CN104966157B - It is a kind of based on people because of the remote maintaining method and its maintenance device of simulation analysis - Google Patents
It is a kind of based on people because of the remote maintaining method and its maintenance device of simulation analysis Download PDFInfo
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Abstract
The present invention relates to the remote maintaining method and device thereof under a kind of hot cell environment, it is espespecially a kind of by people because simulating sports analysis and Optimal Maintenance mode it is a kind of based on people because of the remote maintaining method and its maintenance device of simulation analysis；The maintaining method includes: 1) to establish remote maintaining device by Catia 3 d modeling software, constructs virtual three-dimensional remote maintaining operating environment；2) visual human and its simulating sports are established；3) the index investigation value section of indices appraisement system is set as [0,1] and section is set defines；4) value interval of indices is obtained；5) global index according to each index factor interval vector and evaluation index overall merit remote maintaining；6) the comprehensive weak property index improved during attended operation；The present invention effectively prevents and controls remote maintaining urgent problem to be solved, and optimizes the work of remote maintaining, so that the reliability of remote maintaining, the safety is improved, while improving working efficiency and manipulation accuracy.
Description
Technical field
The present invention relates to the remote maintaining method and device thereof under a kind of hot cell environment, espespecially a kind of to be transported by people because emulating
Dynamic analysis and Optimal Maintenance mode it is a kind of based on people because of the remote maintaining method and its maintenance device of simulation analysis.
Background technique
The nuclear sciences devices such as nuclear power station, study of high energy physics device generally have large size, high speed, intense loading, continuously run with
And the characteristics of structure is complicated, especially device internal equipment itself or its running environment have radioactivity, it is contemplated that irradiation damage
The influence in core component service life, the probability that core equipment breaks down necessarily greatly improve；If key equipment or the portion of equipment
Part breaks down, and gently then influences the result of equipment experiment and causes the non-programmed halt of device, it is heavy then cause serious nuclear pollution with
Nuclear accident causes huge loss；Therefore built and equipped in the nuclear science institute that founds a capital its operational management is made into plant maintenance
Key link finds in time and replaces aging, faulty equipment and component by carrying out stringent monitoring and maintenance to equipment, and
To discarded equipment and the processing such as component progress decontamination and disassembly, to ensure the operation of equipment normally, safe；In view of safeguarding ring
The particularity in border, the radiation component maintenance work of nuclear science equipment need emphasis to consider following factors: the safety of maintenance work,
Feasibility, the reliability of maintenance work of maintenance work, thus manual operation task is heavy, bad environments, easily causes artificial
Fault, may cause serious accident.
The maintenance task of nuclear science equipment is not suitable for being in the action and operating by people, need to consider development machines people or from
Dynamicization equipment carrys out assist support personnel and completes task, but since there are no complete for the support technologies such as control, sensor, artificial intelligence
Face is mature, is especially considering that the requirement of maintenance task reliability, full autonomous robot can't meet nuclear energy equipment well
The demand of maintenance；For this purpose, nuclear science equipment generallys use the mode of people's remote control operation to safeguard, remote maintaining is equipment dimension
Shield personnel are in the safety zone far from maintenance scene, by obtaining the various heat transfer agents in scene, by using manipulator (people) or
Special equipment the inside of nuclear energy equipment carry out carry out overhaul of the equipments and peace unload, daily monitoring and the dimension such as radioactive-waste disposal
Nurse makees, and reduces staff's radioactive dose and labor intensity, improves the level of plant maintenance.
Have the characteristics that system complicated composition, technology are complicated, manufacturing process is complicated based on nuclear science device, is especially carrying out
When maintenance, component assembling and disassembling section are complicated, and maintenance time is long, and contain large amount of complex multiplicity, the industry of flexible form is known
Know, the requirement to maintenance personnel is very high, therefore, the present invention is directed to be directed to the practical remote maintaining demand of Chinese spallation neutron source, builds
The remote maintaining emulation platform in the virtual reality that is based on hot cell, to slowing-down device & reflector plug-in unit, the target body plug-in unit in target body system
Remote maintaining process carry out simulated environment planning, and pass through the program results of emulation platform and hot cell remote maintaining equipment test
The artificial program results of rack compare, and assess the correctness of checking research achievement；To optimize the dimension of nuclear energy equipment remote control
Nurse makees.
