CN103729520B - Equipment maintainability layout design method based on human factor potential field - Google Patents

Abstract

The invention discloses a method for designing equipment maintainability layout based on a human factor potential field, which comprises the following steps: 1. Establishing a visibility human factor potential field model; 2. Establishing an accessibility human factor based on a single arm model of a human body Potential field model; 3. Combining human-factor potential fields and generating potential field distribution; 4. Carrying out equipment layout based on human-factor potential fields, providing guidance methods for the layout design of complex internal equipment. The invention has the following advantages: firstly, the physical meaning is clear; secondly, the calculation process is easy to realize; thirdly, it can be conveniently applied to visualized equipment maintenance layout design.

Description

A Design Method of Equipment Maintainability Layout Based on Human Factor Potential Field

technical field

The invention belongs to the technical field of maintainability design, and in particular relates to an equipment maintainability layout design method based on a human factor potential field.

Background technique

Maintainability is an inherent quality characteristic that characterizes the ease, speed and economy of product maintenance. By improving product maintainability, product inspection and maintenance can be facilitated, and maintenance man-hours and costs can be reduced. Essentially different from mechanical design in the general sense, maintainability design must focus on human factors, and human-centered design makes each maintenance operation feature meet ergonomic requirements. In this regard, the current main approach is to first complete the detailed design of the product based on traditional mechanical design concepts, and then use human factor analysis modules or software such as DELMIA, JACK, etc. to perform maintenance ergonomics evaluation based on digital virtual humans, and then conduct Design fixes. This method has achieved good results in many occasions, but its disadvantages are that the design and analysis processes are separated, the design efficiency is low, and it cannot guide the automatic design of products.

For the convenience of research, people construct artificial virtual potential field to describe the objective influence of the external environment on the subject. The human factor potential field is an artificial field to describe the influence of the maintenance subject on the maintainability of the product, reflecting the interaction mechanism between the human body and the maintainability of the product. The potential field contains the kinetic energy of the material, forming a high-level The potential energy area moves toward the lower potential energy area. It includes independent potential fields such as human visibility, accessibility and comfort, and the composite fields among them. Under the action of the human factor potential field, each design unit of the structure will have a certain human factor potential energy, and the area with larger human factor potential energy will generate attraction to the unit, while the units belonging to different structures will generate repulsion force, so it can be Drive the dynamic changes of product structure and layout, thus find the dynamic position of the design unit, and finally achieve the maximization of "maintenance gravity".

Based on the human factor potential field, a digital design environment for the maintainability design of mechanical products can be constructed. The traditional layout design method focuses on the realization of functions and performance, without considering the influence of maintainability, it is difficult to carry out design and analysis of maintainability in the design process, and if the spatial distribution of the human potential field is embedded in the design environment, The maintainability design of shape, position, etc. can be assisted in real time according to the change of potential field. At present, there is still a lack of corresponding methods on how to generate human potential field distribution and apply it to equipment layout.

Contents of the invention

The technical problem to be solved by the present invention is to provide a method for designing equipment maintainability layout based on human factor potential field, so as to achieve a good level of maintainability while realizing functions and performances.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

A method for designing equipment maintainability layout based on human factor potential field, comprising the following steps:

1. Establish a visibility human factor potential field model:

According to the influence of view angle and sight distance on maintainability, the view influence function C _θ and sight distance influence function C _l are defined, and the visibility potential energy function is constructed.

(1) C _θ is the visual field influence function, which is composed of vertical visual field function and horizontal visual field function. The maximum vertical field of view of a person. In the horizontal plane, 15° to the left and right of the center line is the best horizontal field of view angle range of the human eye, and 35° to the left and right of the center line is the maximum field of view of the human eye in the horizontal direction.

define the vertical field of view function for:

In formula (1), θ _y is the vertical sight angle: θ _y1min , θ _y1max are the minimum vertical line of sight angle and maximum vertical line of sight angle of the best field of view respectively, θ _y0min , θ _y0max are the minimum vertical line of sight angle and maximum vertical line of sight angle of the maximum field of view respectively;

definition The horizontal field of view function expression is:

