CN109670249B - Mechanical design adjustment method based on maintenance visual accessibility - Google Patents
Mechanical design adjustment method based on maintenance visual accessibility Download PDFInfo
- Publication number
- CN109670249B CN109670249B CN201811580959.1A CN201811580959A CN109670249B CN 109670249 B CN109670249 B CN 109670249B CN 201811580959 A CN201811580959 A CN 201811580959A CN 109670249 B CN109670249 B CN 109670249B
- Authority
- CN
- China
- Prior art keywords
- visual
- maintenance
- score
- reachability
- degrees
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 193
- 238000012423 maintenance Methods 0.000 title claims abstract description 172
- 238000013461 design Methods 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000007613 environmental effect Effects 0.000 claims abstract description 38
- 230000004424 eye movement Effects 0.000 claims abstract description 32
- 238000005286 illumination Methods 0.000 claims abstract description 28
- 239000002131 composite material Substances 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 18
- 238000013210 evaluation model Methods 0.000 claims description 9
- 230000009191 jumping Effects 0.000 claims description 4
- 210000003128 head Anatomy 0.000 description 35
- 238000011156 evaluation Methods 0.000 description 27
- 238000005516 engineering process Methods 0.000 description 7
- 239000011159 matrix material Substances 0.000 description 7
- 230000009466 transformation Effects 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 238000013178 mathematical model Methods 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 3
- 238000012795 verification Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 238000011511 automated evaluation Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/20—Administration of product repair or maintenance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/04—Manufacturing
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention discloses a mechanical design adjustment method based on maintenance visual accessibility. Comprising the following steps: constructing a maintenance virtual environment in maintenance simulation software; determining feature points of the maintenance part which are not shielded by the maintenance part and the environmental part according to the position data of the maintenance part and the environmental part; determining a first visual reachability score of the non-occluded feature point by adopting an optimal direct view range model, an optimal eye movement view range model, a maximum direct view range model and a maximum eye movement view range model; determining a second visual reachability score for the non-occluded feature point based on the line of sight; determining a third visual reachability score for the non-occluded feature point based on the illumination intensity; determining a visual reachability composite score for the repair component based on the first, second, and third visual reachability scores; and determining whether to adjust the prototype design according to the visual accessibility comprehensive score of the maintenance part. The invention provides objective, quantitative and comprehensive reference basis for the maintenance design of the machine.
Description
Technical Field
The invention relates to the technical field of human visual accessibility analysis in human-computer engineering, in particular to a mechanical design adjustment method based on maintenance visual accessibility.
Background
Currently, with the increasing automation level and intelligent degree of large-scale equipment, the development direction of the equipment is towards highly integrated development, and the maintenance difficulty is rather greater. In order to ensure that the equipment has better use reliability and lower total life cycle cost, maintainability design and verification have become an indispensable research field in the equipment design process. Maintainability verification is an important part of product maintainability design. Whether the qualitative and quantitative design of the product maintainability meets the requirement or not is checked through maintainability verification. At present, with rapid development and wide application of computer simulation technology and virtual reality technology, virtual maintenance simulation technology based on virtual reality technology also becomes a current research hotspot. The virtual reality technology is deeply applied in the field of maintainability, so that maintainability design work can be developed in parallel with equipment overall design work, and the efficiency of the maintainability design work is greatly improved. In the virtual maintenance environment, the maintenance process of the equipment is simulated by establishing a virtual space containing maintenance factors such as maintenance personnel, maintenance tools, equipment three-dimensional digital prototype, maintenance process and the like, so that the defects in the aspect of equipment maintainability design are found in advance, and potential problems in the aspect of product maintainability are solved in the early stage of the design stage. At present, the development of visual reachability virtual maintenance technology is still immature, the traditional method still has a certain limitation, the maintainability evaluation work based on the virtual maintenance technology is still mainly based on qualitative evaluation, and maintenance personnel are required to carry out subjective qualitative judgment, expert opinion assistance and other problems, so that objective data support evaluation results cannot be given. The visibility in virtual maintenance lacks an objective, quantitative, comprehensive automated evaluation method. Therefore, the method provides an automatic visual accessibility evaluation and analysis method in a virtual environment.
Disclosure of Invention
The invention aims to provide a machine design adjusting method based on maintenance visual accessibility, which provides objective, quantitative and comprehensive reference basis for maintenance design of machines.