Summary of the invention
To solve the above problems, the present invention is directed to disclose the remote maintaining method and device thereof under a kind of hot cell environment, especially
Refer to it is a kind of by people because simulating sports analysis and Optimal Maintenance mode a kind of remote maintaining method based on people because of simulation analysis
And its maintenance device.
To achieve the above object, the technical solution adopted by the present invention is that: it is a kind of based on people because of the remote maintaining of simulation analysis
Method, it is characterised in that: the maintaining method the following steps are included:
1) remote maintaining device is established by Catia 3 d modeling software, constructs virtual three-dimensional remote maintaining operation ring
Border；
2) in virtual three-dimensional remote maintaining operating environment, visual human is established, while establishing visual human and being remotely controlled in three-dimensional
Simulating sports in attended operation environment analyze vision accessibility, the operation accessibility, object of assessment visual human by simulating sports
Manage injury, radiation injury, fatigue strength, the quantification of targets value of human-equation error probability and psychological cognition；
3) the index investigation value section of indices appraisement system is set as [0,1], and evaluation index is indicated using interval vector
Quantized value；Then the quantitative criteria for establishing indices is arranged section according to quantitative criteria and defines；
4) value interval of indices is obtained:
The visual range of visual human, the radiation areas of opereating specification and operating environment are gone out using Catia Software on Drawing, obtained
The quantization value interval for taking vision accessibility, operating accessibility and radiation injury；
By analyzing the extruding contact stress of visual human and remote maintaining device, the quantization value area of physical injury is obtained
Between；
Using the comfort of RULA analytic approach assessment virtual human simulation operation, the quantization value interval of fatigue strength is obtained；
Using the correctness of success likelihood index method and analytic hierarchy process (AHP) assessment virtual human simulation operation, human-equation error is obtained
The quantization value interval of probability；
The quantization value interval of psychological cognition is obtained from the practical mental emotion of operator；
5) global index according to each index factor interval vector and evaluation index overall merit remote maintaining, COMPREHENSIVE CALCULATING
The binary section number vector and weight sector vector of each index, obtain the assessment of global index；
6) the comprehensive weak property index improved during attended operation, to improve the operating efficiency of three-dimensional remote maintaining.
The manikin of virtual artificial 50 percentile, visual human height 1704.5mm, brachium 722.261mm.
The section of the step 3) is defined as five grade intervals, respectively section [0,0.2], [0.3,0.4], [0.5,
0.6], [0.7,0.8], [0.9,1], respectively indicate grade: excessively poor, poor, general, good, very good.
It is a kind of for based on people because simulation analysis remote maintaining method based on people because simulation analysis remote maintaining fill
It sets, the maintenance device mainly includes target platform frame and remote maintaining frock tool, which is characterized in that the target platform frame
It is mainly made of main backstop, rack platform, stair, XYZ crane and fence, main backstop is mounted below rack platform and is formed
The bracket of fixed rack platform, the fence are vertically centered around the edge of rack platform, and fence surrounding is provided with from rack platform
Locate upwardly-extending baffle, the stair are arranged in main backstop side and lead to the upper surface of rack platform, the rack
Rack lifting device is installed in the middle part of platform, the XYZ crane is movably arranged on rack lifting device top.
The overall dimensions of the remote maintaining device are as follows: be up to 5.0-5.5 meters, wide to reach 5.0-5.5 meters, up to 6.3-
6.8 rice.
The rack platform offers empty slot, empty slot and rack lifting device in the middle part of installation rack lifting device
Bottom is mutually communicated, and the inside for forming rack lifting device communicates in the vertical direction with rack platform middle part, main backstop.
The rack lifting device is remote maintaining frock tool with the place of communicating of rack platform middle part, main backstop
Activity space.