${\mathrm{<span\; class="notranslate">\; C</span>}}_{{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{cc}\mathrm{<span\; class="notranslate">\; 1</span>}& {\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; ></span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; max</span>}}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0.1</span>}<span\; class="notranslate">\; \&CenterDot;</span>\frac{<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; |</span>}{{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; <</span><span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}\\ \mathrm{<span\; class="notranslate">\; 0.9</span>}<span\; class="notranslate">\; .</span>\frac{<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; max</span>}}}{{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; max</span>}}}& {\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}<span\; class="notranslate">\; <</span><span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; max</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

In formula (2), θ _x is the horizontal sight angle: θ _x1max is the maximum horizontal line of sight angle in the best field of view, and θ _x0max is the maximum horizontal line of sight angle in the maximum field of view.

According to the visual cone function of the human eye, the visual field influence function is defined as the functional function of the horizontal visual field function and the vertical visual field function as follows:

${\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;y</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;x</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;y</span>}}\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;x</span>}}\frac{{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

(2) The line-of-sight influence function C _l is defined as:

${\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{cc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ \mathrm{<span\; class="notranslate">\; 0.2</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>\frac{{\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; min</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}& {\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; min</span>}}<span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0.2</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>\frac{{\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}}{{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}& {\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}\\ \mathrm{<span\; class="notranslate">\; 0.8</span>}<span\; class="notranslate">\; \&CenterDot;</span>\frac{\mathrm{<span\; class="notranslate">\; l</span>}}{{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; min</span>}}}& \mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; min</span>}}\\ \mathrm{<span\; class="notranslate">\; 0.8</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>\frac{{\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; max</span>}}}{{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; max</span>}}}& {\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; max</span>}}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; ></span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; max</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

In formula (4), l ₁ is the optimal sight distance, l _1min and l _1max are the minimum and maximum values of the normal operating sight distance, and l _0max represents the maximum operating sight distance.

(3) Comprehensive visual field influence function and sight distance influence function, define the visibility potential energy function of the human eye to a point P in space as:

f _P ＝1-C _θ ·C _l (5)

Using formula (1)-formula (5), Matlab software is used to model the visibility human factor potential field and perform visual simulation to establish the visibility human factor potential field model;

2. Based on the single-arm model of the human body, the human factor potential field model of accessibility is established:

(1) Taking a single arm as the research object, the human arm is simplified into a seven-degree-of-freedom rod mechanism considering three degrees of freedom of the shoulder joint, one degree of freedom of the elbow joint, and three degrees of freedom of the wrist joint. The D-H method establishes the kinematic equation of the arm, and calculates the reachable domain of the human arm in three-dimensional space according to the variation range of each joint angle, and determines it as the domain of the field function.

(2) For a point X _P in the reachable domain, the corresponding joint angle is q _i , where i=1, 2, . . . , DOF, where DOF is the degree of freedom of each joint.

The degree of joint angle deviation from its center position is used to represent the joint comfort, and the arm comfort is obtained by weighting the joint importance, and the spatial accessibility of the human arm is represented by the human arm comfort, then the accessibility potential energy function expresses for:

Each joint angle is constrained within its limit, namely is the middle position of each joint degree of freedom, representing a relatively comfortable position, and the displacement change from the middle position is The weight factor ω _i is used to represent the importance of different joint angles, that is, the importance of its angle offset on the comfort of the arm.

From the accessibility potential energy function, it can be seen that: (1) the magnitude of the accessibility potential energy is within the range of 0-1; (2) the larger the angle is from the center, the more uncomfortable it is, and the greater the accessibility potential energy is.

