wrists; the degrees of freedom include: 3 degrees of freedom of the waist: the inclination angle of the upper body of the human body from the waist to the front or the back, the inclination angle of the upper body of the human body from the waist to the left or the right and the rotation angle of the upper body of the human body from the waist are determined; 3 degrees of freedom of the shoulder: the angle of the big arm which is left or closed in the outside, the angle of the big arm which is lifted up or put down and the angle of the shoulder joint which takes the big arm as the axis are rotated; 2 degrees of freedom of the elbow: the included angle between the big arm and the small arm and the elbow joint rotation angle by taking the small arm as an axis; 2 degrees of freedom of the wrist: the wrist joint, the angle of the palm bending to the side face and the angle of the wrist joint and the palm bending to the front and back faces;
based on a connecting rod model, a 6-node 5-connecting-rod limb kinematic model from a waist to a fingertip is established, the principle of the connecting rod model is that a coordinate system is established for each degree of freedom, a relative motion relation between joints and a control movement angle and range are described by a change matrix between the coordinate system and the coordinate system, and a change transfer matrix of the coordinate system i relative to the coordinate system i-1 is shown as a formula (1):
wherein, a i Is the length of the rod, and represents the distance between the axes of the two connected joints; alpha is alpha i Is a corner, represents x on the coordinate system i i Axis from z i-1 The axis being rotated to z according to the right-hand rule i The angle of the shaft; d is a radical of i Representing the difference in distance between adjacent links at the joint axis, z, as an amount of translation i-1 The positive direction of the shaft is the positive direction; theta i To rotate, the z-axis is shown from x according to the right hand rule i-1 The shaft rotates to x i The angle of the shaft; degree of freedom is set to N i-1 ，i＝1,2,…10；
Determining parameters of a connecting rod model according to human engineering, national standards and experiments, wherein the parameters comprise the motion angle of each degree of freedom and the length between each joint; wherein the angle of inclination theta of the upper body of the human body from the waist to the front or back 1 The range of the angle is-10 degrees to 37 degrees, and the inclination angle theta of the upper body of the human body from the waist to the left or the right 2 The range of the angle is-8 degrees to 8 degrees, and the angle of rotation theta of the upper body of the human body from the waist 3 The range of (A) is-10 degrees to 10 degrees; angle theta of elbow joint rotation with forearm as axis 8 The range of (A) is-70 to 80 degrees;
determining a relative position change constraint relation between adjacent degrees of freedom according to the movement angle of each degree of freedom and the limb length between each joint;
determining a relative position change constraint relation of the fingers relative to the waist according to the relative position change constraint relation between the adjacent degrees of freedom;
determining a accessibility evaluation system based on comfort according to the limb kinematics model;
the method for determining the accessibility evaluation system based on the comfort according to the limb kinematics model specifically comprises the following steps:
selecting six degrees of freedom affecting comfort from a limb kinematics model;
respectively carrying out comfort scoring on the activity ranges of the six degrees of freedom by a rapid upper limb assessment method;
determining an arm comfort score and a trunk comfort score according to the comfort scores of the six-degree-of-freedom motion ranges; wherein the angle of the outer side of the big arm for skimming or inner side combination is theta 5 ，θ 5 Score 0 when 0 °; theta is more than or equal to 0 degree 5 < 90 DEG or-45 DEG < theta 5 When the temperature is less than or equal to 0 ℃, the score is 1; the angle of the big arm lifted or lowered is theta 4 ，-20°≤θ 4 When the temperature is less than or equal to 20 ℃, the score is 1; theta is more than or equal to 40 degrees below zero 4 < -20 DEG or 20 DEG < theta 4 Scoring at 45 deg.C or belowIs 2; theta < 45 DEG 4 When the temperature is less than or equal to 90 degrees, the score is 3; theta is less than 90 DEG 4 When the temperature is less than or equal to 120 ℃, the score is 4; the included angle between the big arm and the small arm and the elbow is theta 7 ，60°≤θ 7 When the temperature is less than or equal to 100 ℃, the score is 0; theta is more than or equal to 0 degree 7 < 60 DEG or 100 DEG < theta 7 When the temperature is less than or equal to 130 ℃, the score is 1; the inclination angle of the upper body of the human body from the waist to the front or the back is theta 1 ，θ 1 Score 1 when 0 °; theta is more than or equal to 0 degree 1 < 20 DEG or-10 DEG < theta 1 When the temperature is less than or equal to 0 ℃, the score is 2; theta is more than or equal to 20 degrees 1 Score 3 < 37 °; the inclination angle of the upper body of the human body from the waist to the left or right is theta 2 ，θ 2 Score 0 when 0 °; theta is less than or equal to minus 8 degrees 2 < 0 DEG or 0 DEG < theta 2 When the temperature is less than or equal to 8 degrees, the score is 1; the angle of rotation of the upper body from the waist is theta 3 ，θ 3 Score 0 when 0 °; theta is more than or equal to minus 10 degrees 3 < 0 DEG or 0 DEG < theta 3 When the temperature is less than or equal to 10 degrees, the score is 1;