The beneficial effects of the present invention are embodied in: the present invention is realized from people by virtual human simulation operation because analyzing in fact in problem
The feasibility of border operation, finds out the people for being possible to occur because of problem, to analyze and solve people in virtual emulation operating process
Because of problem, the improvement of mode of operation is implemented, with this effectively prevention and control remote maintaining urgent problem to be solved, and optimizes remote control
The working method of maintenance and optimization participate in the factor index of work, so that the reliability of remote maintaining, the safety is improved, mention simultaneously
High working efficiency and manipulation accuracy；Remote maintaining be one be taking human as master, man-machine integrated complex human-machine system, people because
Element plays an important role to the performance of system, and the present invention is established by three-dimensional software and imitated by what visual human and virtual environment formed
True mode, and establish evaluation index, and analyse item by item to index is realized excellent because of angle estimator remote control operation scheme from people
It is bad.
Detailed description of the invention
Fig. 1 is the work flow diagram of remote maintaining method of the present invention.
Fig. 2 is the analysis flow chart diagram of present invention success likelihood index method binding hierarchy analytic approach.
Fig. 3 is the structural schematic diagram of remote maintaining device of the present invention.
Attached drawing mark explanation: 1- main backstop, 2- rack platform, 3- stair, 4-XYZ crane, 5- fence, 6- baffle, 7-
Rack lifting device, 8- pillar, 9- crossbeam.
Specific embodiment
The embodiment of the invention will now be described in detail with reference to the accompanying drawings:
It is a kind of based on people because of the remote maintaining method of simulation analysis, the maintaining method the following steps are included:
1) remote maintaining device is established by Catia 3 d modeling software, constructs virtual three-dimensional remote maintaining operation ring
Border, the dimension scale for the virtual three-dimensional remote maintaining operating environment and actual operating condition established are 1:1；
2) in virtual three-dimensional remote maintaining operating environment, visual human is established, virtual artificial 50 percentile
Manikin, visual human height 1704.5mm, brachium 722.261mm；Visual human is established simultaneously operates ring in three-dimensional remote maintaining
Simulating sports in border analyze vision accessibility, the operation accessibility, physical injury, spoke of assessment visual human by simulating sports
Shoot the quantification of targets value of evil, fatigue strength, human-equation error probability and psychological cognition wounded；
3) the index investigation value section of indices appraisement system is set as [0,1], and evaluation index is indicated using interval vector
Quantized value；Then the quantitative criteria for establishing indices is arranged section according to quantitative criteria and defines；Section is defined as five etc.
Grade section, respectively section [0,0.2], [0.3,0.4], [0.5,0.6], [0.7,0.8], [0.9,1], respectively indicate grade:
It is excessively poor, poor, general, good, very good；
4) value interval of indices is obtained:
The visual range of visual human, the radiation areas of opereating specification and operating environment are gone out using Catia Software on Drawing, obtained
The quantization value interval for taking vision accessibility, operating accessibility and radiation injury；
By analyzing the extruding contact stress of visual human and remote maintaining device, the quantization value area of physical injury is obtained
Between；
Using the comfort of RULA analytic approach assessment virtual human simulation operation, the quantization value interval of fatigue strength is obtained；
Using the correctness of success likelihood index method and analytic hierarchy process (AHP) assessment virtual human simulation operation, human-equation error is obtained
The quantization value interval of probability；
The quantization value interval of psychological cognition is obtained from the practical mental emotion of operator；
5) global index according to each index factor interval vector and evaluation index overall merit remote maintaining, COMPREHENSIVE CALCULATING
The binary section number vector and weight sector vector of each index, obtain the assessment of global index；
6) the comprehensive weak property index improved during attended operation, to improve the operating efficiency of three-dimensional remote maintaining.