Using Matlab software to model the accessibility human factor potential field and perform visual simulation to establish the accessibility human factor potential field model;

3. Composite human potential fields and generate potential field distribution diagrams:

According to the visibility potential energy function and accessibility potential energy function established above, the compound human factor potential energy function is defined as:

${\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{cc}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; \&CenterDot;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; \&Center\; Dot;</span>\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; DOF</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; N</span>}}}{{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; u</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; N</span>}}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}& {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; u</span>}}<span\; class="notranslate">\; \&Greater\; Equal;</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; \&Greater\; Equal;</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; N</span>}}\\ <span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; \&Center\; Dot;</span>\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; DOF</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; N</span>}}}{{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; L</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; N</span>}}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}& {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; N</span>}}<span\; class="notranslate">\; \&Greater\; Equal;</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; \&Greater\; Equal;</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; L</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 7</span>}<span\; class="notranslate">\; )</span>$

Among them, C _θ is the influence function of the visual field, C _l is the influence function of the sight distance, q _i is the angle of each joint from the waist to the eyes and hands, is the central angle, q _imax is the corresponding maximum range of motion, and q _imin is the corresponding minimum range of motion. ω _i is the weight of the comfort of each joint, satisfying DOF is the sum of the degrees of freedom of each joint.

From the above compound human factor potential energy function, it can be seen that:

① The compound human factor potential energy function is affected by the angle q _i of the joints related to the hand and the human eye. The more comfortable the human body is, the closer q _i is to The closer U _F is to 0.

②For unreachable and invisible areas, the corresponding area will make C _θ , C _l and other parameters close to 1, while q _i deviates from is also large, making _UF tend to be larger.

③The better the visibility and accessibility, it also means that C _θ , C _l and other parameters are closer to 1, and the closer q _i is to The closer the composite potential energy U _F is to 0, the better the human performance.

Using Matlab software for visual simulation, in the 3D design space, first determine the position of the shoulder when repairing, and then generate the human factor potential field distribution map of _UF in the 3D design space, and demonstrate the potential field through color changes or density levels The size of , get the composite human factor potential field distribution map;

4. Equipment layout based on human potential field:

According to the relative relationship between the maintenance operation points on the equipment in the human factor potential field distribution diagram and the human factor potential field distribution, the location layout of the equipment is determined. On the premise that the equipment does not collide with surrounding objects, adjust the spatial position of the equipment, and place each operating point as much as possible in an area with a low composite human factor potential energy value, so as to ensure good visibility and accessibility.

The feature of the method of the present invention is to describe the visibility and accessibility levels of the spatial points in the maintenance process through the visibility potential energy function and the accessibility potential energy function, and then use the composite potential energy function to generate the main performance index of maintainability of each point, Therefore, the distribution in the three-dimensional design space can be formed, which provides technical guidance for the maintainability layout design of the internal equipment of mechanical products.

The invention has the following advantages: firstly, the physical meaning is clear; secondly, the calculation process is easy to realize; thirdly, it can be conveniently applied to visualized equipment maintenance layout design.

Description of drawings

Figure 1 is the general framework of equipment maintainability layout based on human factor potential field.

Figure 2 is a schematic diagram of the initial equipment layout of a certain type of ship power plant.

Figure 3 is a schematic diagram of the visibility human factor potential field distribution.

Figure 4 is a schematic diagram of the human factor potential field distribution of accessibility.

Fig. 5 is a schematic diagram of the initial two-dimensional distribution of the compound human factor potential field.

Fig. 6 is a schematic diagram of the two-dimensional distribution of the human factor potential field obtained after the arrangement of the equipment of the present invention.

Fig. 7 is a schematic diagram of equipment arrangement obtained by using the present invention.

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The overall framework of equipment maintainability layout based on human factor potential field is shown in Fig. 1. The following takes a certain type of ship power plant as an example to introduce its maintenance layout design method based on the human factor potential field.

The parameters of some equipment of a certain type of ship power plant are shown in Table 1, and the relative relationship between the seawater pump 23, the anti-roll cooling seawater pump 24, and the seawater pressure tank 35 is shown in Figure 2. In this embodiment, the anti-roll cooling seawater pump 24 is arranged for easy maintenance. It has three maintenance operation points inside, A is the water inlet valve, B is the hydraulic motor, and C is the mechanical seal. Preventive maintenance operations are required. Subject to constraints such as functional use and center of gravity, the anti-roll cooling seawater pump 24 must be arranged in the space shown by the rectangular box W. The position of the person is at T.