In order to achieve the above object, the present invention provides the following solutions:
a method of machine design adjustment based on maintenance visual accessibility, comprising:
setting up a maintenance virtual environment in maintenance simulation software, wherein the maintenance virtual environment comprises a virtual person, a virtual prototype, a maintenance part and an environment part;
determining feature points which are not shielded by the maintenance component and the environmental component according to the position data of the maintenance component and the environmental component, and recording the feature points as non-shielded feature points;
determining a first visual reachability score of the non-occluded feature point based on the viewing cone by adopting an optimal direct view range model, an optimal eye movement view range model, a maximum direct view range model and a maximum eye movement view range model;
determining a second visual reachability score for the non-occluded feature point based on the line of sight;
determining a third visual reachability score for the non-occluded feature point based on the illumination intensity;
determining a visual reachability composite score for the repair component based on the first visual reachability score, the second visual reachability score, and the third visual reachability score;
and determining whether to adjust the prototype design according to the visual accessibility comprehensive score of the maintenance component.
Optionally, the determining, according to the position data of the maintenance component and the environmental component, the feature points of the maintenance component that are not blocked by the maintenance component and are not blocked by the environmental component specifically includes:
acquiring characteristic points of the maintenance part;
constructing an AABB bounding box of the maintenance part according to the characteristic points of the maintenance part;
determining a viewpoint position;
constructing a sight line parameter equation according to the characteristic point position of the maintenance component and the viewpoint position;
based on a sight line parameter equation, detecting whether the characteristic points of the maintenance part are shielded by an AABB bounding box of the maintenance part point by utilizing a sight line interference detection algorithm, and marking the characteristic points which are not shielded by the AABB bounding box of the maintenance part as first characteristic points;
acquiring characteristic points of the environmental component;
constructing an AABB bounding box of the environmental component according to the characteristic points of the environmental component;
and detecting whether the first feature point is blocked by the AABB bounding box of the environment part point by utilizing a line of sight interference detection algorithm based on the line of sight parameter equation, and determining the first feature point which is not blocked by the AABB bounding box of the environment part as the non-blocked feature point.
Optionally, after the detecting, point by point, by using a line of sight interference detection algorithm, whether the first feature point is occluded by an AABB bounding box of the environmental component, the method further includes:
judging whether the characteristic points of the maintenance part have characteristic points which are shielded by the environment part or not;
if yes, adjusting the head position of the virtual person, re-determining the viewpoint, and jumping to the step of determining the viewpoint position;
if not, a step of determining a first visual reachability score is performed.
Optionally, the determining the visual accessibility composite score of the maintenance component according to the first visual accessibility score, the second visual accessibility score and the third visual accessibility score specifically includes:
according toCalculating a visual reachability composite score S for the repair component c Wherein m represents the number of the non-occluded feature points, n represents the number of the feature points which are not occluded by the self, S 1 Representing a first visual reachability score, S 2 Representing a second visual reachability score, S 3 Representing a third visual reachability score.
Optionally, the determining the visual accessibility composite score of the maintenance component according to the first visual accessibility score, the second visual accessibility score and the third visual accessibility score specifically includes:
according toAfter calculating and adjusting the head position of the virtual person, the visual accessibility comprehensive score S of the maintenance part ca Wherein m represents the number of the non-occluded characteristic points after the head position of the virtual person is adjusted, n represents the number of the characteristic points which are not occluded by the human body after the head position of the virtual person is adjusted, S 1 Representing adjustment of a virtual head positionA first visual reachability score, S 2 Representing a second visual reachability score after adjustment of the virtual human head position, S 3 Representing a third visual reachability score, m, after adjustment of the virtual human head position 11 Representing the number of maintenance part characteristic points which are not blocked by the maintenance part and the environmental part after the head is adjusted upwards by 6 degrees, m 12 The number of maintenance part characteristic points which are not blocked by the maintenance part and the environment part is re-detected after the head is downwards adjusted by 6 degrees, S 11 、S 12 Respectively representing a first visual reachability score after the head is adjusted upwards by 6 degrees and a first visual reachability score after the head is adjusted downwards by 6 degrees, S 21 、S 22 Respectively representing a second visual reachability score with the head adjusted up by 6 degrees and a second visual reachability score with the head adjusted down by 6 degrees, S 31 、S 32 Representing a third visual reachability score with the head adjusted up by 6 degrees and a third visual reachability score with the head adjusted down by 6 degrees.