It is a kind of for based on people because simulation analysis remote maintaining method based on people because simulation analysis remote maintaining fill
It sets, the maintenance device mainly includes target platform frame and remote maintaining frock tool, and the target platform frame is mainly by main branch
Support 1, rack platform 2, stair 3, XYZ crane 4 and fence 5 form, and main backstop 1 is mounted below rack platform 2 and is formed admittedly
Determine the bracket of rack platform 2, the fence 5 is vertically centered around the edge of rack platform 2, and 5 surrounding of fence is provided with flat from rack
Upwardly-extending baffle 6 at platform 2, the stair 3 are arranged in 1 side of main backstop and lead to the upper surface of rack platform 2, described
Rack platform 2 in the middle part of rack lifting device 7 is installed, the XYZ crane 4 is movably arranged on 7 top of rack lifting device；Institute
The overall dimensions for the remote maintaining device stated are as follows: wide to reach 5.0-5.5 meters, up to 6.3-6.8 meters up to 5.0-5.5 meters；Described
Rack platform 2 offers empty slot at the middle part of installation rack lifting device 7, and the bottom of empty slot and rack lifting device 7 is mutually passed through
Logical, the inside for forming rack lifting device 7 communicates in the vertical direction with 2 middle part of rack platform, main backstop 1；The platform
Frame lifting device 7 is the activity space of remote maintaining frock tool with the place of communicating of 2 middle part of rack platform, main backstop 1.
In the remote maintaining device, main backstop 1 is made of several pillars 8 and several crossbeams 9, and is added
Strengthening tendons and reinforcing beam, related pillar 8, crossbeam 9 material be channel steel, the material that reinforcing rib material is round iron stick, reinforcement
For channel steel, rack platform 2 can avoid the generation of large deformation using can be sure to be able to support people and instrument iron plate material；And XYZ is hung
Vehicle 4, stair 3,3 step of stair due to stress it is little, main body use side leads to material；Target platform frame can be improved in the selection of material
Stiffness and strength.When assembling remote maintaining device, under the iron plate for forming rack platform 2, reinforces channel steel and use again later
Side is logical to be reinforced, it is ensured that when people and other instruments are placed on platform, rack platform 2 will not generate big bending deformation；Then it leads again
Support frame 1 is additionally arranged at the bottom pedestal, and pedestal plays fixed main support base and prevents main support base from sliding, described to be centered around rack
The fence 5 of 2 surrounding of platform has baffle 6, prevents components from falling；Welding procedure can be used when assembling, after the completion of welding
The spray painting of target platform frame appearance, prevents target platform frame corrosion.
A kind of implementation process of the remote maintaining method based on people because of simulation analysis:
It is a kind of based on people because of the remote maintaining method of simulation analysis the following steps are included:
1) remote maintaining device is established by Catia 3 d modeling software, constructs virtual three-dimensional remote maintaining operation ring
Border, the dimension scale for the virtual three-dimensional remote maintaining operating environment and actual operating condition established are 1:1；
2) in virtual three-dimensional remote maintaining operating environment, visual human is established, virtual artificial 50 percentile
Manikin, visual human height 1704.5mm, brachium 722.261mm；Visual human is established simultaneously operates ring in three-dimensional remote maintaining
Simulating sports in border analyze vision accessibility, the operation accessibility, physical injury, spoke of assessment visual human by simulating sports
Shoot the quantification of targets value of evil, fatigue strength, human-equation error probability and psychological cognition wounded；
3) the index investigation value section of indices appraisement system is set as [0,1], and evaluation index is indicated using interval vector
Quantized value；Then the quantitative criteria for establishing indices is arranged section according to quantitative criteria and defines；Section is defined as five etc.