Table 1 Some equipment parameters of a ship power plant

According to the above parameters, the steps for performing maintainability layout design using the equipment maintainability layout design method based on human potential field provided by the present invention are:

(1) In the case that the position of the human eye is determined, first calculate the visual field influence function value and the visual distance influence function value of each position point in space. The field of view influence function value is calculated as:

${\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;y</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;x</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;y</span>}}\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;x</span>}}\frac{{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 8</span>}<span\; class="notranslate">\; )</span>$

Among them, the horizontal field of view function and the vertical field of view function Calculated by formula (1) and formula (2) respectively.

The line-of-sight influence function value C _l can be calculated as:

${\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{cc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ \mathrm{<span\; class="notranslate">\; 0.2</span>}<span\; class="notranslate">\; \&CenterDot;</span>\frac{{\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; min</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}& {\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; min</span>}}<span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0.2</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>\frac{{\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}}{{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}& {\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&le;</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}\\ \mathrm{<span\; class="notranslate">\; 0.8</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>\frac{\mathrm{<span\; class="notranslate">\; l</span>}}{{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; min</span>}}}& \mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; min</span>}}\\ \mathrm{<span\; class="notranslate">\; 0.8</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>\frac{{\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; max</span>}}}{{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; max</span>}}}& {\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; max</span>}}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; max</span>}}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; ></span>{\mathrm{<span\; class="notranslate">\; l</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; max</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 9</span>}<span\; class="notranslate">\; )</span>$

Among them, l ₁ is the optimal sight distance, which is taken as 56cm; l _1min and l _1max are the minimum value of normal operating sight distance, which is taken as 38cm; l _1max is the maximum value of normal operating sight distance, which is taken as 76cm; l _0max Indicates the maximum operating sight distance, which is taken as 150cm;

The value of the visibility potential energy of each point in the space can be obtained by combining the value of the visual field influence function and the value of the sight distance influence function:

f _P ＝1-C _θ ·C _l (10)

On the basis of the visibility potential energy of each point in space, Matlab software is used for visual simulation, and the visibility human factor potential field model is established. The established visibility human factor potential field model is shown in Figure 3.

(II) The position of the human arm is at T. Based on the simplified model of the seven-degree-of-freedom bar mechanism of the human body, the accessibility potential energy function value of each point in space is calculated according to the change of the joint angle:

${\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; Datt</span>}}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; 7</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; N</span>}}}{{\mathrm{<span\; class="notranslate">\; q</span>}}^{\mathrm{<span\; class="notranslate">\; u</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}^{\mathrm{<span\; class="notranslate">\; L</span>}}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 11</span>}<span\; class="notranslate">\; )</span>$

Among them, the weight ω _i is taken as 1/7. and are the upper and lower limit values of each joint angle constraint respectively, and the values are shown in Table 2.

Table 2 Upper limit and lower limit of each joint motion angle

For a point in space with multiple potential energy function values, the smallest function value is taken as the accessibility potential energy of the point. According to the potential energy value of each point, the accessibility human factor potential field is visualized and simulated by Matlab software, and the accessibility human factor potential field model is established, as shown in Figure 4.

(III) According to the visibility potential energy value and accessibility potential energy value of each point in space, calculate the composite human factor potential energy value of each point in space:

${\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{cc}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; \&CenterDot;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; \&CenterDot;</span>\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; DOF</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; N</span>}}}{{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; u</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; N</span>}}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}& {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; u</span>}}<span\; class="notranslate">\; \&Greater\; Equal;</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; \&Greater\; Equal;</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; N</span>}}\\ <span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; \&CenterDot;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; \&CenterDot;</span>\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; DOF</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; N</span>}}}{{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; L</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; N</span>}}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}& {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; N</span>}}<span\; class="notranslate">\; \&Greater\; Equal;</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; \&Greater\; Equal;</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}^{\mathrm{<span\; class="notranslate">\; L</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 12</span>}<span\; class="notranslate">\; )</span>$

On the basis of the composite human factor potential energy at each point in space, the composite human factor potential field is visualized and simulated using Matlab software, and the composite human factor potential field distribution map is obtained, as shown in Figure 5.

(IV) According to the human potential field distribution diagram (i.e. Fig. 5), the arrangement of the anti-rolling cooling seawater pump 24 can be easily carried out, and the position of the anti-rolling cooling seawater pump 24 in the rectangular range W can be adjusted, so that the three maintenance operations The points are located in the lighter colored area, that is, the area with lower human potential energy value, which can ensure that the equipment has a good comprehensive level of maintainability.