Optionally, the determining whether to adjust the prototype design according to the visual accessibility comprehensive score of the maintenance component specifically includes:
judging whether the visual accessibility comprehensive score of the maintenance component is smaller than a set threshold value;
if so, the design of the maintenance component needs to be adjusted;
if not, no adjustments to the design of the repair parts are required.
Optionally, the environmental component is an environmental component surrounding the repair path.
Optionally, the maintenance simulation software is DELMIA software.
Optionally, the view cone range determined by the optimal direct view range model is a cone space with a normal line being a straight line with a downward inclination angle of 30 degrees and a cone angle of 30 degrees; the cone space with the cone angle of 60 degrees is determined by the optimal eye movement field of view range model, wherein the cone range is a straight line with the normal line of 30 degrees of downward inclination angle of the horizontal line; the viewing cone range determined by the maximum direct visual field range model is a straight line with a normal line of 30 degrees of downward inclination of a horizontal line, the horizontal plane is-60 degrees to 60 degrees, and the vertical plane is 15 degrees to-75 degrees of elliptical cone space; the viewing cone range determined by the maximum eye movement visual field range model is a straight line with a normal line of 30 degrees of downward inclination of a horizontal line, the horizontal plane is-60 degrees to 60 degrees, and the vertical plane is an elliptic cone space of 25 degrees to-85 degrees.
Optionally, the feature point of the maintenance component has a score of 1 in an optimal direct view range, a score of 0.7 in an optimal eye movement view range, a score of 0.4 in a maximum direct view range, a score of 0.2 in a maximum eye movement view range, and the set threshold is 0.7.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: according to the maintenance visual reachability-based mechanical design adjustment method provided by the invention, the visual shielding of the maintenance component is analyzed by adopting a visual line interference detection algorithm, the visual reachability model of the maintenance component based on the viewing cone, the viewing distance and the illumination intensity is determined, and the visual reachability comprehensive evaluation model of the maintenance component is determined according to the visual reachability model of the maintenance component based on the viewing cone, the viewing distance and the illumination intensity, so that the comprehensive, objective and quantitative analysis of the maintenance visual reachability of the mechanical component is realized, the maintenance design level and efficiency are effectively improved, in addition, the illumination intensity and the environmental component visual shielding proportion are used as coefficients in the visual reachability comprehensive evaluation model, and the viewing cone and the viewing distance are used as scoring standards.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for adjusting a machine design based on maintenance visual accessibility according to an embodiment of the present invention;
FIG. 2 is a view of a direct view model for optimizing the field of view according to an embodiment of the present invention;
FIG. 3 is a view of a model of the optimal eye movement view range according to an embodiment of the present invention;
FIG. 4 is a view of a maximum direct view model according to an embodiment of the present invention;
fig. 5 is a view of a maximum eye movement view model according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a machine design adjusting method based on maintenance visual accessibility, which provides objective, quantitative and comprehensive reference basis for maintenance design of machines.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 1 is a schematic flow chart of a mechanical design adjustment method based on maintenance visual reachability in an embodiment of the present invention, and as shown in fig. 1, the steps of the mechanical design adjustment method based on maintenance visual reachability provided in the present invention are specifically as follows:
step 101: setting up a maintenance virtual environment in maintenance simulation software, wherein the maintenance virtual environment comprises a virtual person, a virtual prototype, a maintenance part and an environment part;
step 102: determining feature points which are not shielded by the maintenance component and the environmental component according to the position data of the maintenance component and the environmental component, and recording the feature points as non-shielded feature points;
step 103: determining a first visual reachability score of the non-occluded feature point based on the viewing cone by adopting an optimal direct view range model, an optimal eye movement view range model, a maximum direct view range model and a maximum eye movement view range model;
step 104: determining a second visual reachability score for the non-occluded feature point based on the line of sight;
step 105: determining a third visual reachability score for the non-occluded feature point based on the illumination intensity;
step 106: determining a visual reachability composite score for the repair component based on the first visual reachability score, the second visual reachability score, and the third visual reachability score;
step 107: and determining whether to adjust the prototype design according to the visual accessibility comprehensive score of the maintenance component.