Grade section, respectively section [0,0.2], [0.3,0.4], [0.5,0.6], [0.7,0.8], [0.9,1], respectively indicate grade:
It is excessively poor, poor, general, good, very good；
4) value interval of indices is obtained:
A. go out the radiation areas of the visual range of visual human, opereating specification and operating environment using Catia Software on Drawing,
The quantization value interval for obtaining vision accessibility, operating accessibility and radiation injury:
Vision accessibility: according to simulated on Catia emulation platform come operator's visual range show, remote maintaining
Personnel are remotely controlled attended operation by viewing computer display screen, and computer display screen is shown remote maintaining operator's
The place of inferior horn to the left in best angular field of view, is not middle, shows that remote maintaining personnel are being remotely controlled attended operation
When, display screen, i.e. the quantization value of vision accessibility can be more easily seen from the inferior horn to the left in visual range are as follows:
[0.7,0.8]；
Operate accessibility: in the case where considering that finger and wrist flex operate, using arm length positioning 18cm as can
The quantitative criterion designed up to property, recycles catia software, can draw the 3 D stereo area that the both hands of operator can reach
Domain range, the both hands of remote maintaining operator can easily touch operating stick completely, and remote maintaining personnel's is double
Hand range coverage does not include display screen, so remote maintaining personnel are during being remotely controlled maintenance, both hands are unlikely to unintentionally
Encounter display screen and cause the accident, normal easy and convenient remote maintaining may be implemented and operate, however remote maintaining people
The both hands of member reach region and overlap with radiation large area, so next must just analyze overlapping region
Research, by measurement data it is found that in order to remote maintaining personnel personal safety, during remote maintaining, remote maintaining personnel
Arm should not rest on and be lifted up between 101.023 degree to 156.947 degree for a long time, and in actual operation, due to behaviour
Make the height limitation of bar, operator is rarely possible can rest on for a long time be lifted up 101.023 degree to 156.947 degree it
Between, it is in the section of " very good " it is determined that it operates accessibility, that is, operates the quantization value of accessibility are as follows: [0.9,1]；
Radiation injury: by measure the distance between human body and radiation areas, distance range be 0-1 meters, with evaluator by
To the size of radiation injury, in remote maintaining operating process, remote maintaining personnel have been close to 5 railing of fence, with radiation
The minimum distance of large area has 0.773 meter far, can obtain the quantized value of radiation injury are as follows: [0.7,0.8]；
B. by the extruding contact stress of analysis visual human and remote maintaining device, the quantization value area of physical injury is obtained
Between:
By extruding contact, swivel of hand and the handle of observing visual human and contact-palm of the hand of virtual maintenance device and handle
Extruding contact, finger is contacted with the extruding of handle, thumb is contacted with the extruding of remaining finger and handle and operator
The extruding that body and 5 railing of fence occur can show that the probability for causing to squeeze injured physical injury is larger, the amount of physical injury
Change value are as follows: [0.3,0.4]；C. using the comfort of RULA analytic approach assessment virtual human simulation operation, the amount of fatigue strength is obtained
Change value interval:
Quick upper limb assessment (the rapid upper limb assessment, RULA) is that one kind is used to assess the mankind
A kind of ergonomics technology influenced brought by posture, strength and muscle activity；A job is determined in simulating sports
Posture, RULA assessment can to inspected object analyze check its movement quantity, static muscular acting, operation posture, uninterruptedly
The fatigue strength when working time, since the physical strength of people limits, the quantization value of fatigue strength are as follows: [0,0.2]；
D. it uses successfully likelihood index method and analytic hierarchy process (AHP) to assess the correctness of virtual human simulation operation, obtains people because losing
Miss the quantization value interval of probability:
The analysis process of success likelihood index method binding hierarchy analytic approach to the problem of generation as shown in figure 3, by carrying out
A series of record is concluded, analysis, is summarized, and finally obtains following result: first is that components are lost；Second is that some components are forgotten
Note assembly；Third is that components are wrongly installed；Fourth is that causing damage of components, extruding, scuffing, deformation using the twisting resistance of mistake；Fifth is that
Ignore safety factor, swarm into radiation areas, cause radiation injury, to the quantization value of human error probability are as follows: [0.7,0.8]；