The effect of the present invention can be illustrated by the following experiments.

At the initial position _S0 of the anti-roll cooling seawater pump 24, the human factor potential energy values corresponding to the three maintenance operation points of the anti-roll cooling seawater pump 24 are shown in Figure 5. It can be seen that the three maintenance operation points The corresponding color is darker, which means that its maintainability is insufficient; and after utilizing the present invention to arrange _S1 , the potential energy distribution diagram of human factors is shown in Figure 6. It can be seen that the three cooling seawater pumps 24 The color of the potential energy value corresponding to the operating point is obviously lighter, and has a good level of maintainability, so that the maintainability of the anti-roll cooling seawater pump 24 is better realized, that is, the position shown in FIG. 7 .

The above descriptions are only preferred implementations of the present invention, and the scope of protection of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the scope of protection of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims (1)

1., based on the maintenance of equipment layout design method of people because of potential field, it is characterized in that comprising the following steps:

One, visual people is set up because of potential field model

According to visual angle, the visual field and sighting distance on the impact of maintainability, definition visual field effects function C _θwith sighting distance influence function C _l, build visual potential-energy function;

(1) C _θfor visual field effects function, be made up of vertical visual field function and horizontal field of view function;

Definition vertical visual field function for:

In formula (1), θ _yfor vertical coverage angle: θ _y1min, θ _y1maxbe respectively the minimum vertical angle of sight and the maximum perpendicular angle of sight of optimum field, θ _y0min, θ _y0maxbe respectively the minimum vertical angle of sight and the maximum perpendicular angle of sight of absolute visual field;

Definition horizontal field of view function expression is:

$C_{{\mathrm{\&theta;}}_x}=\left\{\begin{array}{cc}1& {\mathrm{\&theta;}}_x=0\\ 0& \left|{\mathrm{\&theta;}}_x\right|>{\mathrm{\&theta;}}_{x0\max }\\ -0.1\&CenterDot;\frac{\left|{\mathrm{\&theta;}}_x\right|}{{\mathrm{\&theta;}}_{x1\max }}+1& 0<\left|{\mathrm{\&theta;}}_x\right|\&le;{\mathrm{\&theta;}}_{x1\max }\\ 0.9\&CenterDot;\frac{\left|{\mathrm{\&theta;}}_x\right|-{\mathrm{\&theta;}}_{x0\max }}{{\mathrm{\&theta;}}_{x1\max }-{\mathrm{\&theta;}}_{x0\max }}& {\mathrm{\&theta;}}_{x1\max }<\left|{\mathrm{\&theta;}}_x\right|\&le;{\mathrm{\&theta;}}_{x0\max }\end{array}\right.---\left(2\right)$

In formula (2), θ _xfor horizontal line of sight angle: θ _x1maxfor the maximum horizontal angle of sight in optimum field, θ _x0maxfor the maximum horizontal angle of sight in absolute visual field;

Bore function according to human viewable, the functional that visual field effects function is defined as horizontal field of view function and vertical visual field function is:

$C_{\mathrm{\&theta;}}=C(C_{\mathrm{\&theta;y}},C_{\mathrm{\&theta;x}})=C_{\mathrm{\&theta;y}}\frac{y^2}{x^2+y^2}+C_{\mathrm{\&theta;x}}\frac{x^2}{x^2+y^2}---\left(3\right)$

(2) sighting distance influence function C _lbe defined as:

$C_l=\left\{\begin{array}{cc}1& l=l_1\\ 0.2\&CenterDot;\frac{l-l_1}{l_1-l_{1\min l}}+1& l_{1\min }\&le;l\&le;l_1\\ -0.2\&CenterDot;\frac{l-l_{1\max }}{l_1-l_{1\max }}+1& l_1\&le;l\&le;l_{1\max }\\ 0.8\&CenterDot;\frac{l}{l_{1\min }}& 0<l\&le;l_{1\min }\\ 0.8\&CenterDot;\frac{l-l_{0\max }}{l_{1\max }-l_{0\max }}& l_{1\max }<l\&le;l_{0\max }\\ 0& l>l_{0\max }\end{array}\right.---\left(4\right)$