The step 101 specifically includes:
setting up a virtual environment in the DELMIA software of the computer and acquiring virtual man data, virtual prototype data, maintenance parts and environment part data;
firstly, setting up a virtual environment in the DELMIA software of a computer, loading a virtual person, a virtual prototype, a maintenance part and an environment part into the virtual environment in the DELMIA software, and then adjusting the maintenance station position of a maintenance person, the position of a maintenance tool and the like to enable the maintenance station position and the position of the maintenance tool to meet the actual maintenance working condition. Virtual machine data, virtual prototype data, repair parts, and environmental part data in the virtual environment are then collected using the DELMIA interface function.
Step 102 specifically includes: performing secondary development on DELMIA software by using computer VB software, extracting characteristic point data from a maintenance part model and an environment part model around a maintenance path in a virtual environment, and sequentially storing the characteristic point data in a set F A Set F B Is a kind of medium.
And establishing a visual shielding evaluation system of the self part of the maintenance part based on the characteristic points according to the data and performing line-of-sight interference detection. Firstly, constructing an AABB bounding box of the maintenance part according to the characteristic points of the maintenance part, wherein the AABB axial bounding box is obtained by calculating a characteristic point set F of a model A X, y and z coordinates of (a) maximum x max 、y max 、z max Coordinates and minimum x min 、y min 、z min The coordinates are constructed, and then a sight line parameter equation is constructed according to the current viewpoint position and the characteristic points of the maintenance part, wherein the sight line parameter equation is expressed as (x 0 ,y 0 ,z 0 ) For the start point coordinates of the line of sight, a direction vector (x) of the line of sight is calculated from the feature point coordinates and the viewpoint coordinates d ,y d ,z d ) And satisfies the formula (1).
The parametric equation for line of sight is therefore expressed as equation (2), where t > 0,
then sequentially detecting the set F point by using a line-of-sight interference detection algorithm A Whether the characteristic points of the middle part block the sight line or not and store the characteristic points of the maintenance part which are not blocked by the middle part in the set F C In (1), set F C The number of feature points in (a) is stored in a number set n. Line-of-sight interference detection means detecting a characteristic point set F from a maintenance part A The visual characteristic point is taken out each time, and the sight PQ of the detection shape shown in the formula (2) is constructed i Substituting the parameter into the plane P (A, B, C, D are plane parameters) equation in the formula (3) so as to obtain a parameter t by solving, if t<0, the corresponding intersection point is not on the light, and the intersection point is invalid; if t= infinity, the line of sight is parallel to the plane and does not intersect; otherwise, substituting the value of t into formula (2) can obtain the coordinates (x) of the intersection point i ,y i ,z i ) And then, continuously judging whether the intersection point is on the surface of the bounding box. Although there is an intersection of the line of sight with the bounding box plane, it is not necessarily the intersection of the line of sight with the bounding box surface, i.e., X i Not necessarily falling within the spatial extent of the bounding box surface rectangle. Determining whether the intersection point is x which coordinates the vertex in the axial bounding box i ,y i ,z i The value is respectively equal to the maximum coordinate x max ,y max ,z max And a minimum coordinate x min ,y min ,z min In comparison, if equation (4) is satisfied, the intersection is in the bounding box, and the description section obscures the feature point. Detecting the characteristic points point by point, and putting the characteristic points which are not blocked by the self parts into a set F C And will be set F C The number of the characteristic points in the model is stored in a number set n.
Ax+By+Cz+D＝0 (3)
x min ＜x i ＜x max 、y min ＜y i ＜y max 、z min ＜z i ＜z max (4)
And establishing a visual shielding evaluation system of the self part of the maintenance part based on the characteristic points according to the data and performing line-of-sight interference detection. Firstly constructing an AABB bounding box of an environmental component according to characteristic points of the environmental component, secondly constructing a sight parameter equation according to the current viewpoint position and the characteristic points of a maintenance component, and then detecting a set F point by point sequentially by using a sight interference detection algorithm in the same way C Whether the feature points of the middle part block the vision or not and re-storing the feature points of the maintenance part which are not blocked by the environment part in the set F C In which the feature points of the maintenance part blocked by the environmental part are stored in a set F D The number of the re-stored feature points is stored in a number set m.