E. the quantization value interval of psychological cognition is obtained from the practical mental emotion of operator:
Heart mood after remote maintaining personnel experienced with long-term remote maintaining operation is assessed, and psychological cognition is obtained
Quantization value are as follows: [0.7,0.8]；
5) global index according to each index factor interval vector and evaluation index overall merit remote maintaining, COMPREHENSIVE CALCULATING
The binary section number vector and weight sector vector of each index, obtain the assessed value of global index；
A. the weight coefficient that evaluation index is determined using Pyatyi scaling law divides importance of the index to evaluation object
For 5 ranks: it is especially important, it is of the utmost importance, it is more important, it is important and general, and respectively each grade sets value range:
(0.9,1.0), (0.8,0.9), 0.7,0.8), (0.6,0.7) and (0.5,0.6)；By careful evaluation studies, it is distant to obtain this
The initial weight section of each evaluation index of attended operation is controlled, Fuzzy Processing and normalizing then are carried out to initial weight section
Change, finally obtains each index weights interval vector；
B. the number vector operation of binary section is carried out to the weight sector vector of each factor interval vector and evaluation index, thus
The binary interval number evaluation of estimate for determining remote maintaining operation is [0.11,0.30]；
C. establish corresponding evaluation criterion for appraisement system, take evaluate collection be combined into V=outstanding ︱ level-one, good ︱ second level, in
Equal ︱ three-level, general ︱ level Four, poor ︱ Pyatyi, six grades of poor ︱ }, and assign corresponding section for it and define: level-one/outstanding:
[0.91,1]；Second level/good: [0.71,0.90]；Three-level/medium: [0.51,0.70]；Level Four/general: [0.31,0.50]；Five
Grade/poor: [0.11,0.30]；Six grades/very poor: [0,0.10]；
D. binary interval number evaluation of estimate that resulting remote maintaining operates is carried out corresponding with the evaluation criterion of foundation, can obtained
The opinion rating of remote maintaining system is " Pyatyi " i.e. " poor ".Think that the safety of this remote maintaining scheme is bad, needs pair
Equipment and environment carry out further people because of analysis and research, and make biggish improvement as far as possible；
6) the comprehensive weak property index improved during attended operation, to improve the operating efficiency of three-dimensional remote maintaining:
According to the results show that optimizable maintenance work is embodied in: the work posture for improveing people makes the reduction of its fatigue strength, or
The both hands of people and the contact surface of maintenance device are improved to mitigate physical injury, or install radiation shield tool additional to mitigate radiational injury
Harmful or trainer work habit is to reduce human-equation error probability, or the physique and psychological quality of tempering people are so as to improve people's
Psychological cognition situation etc..
The above is only presently preferred embodiments of the present invention, is not intended to limit the scope of the present invention, current row
The technical staff of industry can make some deformations and modification, all technologies according to the present invention under the inspiration of the technical program
Essence still falls within the range of technical solution of the present invention to any modification, equivalent variations and modification made by above embodiment
It is interior.
Claims (4)
1. it is a kind of based on people because of the remote maintaining method of simulation analysis, it is characterised in that: the maintaining method includes following step
It is rapid: 1) remote maintaining device to be established by Catia 3 d modeling software, construct virtual three-dimensional remote maintaining operating environment, institute
The dimension scale for the virtual three-dimensional remote maintaining operating environment and actual operating condition established is 1:1；2) in virtual three-dimensional
In remote maintaining operating environment, visual human is established, while establishing emulation fortune of the visual human in three-dimensional remote maintaining operating environment
It is dynamic, vision accessibility, the operation accessibility, physical injury, radiation injury, fatigue of assessment visual human are analyzed by simulating sports
The quantification of targets value of degree, human-equation error probability and psychological cognition；3) set the index investigation value section of indices appraisement system as
[0,1] indicates the quantized value of evaluation index using interval vector；Then the quantitative criteria for establishing indices is marked according to quantization
It defines in quasi- setting section；Section is defined as five grade intervals, respectively section [0,0.2], [0.3,0.4], [0.5,0.6],
[0.7,0.8], [0.9,1], respectively indicates grade: excessively poor, poor, general, good, very good；4) value of indices is obtained