determining a accessibility evaluation system based on comfort according to the arm comfort score and the trunk comfort score; carrying out comfort evaluation on each condition by a fuzzy comprehensive evaluation method so as to determine a score, wherein the score is 2-8, and 8 represents that the maintenance target position exists in the most comfortable reachable area; the evaluation factor discourse domain is arm comfort and trunk comfort, and the weights are the same and are respectively 0.5; the evaluation grade discourse domain consists of 7 grades from 2 to 8; the fuzzy evaluation vector synthesis operator is matrix multiplication; the maximum membership degree principle is adopted for determining the scores;
carrying out Monte Carlo simulation on the limb kinematics model according to a accessibility evaluation system based on comfort, and generating two-hand reachable enveloping surfaces at different levels;
according to the accessibility evaluation system based on the comfort, Monte Carlo simulation is carried out on the limb kinematics model, and double-hand reachable enveloping surfaces under different levels are generated, and the method specifically comprises the following steps:
step S31: determining a waist position;
step S32: carrying out Monte Carlo simulation on the limb kinematics model according to the waist position and one grade in the accessibility evaluation system based on comfort, and determining all position points which can be reached by one hand;
step S33: performing surface smoothing on all the position points to generate a convex hull surface;
step S34: constructing a single-hand reachable envelope surface according to the convex hull curved surface;
step S35: according to the accessible envelope surface of one hand, the accessible envelope surface of two hands is constructed by using axial symmetry;
step S36: repeating the steps S32 to S35, and determining a two-hand reachable envelope surface at each level in the accessibility evaluation system based on comfort;
importing the digital prototype and the virtual human into a virtual environment to construct a virtual maintenance scene;
importing the two-hand reachable enveloping surfaces at different levels into the virtual maintenance scene to generate reachability scores; firstly, determining a maintenance target point to be evaluated in a product, sequentially importing two-hand reachable enveloping surfaces with the range from large to small and the grade from low to high into a constructed virtual maintenance scene through a reachability parameterization evaluation tool interactive interface, and calibrating the positions of the two-hand reachable enveloping surfaces according to the position of a virtual human; if the two-hand reachable envelope surface under a certain score k completely covers the reachable target point and the two-hand reachable envelope surface with the score k +1 cannot completely cover the target point, checking the reachability score of the point to be k; for example, a two-hand reachable envelope surface of a 2-level reachability evaluation system based on comfort is introduced into a virtual maintenance scene, if a target point is not covered, the two-hand reachable envelope surface is unreachable, and a reachability score of 1 is generated; if the target point is covered, continuously importing a two-hand reachable envelope surface under the level 3, and so on until the two-hand reachable envelope surface under the level k +1 cannot completely cover the target point, and generating a reachability score k; the service personnel can determine if it is reachable and the service location based on the accessibility score.
2. The accessibility evaluation method based on comfort in the virtual scene according to claim 1, wherein the importing the two-hand reachable enveloping surfaces at different levels into the virtual maintenance scene to generate the accessibility score specifically comprises:
importing the two-hand reachable enveloping surfaces at different levels into the virtual maintenance scene, and calibrating the two-hand reachable enveloping surfaces at different levels according to the position of the virtual human;
and generating accessibility scores according to the calibrated two-hand reachable envelope surfaces at different levels.