Namely, step 102 comprises the steps of:
step 1021: acquiring characteristic points of the maintenance part;
step 1022: constructing an AABB bounding box of the maintenance part according to the characteristic points of the maintenance part;
step 1023: determining a viewpoint position;
step 1024: constructing a sight line parameter equation according to the characteristic point position of the maintenance component and the viewpoint position;
step 1025: based on a sight line parameter equation, detecting whether the characteristic points of the maintenance part are shielded by an AABB bounding box of the maintenance part point by utilizing a sight line interference detection algorithm, and marking the characteristic points which are not shielded by the AABB bounding box of the maintenance part as first characteristic points;
step 1026: acquiring characteristic points of the environmental component;
step 1027: constructing an AABB bounding box of the environmental component according to the characteristic points of the environmental component;
step 1028: based on the sight parameter equation, detecting whether the first feature point is shielded by an AABB bounding box of the environmental component point by utilizing a sight interference detection algorithm, and determining the first feature point which is not shielded by the AABB bounding box of the environmental component as a non-shielded feature point;
as a preferred embodiment, step 102 further includes: step 1029: judging whether the characteristic points of the maintenance part have characteristic points which are shielded by the environment part or not;
if yes, adjusting the head position of the virtual person, re-determining the viewpoint, and jumping to step 1023;
if not, step 103 is performed.
And when the characteristic points occluded by the environment component exist in the maintenance component, adjusting the head gesture in the virtual environment and re-detecting, otherwise, jumping to step 103. Combining the comfort range of head adjustment of maintenance personnel in actual operation to be 6 degrees to-6 degrees, firstly, upward adjusting the head of the virtual person by 6 degrees in a virtual environment, and collecting the obtained characteristic point set F D Substitution step four-fold detection and acquisition of set F C1 ，F D1 Number set m 11 . Then set F C1 Substituting the feature points in step 103, 104, 105 to obtain score S 11 ，S 21 ，S 31 . Similarly, the head of the virtual person in the virtual environment is adjusted downwards by 6 degrees and the operation is repeated to obtain a set F C2 Number set m 12 Score S 12 ，S 22 ，S 32 。
Step 103: for the obtained collection F D The feature points in (3) are subjected to visual reachability evaluation based on the viewing cone. Firstly, constructing different view cone range evaluation models according to related criteria of an ergonomic vision part, and respectively and sequentially establishing an optimal direct view field range model, an optimal eye movement view field range model, a maximum direct view field range model and a maximum eye movement view field range model. Optimal eye movement field range model and maximum direct field of viewThe range model and the view field range map of the maximum eye movement view range model are shown in fig. 2 to 5.
TABLE 1 model score summary table for each field of view
The optimal direct visual field range means that the human eye can directly and clearly see the operation object. The optimal field of view refers to a spatial cone with a normal line that is a straight line with a downward inclination angle of 30 degrees and a cone angle of 30 degrees. The central view point of the two eyes is taken as a coordinate origin O, the vertical direction of the visual field is taken as an x-axis, the horizontal direction of the visual field is taken as a y-axis, and the normal line is taken as a z-axis. In the conical coordinate system O, a parametric equation (5) is established for the mathematical model of the best direct view model. Thus, when the repair part feature points are in the optimal direct field of view, the visual reachability score based on the viewing cone is 1.
[x 0 ,y 0 ,z 0 ] T ＝[0.2679usinv,0.2679ucosv,u] T (5)
U denotes the length of the line of sight and v is the angle between the point on the connection visible cone and the line between the viewpoint and the Y-axis.
The optimal eye movement visual field range means that the operation object can be clearly seen by the rotation of the eyes. The optimal eye movement optimal visual field range refers to a spatial cone with a normal line being a straight line with a downward inclination angle of 30 degrees and a cone angle of 60 degrees. The central view point of the two eyes is taken as a coordinate origin O, the vertical direction of the visual field is taken as an x-axis, the horizontal direction of the visual field is taken as a y-axis, and the normal line is taken as a z-axis. In the conical coordinate system O, a parametric equation (6) is established for the mathematical model of the best direct view model. Thus, when the repair part feature points are within the optimal eye movement field of view, the cone-based visual reachability score is 0.7.