Section: a. goes out the radiation areas of the visual range of visual human, opereating specification and operating environment using Catia Software on Drawing, obtains
The quantization value interval for taking vision accessibility, operating accessibility and radiation injury: vision accessibility: according to Catia emulation platform
On simulate come operator's visual range show, remote maintaining personnel by viewing computer display screen come be remotely controlled maintenance
Operation, and computer display screen shows the place of the inferior horn to the left in the angular field of view of remote maintaining operator, is not center
Between, show that remote maintaining personnel, can be more easily from the inferior horn to the left in visual range when being remotely controlled attended operation
To display screen, i.e. the quantization value of vision accessibility are as follows: [0.7,0.8]；It operates accessibility: considering finger and wrist flex
In the case where operation, using arm length positioning 18cm as the quantitative criterion of reachable characteristic design, catia software is recycled, is drawn
The 3 D stereo regional scope that the both hands of operator can reach, the both hands of remote maintaining operator completely can be easily
Touch operating stick, and the both hands range coverage of remote maintaining personnel does not include display screen, thus remote maintaining personnel into
During row remote maintaining, both hands are unlikely to unintentionally encounter display screen and cause the accident, and may be implemented normal light
Convenient remote maintaining operation, however the both hands of remote maintaining personnel reach region and overlap with radiation large area,
So next must just analyze and research to overlapping region, by measurement data it is found that in order to remote maintaining personnel the person
Safety, during remote maintaining, the arm of remote maintaining personnel should not rest on for a long time to be lifted up 101.023 degree and arrives
Between 156.947 degree, and in actual operation, due to the height limitation of operating stick, operator is rarely possible to stop for a long time
It stays in and is lifted up between 101.023 degree to 156.947 degree, it is determined that it operates the section that accessibility is in " very good "
It is interior, that is, operate the quantization value of accessibility are as follows: [0.9,1]；Radiation injury: by measurement human body and radiation areas between away from
From, distance range is 0-1 meters, the size with evaluator by radiation injury, in remote maintaining operating process, remote maintaining people
Member has been close to 5 railing of fence, has 0.773 meter far with the minimum distance of radiation large area, can obtain the quantized value of radiation injury are as follows:
[0.7,0.8]；B. by the extruding contact stress of analysis visual human and remote maintaining device, the quantization value of physical injury is obtained
Section: contacted by observation visual human with contact-palm of the hand of virtual maintenance device with the extruding of handle, swivel of hand and handle it is crowded
Press contacts, finger is contacted with the extruding of handle, thumb is contacted with the extruding of remaining finger and handle and the body of operator
The extruding occurred with fence railing can show that the probability for causing to squeeze injured physical injury is larger, and the quantization of physical injury takes
Value are as follows: [0.3,0.4]；C. using the comfort of RULA analytic approach assessment virtual human simulation operation, the quantization for obtaining fatigue strength is taken
It is worth section: determines a work posture in simulating sports, RULA assessment can analyzes inspected object the number for checking its movement
Fatigue strength when amount, static muscular acting, operation posture, non-stop run time, since the physical strength of people limits, the amount of fatigue strength
Change value are as follows: [0,0.2]；D. successfully likelihood index method and analytic hierarchy process (AHP) is used to assess the correctness of virtual human simulation operation,
Obtain the quantization value interval of human-equation error probability: by carrying out a series of record to the problem of generation, conclusion, analyzing, total
Knot, finally obtains following result: first is that components are lost；Second is that some components are forgotten to assemble；Third is that components are wrongly installed；Fourth is that
Using the twisting resistance of mistake, damage of components, extruding, scuffing, deformation are caused；Fifth is that ignoring safety factor, radiation areas are swarmed into,
Radiation injury is caused, to the quantization value of human error probability are as follows: [0.7,0.8]；E. from the practical mental emotion of operator
Obtain the quantization value interval of psychological cognition: the heart mood after remote maintaining personnel experienced with long-term remote maintaining operation
It is assessed, obtains the quantization value of psychological cognition are as follows: [0.7,0.8]；5) according to each index factor interval vector and evaluation index
