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

Abstract

The invention discloses an equipment maintainability layout design method based on a human factor potential field. The method comprises the following steps: firstly, establishing a visible human factor potential field; secondly, establishing an accessible human factor potential field on the basis of a single-arm model of a human body; thirdly, compounding the human factor potential field and generating potential field distribution; and fourthly, performing equipment layout according to the human factor potential field, and providing a guide method for the layout design of internal equipment of a complex product. The method has the advantages that firstly, the physical meaning is clear; secondly, the computing process is easy to implement; thirdly, the method can be conveniently applied to visible equipment maintainability layout design.

Description

A kind of based on the maintenance of equipment layout design method of people because of potential field

Technical field

The invention belongs to capability of maintenance design technical field, be specifically related to a kind of based on the maintenance of equipment layout design method of people because of potential field.

Background technology

Maintainability be characterize product repairing easy, rapidly and the proper mass characteristic of cost effectiveness, product examination can be made easy to maintenance by the maintainability improving product, reduce maintenance man-hours and expense.Must consider human factor by emphasis unlike, capability of maintenance design in essence with Machine Design in general sense, focus be put on man carries out design and makes every maintenance operation feature meet human engineering requirement.In this respect, current main path is the detailed design first completing product based on traditional Machine Design theory, then adopt people to carry out the maintenance Ergonomic Assessment based on Digital Virtual Human because of analysis module or software such as DELMIA, JACK etc., then carry out design modification according to result.This method has gathered in the crops good effect in a lot of occasion, but the shortcoming existed is that design and analysis process is isolated mutually, and design efficiency is lower, and can not the Automation Design of guide product.

The convenience of people in order to study a question, constructs artificial virtual potential field to describe the objective impact of external environment on main body.People keeps in repair main body for the sex a kind of artificial field of product repairing because potential field then describes, reflect the interaction mechanism between human body and Product maintenance feature, contain the kinergety of material in potential field, form the state of motion more to low-potential energy region from high potential energy region.It includes the independent potential fields such as human body visuality, accessibility and comfortableness and and Composite Field each other.Under the effect of people because of potential field, each design cell of structure will possess certain people because of potential energy, people produces gravitation to unit because of the region that potential energy is larger, and produce repulsion between the unit belonging to different structure body, thus the dynamic change of product structure and layout can be driven, find the dynamic position of design cell thus, finally reach the maximization of " maintainability gravitation ".

By people because of based on potential field, can for building the digital design environment towards engineering goods capability of maintenance design.Conventional in layout method for designing is embodied as master with function and performance, do not consider the impact of maintainability, be difficult to the design and analysis carrying out maintainability aspect in the design process, if and in design environment, embed the space distribution of people because of potential field, just can carry out the capability of maintenance design of the aspect such as shape-aided, position in real time according to the change of potential field.At present, how generating people because of Distribution of Potential Field is applied to device layout and still lacks corresponding method.

Summary of the invention

The technical problem to be solved in the present invention is to provide a kind of based on the maintenance of equipment layout design method of people because of potential field, makes, while function and performance realize, to possess good maintainability level.

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

Based on the maintenance of equipment layout design method of people because of potential field, comprise 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; In vertical plane, normal line of sight up and down 15 ° be the best vertical visual field scope of people, above normal line of sight 40 ° to below 20 ° be the maximum perpendicular field range of people.In surface level, about center line, each 15 ° is the optimum level field-of-view angle scope of human eye, and about center line, each 35 ° is human eye absolute visual field scope in the horizontal direction.

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:

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

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:

$C_l=\left\{\begin{array}{cc}1& l=l_1\\ 0.2\&CenterDot;\frac{{l-l}_1}{l_1-l_{1\min 1}}+1& l_{1\min }\&le;l\&le;l_1\\ -0.2\&CenterDot;\frac{{l-l}_{1\max }}{l_1-l_{1\max }}+1& l_1\&le;l\&le;l_{1\max }\\ 0.8\&CenterDot;\frac{l}{l_{1\min }}& 0<l\&le;l_{1\min }\\ 0.8\&CenterDot;\frac{{l-l}_{0\max }}{l_{1\max }-l_{0\max }}& l_{1\max }<l\&le;l_{0\max }\\ 0& 1>l_{0\max }\end{array}\right.---\left(4\right)$

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 with the spatial accessibility of the human arm of human arm comfort level sign, 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.