3. A comfort-based reachability evaluation system in a virtual scene, the system comprising:
the model building module is used for building a limb kinematics model;
the model building module specifically comprises:
a degree-of-freedom determination unit for determining five movable joints and ten degrees of freedom that affect accessibility of the human body; the movable joint includes: lumbar, cervical and spinal joints, shoulders, elbows and wrists; the degrees of freedom include: 3 degrees of freedom of the waist: the inclination angle of the upper body of the human body from the waist to the front or the back, the inclination angle of the upper body of the human body from the waist to the left or the right and the rotation angle of the upper body of the human body from the waist are determined; 3 degrees of freedom of the shoulder: the angle of the big arm which is left or closed in the outside, the angle of the big arm which is lifted up or put down and the angle of the shoulder joint which takes the big arm as the axis are rotated; 2 degrees of freedom of the elbow: the included angle between the big arm and the small arm and the elbow joint rotation angle by taking the small arm as an axis; 2 degrees of freedom of the wrist: the wrist joint, the angle of the palm bending to the side face and the angle of the wrist joint and the palm bending to the front and back faces;
based on a connecting rod model, a 6-node 5-connecting-rod limb kinematic model from a waist to a fingertip is established, the principle of the connecting rod model is that a coordinate system is established for each degree of freedom, a relative motion relation between joints and a control movement angle and range are described by a change matrix between the coordinate system and the coordinate system, and a change transfer matrix of the coordinate system i relative to the coordinate system i-1 is shown as a formula (1):
wherein, a i Is long and indicates that two are connectedThe distance between individual joint axes; alpha is alpha i Is a corner, representing x on the coordinate system i i Axis from z i-1 The axis being rotated to z according to the right-hand rule i The angle of the shaft; d i Is the amount of translation, representing the difference in distance of adjacent links at the joint axis, z i-1 The positive direction of the shaft is the positive direction; theta i To rotate, the z-axis is shown from x according to the right hand rule i-1 The shaft rotates to x i The angle of the shaft; degree of freedom is set to N i-1 ，i＝1,2,…10；
Determining parameters of a connecting rod model according to human engineering, national standards and experiments, wherein the parameters comprise the motion angle of each degree of freedom and the length between each joint; wherein the angle of inclination theta of the upper body of the human body from the waist to the front or back 1 The range of the angle is-10 degrees to 37 degrees, and the inclination angle theta of the upper body of the human body from the waist to the left or the right 2 The range of the angle is-8 degrees to 8 degrees, and the angle of rotation theta of the upper body of the human body from the waist 3 The range of (A) is-10 degrees to 10 degrees; angle theta of elbow joint rotation with forearm as axis 8 The range of-70 degrees to 80 degrees;
the first constraint relation determining unit is used for determining the relative position change constraint relation between the adjacent degrees of freedom according to the movement angle of each degree of freedom and the limb length between each joint;
the second constraint relation determining unit is used for determining the relative position change constraint relation of the fingers relative to the waist according to the relative position change constraint relation between the adjacent degrees of freedom;
the evaluation system determining module is used for determining a accessibility evaluation system based on comfort according to the limb kinematics model;
the evaluation system determination module specifically comprises:
the selection unit is used for selecting six degrees of freedom influencing comfort from the limb kinematics model;
the evaluation unit is used for respectively carrying out comfort evaluation on the activity ranges of the six degrees of freedom by a rapid upper limb evaluation method;
the comprehensive evaluation unit is used for determining an arm comfort score and a trunk comfort score according to the comfort scores of the six-freedom-degree moving ranges; wherein the angle of the large armDegree theta 5 ，θ 5 Score 0 when 0 °; theta is more than or equal to 0 degree 5 < 90 DEG or-45 DEG < theta 5 When the temperature is less than or equal to 0 ℃, the score is 1; the angle of the big arm rising or falling is theta 4 ，-20°≤θ 4 When the temperature is less than or equal to 20 ℃, the score is 1; theta is less than or equal to 40 DEG below zero 4 < -20 DEG or 20 DEG < theta 4 When the temperature is less than or equal to 45 degrees, the score is 2; theta < 45 DEG 4 When the temperature is less than or equal to 90 degrees, the score is 3; theta is less than 90 DEG 4 When the temperature is less than or equal to 120 ℃, the score is 4; the included angle between the big arm and the small arm and the elbow is theta 7 ，60°≤θ 7 When the temperature is less than or equal to 100 ℃, the score is 0; theta is more than or equal to 0 degree 7 < 60 DEG or 100 DEG < theta 7 When the temperature is less than or equal to 130 ℃, the score is 1; the inclination