The global index of overall merit remote maintaining, the binary section number vector and weight sector vector of each index of COMPREHENSIVE CALCULATING obtain
The assessed value of global index；A. the weight coefficient that evaluation index is determined using Pyatyi scaling law, index to evaluation object
Importance is divided into 5 ranks: it is especially important, it is of the utmost importance, and it is more important, it is important and general, and respectively each grade setting takes
It is worth range: (0.9,1.0), (0.8,0.9), (0.7,0.8), (0.6,0.7) and (0.5,0.6)；By careful evaluation studies,
The initial weight section of each evaluation index of this remote maintaining operation is obtained, Fuzzy Processing then is carried out to initial weight section
And normalization, finally obtain each index weights interval vector；B. to the weight sector of each factor interval vector and evaluation index to
Amount carries out the number vector operation of binary section, so that it is determined that the binary interval number evaluation of estimate of remote maintaining operation is [0.11,0.30]；
C. establish corresponding evaluation criterion for appraisement system, take evaluate collection be combined into V=outstanding ︱ level-one, good ︱ second level, medium ︱ three-level,
General ︱ level Four, poor ︱ Pyatyi, six grades of poor ︱ }, and assign corresponding section for it and define: level-one/outstanding: [0.91,1]；Two
Grade/good: [0.71,0.90]；Three-level/medium: [0.51,0.70]；Level Four/general: [0.31,0.50]；Pyatyi/poor:
[0.11,0.30]；Six grades/very poor: [0,0.10]；D. by binary interval number evaluation of estimate that resulting remote maintaining operates with build
Vertical evaluation criterion is corresponded to, and the opinion rating that can obtain remote maintaining system is " Pyatyi " i.e. " poor "；Think this remote control dimension
The safety of shield scheme is bad, needs to carry out equipment and environment further people because of analysis and research, and make as far as possible compared with
Big improvement；6) the comprehensive weak property index improved during attended operation, to improve the operating efficiency of three-dimensional remote maintaining: root
According to the results show that optimizable maintenance work is embodied in: the work posture for improveing people makes the reduction of its fatigue strength, or pair of improvement people
The contact surface of hand and maintenance device is to mitigate physical injury, or installs radiation shield tool additional to mitigate radiation injury, or training
The work habit of people is to reduce human-equation error probability, or tempers physique and the psychological quality of people so as to improve the psychological cognition feelings of people
Condition.
2. it is according to claim 1 it is a kind of based on people because of the remote maintaining method of simulation analysis, it is characterised in that: it is described
The manikin of virtual artificial 50 percentile, visual human height 1704.5mm, brachium 722.261mm.
3. it is according to claim 1 based on people because simulation analysis remote maintaining method it is distant because of simulation analysis based on people
Maintenance device is controlled, the maintenance device mainly includes target platform frame and remote maintaining frock tool, which is characterized in that described
Target platform frame is mainly made of main backstop, rack platform, stair, XYZ crane and fence, and main backstop is mounted on rack platform
The bracket of lower section formation fixed rack platform；The fence is vertically centered around the edge of rack platform, fence surrounding be provided with from
Upwardly-extending baffle at rack platform, the stair are arranged in main backstop side and lead to the upper surface of rack platform, institute
Rack lifting device is installed, rack platform opens up free in the middle part of installation rack lifting device in the middle part of the rack platform stated
The bottom of slot, empty slot and rack lifting device is mutually communicated, and is formed in the middle part of the inside and rack platform of rack lifting device, main branch
Support communicates in the vertical direction；The XYZ crane is movably arranged on rack lifting device top；So that rack lifting device with
In the middle part of rack platform, the place of communicating of main backstop for remote maintaining frock tool activity space.
4. it is according to claim 3 it is a kind of based on people because of the remote maintaining device of simulation analysis, it is characterised in that: it is described
The overall dimensions of remote maintaining device are as follows: wide to reach 5.0-5.5 meters, up to 6.3-6.8 meters up to 5.0-5.5 meters.
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| CN110310324A (en) * | 2018-03-20 | 2019-10-08 | 红塔烟草(集团)有限责任公司 | A kind of life cycle management method and system based on part three dimension location |
| CN109299522B (en) * | 2018-09-04 | 2021-10-01 | 中国舰船研究设计中心 | Ship limited space operation simulation evaluation method |
| CN111832939B (en) * | 2020-07-13 | 2021-05-25 | 中国南方电网有限责任公司超高压输电公司柳州局 | Method for evaluating overhaul quality of main equipment of extra-high voltage direct current transmission system |
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