In formula (4), l ₁for optimum sighting distance, l _1minand l _1maxbe respectively minimum value and the maximal value of normal operation sighting distance, l _0maxrepresent maximum operation sighting distance;

(3) comprehensive visual field effects function and sighting distance influence function, the visual potential-energy function of definition human eye to 1 P in space is:

f _P＝1-C _θ·C _l(5)

Utilize formula (1)-formula (5), adopt Matlab software carry out modeling to visual people because of potential field and carry out visual simulating, set up visual people because of potential field model;

Two, based on single arm models of human body, accessibility people is set up because of potential field model:

(1) with singlehanded arm for research object, human arm is reduced to the seven freedom rod member mechanism considering shoulder joint three degree of freedom, elbow joint one degree of freedom and wrist joint three degree of freedom, the D-H method based on homogeneous coordinate transformation is adopted to set up the kinematical equation of arm, obtain reached at the territory of human arm in three dimensions according to the variation range of each joint angles, be defined as the territory of field function;

(2) for 1 X that can reach in territory _p, the joint angles corresponded is q _i, wherein i=1,2 ..., DOF, DOF are the number of degrees of freedom, in each joint;

The degree adopting joint angles to depart from its center represents joint comfort level, and obtains the comfort level of arm according to the significance level weighting in joint, and characterizes the spatial accessibility of human arm with human arm comfort level, then accessibility potential-energy function is expressed as:

Each joint angles constrains in its limit range for the centre position of each joint freedom degrees, represent the position of relative comfort, from the change in displacement in centre position be adopt weight factor ω _irepresent the significance level of different joint angles, namely its offset is to the importance of arm comfort degree;

Adopt Matlab software carry out modeling to accessibility people because of potential field and carry out visual simulating, set up accessibility people because of potential field model;

Three, carrying out people because of the compound of potential field generates Distribution of Potential Field figure:

According to the above visual potential-energy function set up and accessibility potential-energy function, definition compound people because of potential-energy function is:

$U_F=\left\{\begin{array}{cc}[1-C_{\mathrm{\&theta;}}\&CenterDot;C_l]\&CenterDot;\underset{i=1}{\overset{\mathrm{DOF}}{\mathrm{\&Sigma;}}}{\mathrm{\&omega;}}_i{\left(\frac{q_i-q_i^N}{q_i^U-q_i^U}\right)}^2& q_i^U\&GreaterEqual;q_i\&GreaterEqual;q_i^N\\ [1-C_{\mathrm{\&theta;}}\&CenterDot;C_l]\&CenterDot;\underset{i=1}{\overset{\mathrm{DOF}}{\mathrm{\&Sigma;}}}{\mathrm{\&omega;}}_i{\left(\frac{q_i-q_i^N}{q_i^L-q_i^N}\right)}^2& q_i^N\&GreaterEqual;q_i\&GreaterEqual;q_i^L\end{array}\right.---\left(7\right)$

Wherein: C _θfor visual field effects function, C _lfor sighting distance influence function, q _ifor from waist to eye and each joint angles of hand, centered by angle, q _imaxfor the FROM of correspondence, q _iminfor the minimum activity range of correspondence; ω _ifor the weights of each joint comfort level, meet dOF is each joint freedom degrees sum;

Adopt Matlab software to carry out visual simulating, in three-dimensional design space, when first determining that people repairs, the position of shoulder, then generates U _fpeople in three-dimensional design space because of Distribution of Potential Field figure, changed by color or level of confidentiality degree illness that has not attacked the vital organs of the human body people because of the size of potential field, obtain the people after compound because of Distribution of Potential Field figure;

Four, device layout is carried out according to people because of potential field:

According to people because the maintenance operation point on equipment in Distribution of Potential Field figure and people are because of the relativeness of Distribution of Potential Field, determine the location layout of equipment, under the prerequisite that equipment does not collide with periphery object, the locus of adjustment equipment, each operating point is placed in compound people because of the lower region of potential energy value, thus ensures good visuality and accessibility.