[x 0 ,y 0 ,z 0 ] T ＝[0.4663usinv,0.4663ucosv,u] T (6)
U denotes the length of the line of sight and v is the angle between the point on the connection visible cone and the line between the viewpoint and the Y-axis.
The maximum direct visual field range means that the operation object can be clearly seen by the rotation of the eye. The optimal eye movement optimal visual field range refers to a straight line with a normal line of 30 degrees of downward inclination of a horizontal line, a horizontal plane of-60 degrees to 60 degrees and a vertical plane of 15 degrees to-75 degrees. The central view point of the two eyes is taken as a coordinate origin O, the vertical direction of the visual field is taken as an x-axis, the horizontal direction of the visual field is taken as a y-axis, and the normal line is taken as a z-axis. In the conical coordinate system O, a parametric equation (7) is established for the mathematical model of the best direct view model. Thus, when the repair part feature points are within the optimal eye movement field of view, the cone-based visual reachability score is 0.4.
[x 0 ,y 0 ,z 0 ] T ＝[1.732usinv,ucosv,u] T (7)
U denotes the length of the line of sight and v is the angle between the point on the connection visible cone and the line between the viewpoint and the Y-axis.
The maximum eye movement visual field range means that the operation object can be clearly seen by the rotation of the eyes. The optimal eye movement optimal visual field range refers to a straight line with a normal line of 30 degrees of downward inclination of a horizontal line, a horizontal plane of-60 degrees to 60 degrees and a vertical plane of 25 degrees to-85 degrees. The central view point of the two eyes is taken as a coordinate origin O, the vertical direction of the visual field is taken as an x-axis, the horizontal direction of the visual field is taken as a y-axis, and the normal line is taken as a z-axis. In the conical coordinate system O, a parametric equation (8) is established for the mathematical model of the best direct view model. Thus, when the maintenance component feature points are within the optimal eye movement field of view, the cone-based visual reachability score is 0.2
[x 0 ,y 0 ,z 0 ] T ＝[1.732usinv,1.428ucosv,u] T (8)
u denotes the length of the line of sight, v is the angle between the point on the connection visible cone and the line between the viewpoint and the Y-axis.
Then, since the data information in the virtual maintenance environment is based on the whole virtual environment world coordinate system, however, the virtual human visual cone mathematical model is built in the visual cone coordinate system, the virtual maintenance environment coordinate system a needs to be converted into the visual cone coordinate system O by using the homogeneous transformation matrix T. Wherein the homogeneous transformation matrix T is obtained from equation (9).
T＝R(B)×R(O) (9)
R (B) is obtained by a formula (10) and represents a displacement transformation matrix of the visual cone coordinate system O and the maintenance personnel coordinate system B.
Wherein R is x (θ) represents an angle of θ degrees of rotation of coordinate system A about an axis relative to coordinate system B, R y (phi) means that the coordinate system A is rotated by an angle phi with respect to the coordinate system B about an axis,representing the rotation of coordinate system A about an axis relative to coordinate system B>The degree angle, T, represents the offset matrix of the origin of coordinate system A in coordinate system B. And similarly, obtaining a coordinate transformation matrix R (O) from the maintenance personnel coordinate system B to the visual cone coordinate system O, thereby obtaining a coordinate transformation matrix T from the virtual environment coordinate system to the visual cone coordinate system. The obtained set F is transformed by a transformation matrix D The characteristic points in the model are changed into a visual cone coordinate system, the positions of the characteristic points are sequentially judged to be positioned in which visual field range, and the scoring condition is recorded. If the feature point is not located in any of the above-mentioned visual fields, the score is recorded as zero.
Step 104: for the obtained collection F D The feature points in the (3) are subjected to vision-distance-based vision reachability evaluation and calculated to obtain vision-distance-based vision reachability evaluation score average score S 1 . Firstly, according to different requirements of different maintenance works on the vision distance, a vision distance evaluation model of the different maintenance works is established, and the vision distance models are summarized as shown in table 2. Second according to the upper partThe obtained set F D Characteristic points (x) s ,y s ,z s ) With the viewpoint coordinates (x 1 ,y 1 ,z 1 ) And calculating and obtaining the vision distance d by using a distance formula (11) and obtaining a score.