As can be seen from accessibility potential-energy function: (1) accessibility potential energy size is within 0-1 scope; (2) angle deviating angle is larger, more uncomfortable, and accessibility potential energy is larger.

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:

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

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.

As can be seen from above compound people because of potential-energy function:

1. compound people is because potential-energy function is by each joint angles q relevant to hand and human eye _iimpact, human body is more comfortable, q _imore close to u _fmore close to 0.

2. for unreachable, not visible region, corresponding region can make C _θ, C _letc. parameter near 1, q simultaneously _idepart from also very large, make U _ftend to larger.

3. visual, accessibility is better, means C equally _θ, C _letc. parameter near 1, q _imore close to compound potential energy U _fmore close to 0, people because of performance better.

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, is changed by color or the size of level of confidentiality degree illness that has not attacked the vital organs of the human body potential field, obtains 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, is placed in compound people as far as possible because of the lower region of potential energy value, thus ensures good visuality and accessibility by each operating point.

The feature of the inventive method is the visuality and the accessibility level that are described spatial point in maintenance process by visual potential-energy function and accessibility potential-energy function, and then the maintainability main performance index of each point is generated with compound potential-energy function, the distribution in three-dimensional design space can be formed in thus, for the maintainability layout design of engineering goods internal unit provides technological guidance.

Advantage of the present invention: one is explicit physical meaning; Two is that computation process is easy to realize; Three is to be conveniently used in visual maintenance of equipment topological design.

Accompanying drawing explanation

Fig. 1 is based on the maintenance of equipment layout total framework of people because of potential field.

Fig. 2 is the equipment initial placement schematic diagram of certain type ship propulsion system.

Fig. 3 is that visual people is because of Distribution of Potential Field schematic diagram.

Fig. 4 is that accessibility people is because of Distribution of Potential Field schematic diagram.

Fig. 5 is initial compound human factor potential field Two dimensional Distribution schematic diagram.

Fig. 6 is that the people that obtains of present device cloth postpone is because of potential field Two dimensional Distribution schematic diagram.

Fig. 7 is the equipment layout schematic diagram utilizing the present invention to obtain.

The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.

Embodiment

Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.

Based on people because of potential field the total framework of maintenance of equipment layout as shown in Figure 1.Below for certain type ship propulsion system, introduce it based on the maintenance of equipment layout design method of people because of potential field.

The parameter of certain type ship power setting part equipment is as shown in table 1, sea water pump 23, subtracts and shakes relativeness between cooling sea water pump 24, sea water hydrophore tank 35 as shown in Figure 2.The present embodiment is that its inside has 3 maintenance operation points, and A is water intaking valve, B is oil motor, C is mechanical seal to subtracting the layout of shaking cooling sea water pump 24 and carrying out for ease of maintenaince, needs to carry out preventative maintenance operation.Be limited by function to use and the constraint of the aspects such as center of gravity, subtract and shake cooling sea water pump 24 and must arrange in the space shown in rectangular box W.The position of people is positioned at T place.

Certain Ship Power Equipment equipment component parameter of table 1

According to above parameter, step of carrying out maintainability topological design because of the maintenance of equipment layout design method of potential field based on people provided by the invention is utilized to be:

(I) when position of human eye is determined, the first visual field effects functional value of each location point of computer memory and sighting distance influence function value.Visual field effects functional value is calculated as:

$C_{\mathrm{\&theta;}}=C(C_{\mathrm{\&theta;y}},C_{\mathrm{\&theta;x}})=C_{\mathrm{\&theta;y}}\frac{y^2}{x^2+y^2}+C_{\mathrm{\&theta;x}}\frac{x^2}{x^2+y^2}---\left(8\right)$

Wherein, horizontal field of view function with vertical visual field function calculated respectively by formula (1) and formula (2).