angle of the upper body of the human body from the waist to the front or the back is theta 1 ，θ 1 Score 1 when 0 °; theta is more than or equal to 0 degree 1 < 20 DEG or-10 DEG < theta 1 When the temperature is less than or equal to 0 ℃, the score is 2; theta is more than or equal to 20 degrees 1 If the temperature is less than 37 degrees, the score is 3; the inclination angle of the upper body of the human body from the waist to the left or right is theta 2 ，θ 2 Score 0 when 0 °; theta is less than or equal to minus 8 degrees 2 < 0 DEG or 0 DEG < theta 2 When the temperature is less than or equal to 8 degrees, the score is 1; the angle of rotation of the upper body from the waist is theta 3 ，θ 3 Score 0 when 0 °; theta is more than or equal to minus 10 degrees 3 < 0 DEG or 0 DEG < theta 3 When the temperature is less than or equal to 10 degrees, the score is 1;
the evaluation system determination unit is used for determining a accessibility evaluation system based on comfort according to the arm comfort score and the trunk comfort score; carrying out comfort evaluation on each condition by a fuzzy comprehensive evaluation method so as to determine a score, wherein the score is 2-8, and 8 represents that the maintenance target position exists in the most comfortable reachable area; the evaluation factor discourse domain is arm comfort and trunk comfort, and the weights are the same and are respectively 0.5; the evaluation grade discourse domain consists of 7 grades from 2 to 8; the fuzzy evaluation vector synthesis operator is matrix multiplication; the maximum membership degree principle is adopted for determining the scores;
the two-hand reachable envelope surface generation module is used for carrying out Monte Carlo simulation on the limb kinematics model according to a accessibility evaluation system based on comfort, and generating two-hand reachable envelope surfaces at different levels;
the module for generating the reachable envelope surface of the two hands specifically comprises:
a waist position determination unit for determining a waist position;
the position point determining unit is used for carrying out Monte Carlo simulation on the limb kinematics model according to the waist position and one grade in the accessibility evaluation system based on comfort, and determining all position points which can be reached by one hand;
the smooth processing unit is used for carrying out curved surface smooth processing on all the position points to generate a convex hull curved surface;
the single-hand reachable envelope surface constructing unit is used for constructing a single-hand reachable envelope surface according to the convex hull curved surface;
the two-hand reachable envelope surface constructing unit is used for constructing the two-hand reachable envelope surface by using axial symmetry according to the one-hand reachable envelope surface;
the circulating unit is used for repeatedly executing the position point determining unit to the two-hand reachable envelope surface constructing unit and determining the two-hand reachable envelope surface under each grade in the accessibility evaluation system based on comfort;
the virtual scene building module is used for importing the digital prototype and the virtual human into a virtual environment to build a virtual maintenance scene;
the scoring module is used for importing the double-hand reachable enveloping surfaces under different grades into the virtual maintenance scene to generate reachability scores; firstly, determining a maintenance target point to be evaluated in a product, sequentially importing a two-hand reachable envelope surface with a range from large to small and a grade from low to high into a constructed virtual maintenance scene through a reachability parametric evaluation tool interactive interface, and calibrating the position of the two-hand reachable envelope surface according to the position of a virtual human; if the two-hand reachable envelope surface under a certain score k completely covers the reachable target point and the two-hand reachable envelope surface with the score k +1 cannot completely cover the target point, checking the reachability score of the point to be k; for example, a two-hand reachable envelope surface of a 2-level reachability evaluation system based on comfort is introduced into a virtual maintenance scene, if a target point is not covered, the two-hand reachable envelope surface is unreachable, and a reachability score of 1 is generated; if the target point is covered, continuously importing a two-hand reachable envelope surface under the level 3, and so on until the two-hand reachable envelope surface under the level k +1 cannot completely cover the target point, and generating a reachability score k; the service personnel can determine if it is reachable and the service location based on the accessibility score.
4. The system for evaluating reachability based on comfort in virtual scene according to claim 3, wherein the scoring module specifically comprises:
the calibration unit is used for importing the two-hand reachable enveloping surfaces at different levels into the virtual maintenance scene and calibrating the two-hand reachable enveloping surfaces at different levels according to the position of the virtual human;
and the scoring unit is used for generating accessibility scores according to the calibrated two-hand accessible envelope surfaces under different levels.
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