Sighting distance influence function value C _lcan be calculated as:

$C_l=\left\{\begin{array}{cc}1& l=l_1\\ 0.2\&CenterDot;\frac{{l-l}_1}{l_1-l_{1\min 1}}+1& l_{1\min }\&le;l\&le;l_1\\ -0.2\&CenterDot;\frac{{l-l}_{1\max }}{l_1-l_{1\max }}+1& l_1\&le;l\&le;l_{1\max }\\ 0.8\&CenterDot;\frac{l}{l_{1\min }}& 0<l\&le;l_{1\min }\\ 0.8\&CenterDot;\frac{{l-l}_{0\max }}{l_{1\max }-l_{0\max }}& l_{1\max }<l\&le;l_{0\max }\\ 0& 1>l_{0\max }\end{array}\right.---\left(9\right)$

Wherein, l ₁for optimum sighting distance, be taken as 56cm; l _1minand l _1maxfor the minimum value of normal operation sighting distance, be taken as 38cm; l _1maxbe respectively the maximal value of normal operation sighting distance, be taken as 76cm; l _0maxrepresent maximum operation sighting distance, be taken as 150cm;

Comprehensive visual field effects functional value and sighting distance influence function value, the visual potential energy value that can obtain space each position point is:

f _P＝1-C _θ·C _l(10)

On the basis of the visual potential energy of spatial points, adopt Matlab software to carry out visual simulating, set up visual people because of potential field model, the visual people of foundation because of potential field model as shown in Figure 3.

(II) human arm position is positioned at T place, based on the seven freedom rod member mechanism simplifying model of the singlehanded arm of human body, and the accessibility potential-energy function value according to joint angles change calculations spatial points:

$U_{\mathrm{Datt}}=\underset{i=1}{\overset{7}{\mathrm{\&Sigma;}}}{\mathrm{\&omega;}}_i{\left(\frac{q_i-q_i^N}{q^U-q^L}\right)}^2---\left(11\right)$

Wherein weights omega _iall be taken as 1/7. with be respectively the upper and lower bound value of each joint angles constraint, value is as shown in table 2.

The upper and lower bound of each joint motions angle of table 2

Space is a bit had to the situation of multiple potential-energy function value, get the accessibility potential energy of minimum function value as this point.Adopt Matlab software to carry out visual simulating to accessibility people because of potential field according to each point potential energy value, set up accessibility people because of potential field model, as shown in Figure 4.

(III) according to the visual potential energy value of spatial points and accessibility potential energy value, people is because of potential energy value for computer memory each point compound:

$U_F=\left\{\begin{array}{cc}[1-C_{\mathrm{\&theta;}}\&CenterDot;C_l]\&CenterDot;\underset{i=1}{\overset{\mathrm{DOF}}{\mathrm{\&Sigma;}}}{\mathrm{\&omega;}}_i{\left(\frac{q_i-q_i^N}{q_i^U-q_i^N}\right)}^2& q_i^U\&GreaterEqual;q_i\&GreaterEqual;q_i^N\\ [1-C_{\mathrm{\&theta;}}\&CenterDot;C_l]\&CenterDot;\underset{i=1}{\overset{\mathrm{DOF}}{\mathrm{\&Sigma;}}}{\mathrm{\&omega;}}_i{\left(\frac{q_i-q_i^N}{q_i^L-q_i^N}\right)}^2& q_i^N\&GreaterEqual;q_i\&GreaterEqual;q_i^L\end{array}\right.---\left(12\right)$

Spatial points compound people because of on the basis of potential energy, adopt Matlab software to carry out visual simulating to compound human factor potential field, obtain the people after compound because of Distribution of Potential Field figure, as shown in Figure 5.

(IV) according to people because Distribution of Potential Field figure (i.e. Fig. 5) just can carry out subtracting the layout of shaking cooling sea water pump 24 easily, adjustment subtracts shakes the position of cooling sea water pump 24 in rectangular extent W, three maintenance operation points are made to be positioned at the more shallow region of color, namely people is because of the lower region of potential energy value, can ensure that equipment possesses good maintainability level of aggregation like this.

Effect of the present invention is illustrated by following experiment.

Subtracting the initial position S shaking cooling sea water pump 24 ₀place, subtract the people corresponding to three maintenance operation points that shakes cooling sea water pump 24 because of potential energy value as shown in Figure 5, can find out, the corresponding color of three maintenance operation points is comparatively dark, means its maintainability Shortcomings; And utilize the present invention to carry out the S of cloth postpone ₁place, people because of potential energy distribution figure as shown in Figure 6, can find out, subtract the obvious color of potential energy value color corresponding to three operating points of shaking cooling sea water pump 24 more shallow, possesses good maintainability level, so namely the maintainability layout subtracting and shake cooling sea water pump 24 is achieved preferably, the position namely shown in Fig. 7.

The above is only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, and all technical schemes belonged under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications also should be considered as 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.