TABLE 2 Sight distance model scoring summary table for different maintenance operations
Step 105: for the obtained collection F D The feature points in (3) are evaluated for visual accessibility based on illumination intensity. Firstly, according to different requirements of different maintenance works on illumination intensity, an illumination intensity evaluation model of the different maintenance works is established, and the illumination intensity models are summarized as shown in table 3. And secondly, inputting the ambient illumination intensity according to the virtual environment condition and obtaining the score.
TABLE 3 illumination intensity model scoring summary table for different maintenance operations
Step 106 specifically includes:
according toCalculating a visual reachability composite score S for the repair component c Wherein m represents the number of the non-occluded feature points, n represents the number of the feature points which are not occluded by the self, S 1 Representing a first visual reachability score, S 2 Representing a second visual reachability score, S 3 Representing a third visual reachability score.
According toAfter calculating and adjusting the head position of the virtual person, the visual accessibility comprehensive score S of the maintenance part ca Wherein m represents the number of the non-occluded characteristic points after the head position of the virtual person is adjusted, n represents the number of the characteristic points which are not occluded by the human body after the head position of the virtual person is adjusted, S 1 Representing a first visual reachability score after adjustment of the head position of a virtual person, S 2 Representing a second visual reachability score after adjustment of the virtual human head position, S 3 Representing a third visual reachability score, m, after adjustment of the virtual human head position 11 Representing the number of maintenance part characteristic points which are not blocked by the maintenance part and the environmental part after the head is adjusted upwards by 6 degrees, m 12 The number of maintenance part characteristic points which are not blocked by the maintenance part and the environment part is re-detected after the head is downwards adjusted by 6 degrees, S 11 、S 12 Respectively representing a first visual reachability score after the head is adjusted upwards by 6 degrees and a first visual reachability score after the head is adjusted downwards by 6 degrees, S 21 、S 22 Respectively representing a second visual reachability score with the head adjusted up by 6 degrees and a second visual reachability score with the head adjusted down by 6 degrees, S 31 、S 32 Representing a third visual reachability score with the head adjusted up by 6 degrees and a third visual reachability score with the head adjusted down by 6 degrees.
Step 107 specifically includes:
judging whether the visual accessibility comprehensive score of the maintenance component is smaller than a set threshold value;
if so, the design of the maintenance component needs to be adjusted;
if not, no adjustments to the design of the repair parts are required.
And in combination with the requirement of maintenance operation on visual accessibility, establishing a visual accessibility feedback model to feed back the result to a designer. Wherein the visual accessibility comprehensive evaluation table for maintenance operation is shown in table 4. When the visual accessibility score is less than 0.7, the maintenance operation design has less impact on visual accessibility and the product design needs to be modified appropriately. When the visual accessibility score is less than 0.4, the maintenance operation design has a large impact on visual accessibility, and the product design needs to be modified and re-inspected in detail to ensure that the visual accessibility score is greater than 0.7.
Table 4 visual accessibility comprehensive evaluation Table for maintenance operations
The invention has the following effects:
(1) After analyzing the actual maintenance operation and design criteria, on the basis of the current method for evaluating the visual accessibility by singly using the viewing cone, the evaluation indexes such as the visual shielding, the viewing cone, the viewing distance, the illumination intensity and the like are introduced, so that the blank of a scientific evaluation system lacking objectivity in the current visual accessibility evaluation field is overcome.
(2) After the evaluation indexes such as visual shielding, viewing cone, viewing distance, illumination intensity and the like are introduced, the scoring criteria of different evaluation indexes are redefined by combining the criteria of the fields of ergonomics and maintainability. The visual accessibility evaluation criterion established by combining the ergonomic and maintainability fields is more in line with the actual maintenance operation condition than the visual accessibility criterion established based on the maintainability criterion.
(3) The vision shielding is divided into two cases of shielding by the self component and shielding by the environment component, and the vision interference detection system based on the characteristic points is established for detecting the characteristic points respectively, so that the vision shielding system is more in line with the actual maintenance working condition and reduces errors compared with the traditional single-factor case of only considering the vision shielding of the environment component. And selecting different maintenance work visual field range models as scoring models with different visual accessibility according to an ergonomic rule.
(4) And selecting an optimal direct visual field range model, an optimal eye movement visual field range model, a maximum direct street visual field range model and a maximum eye movement visual field range model as a visual reachability scoring model according to an ergonomic principle. The method realizes visual reachability parameterization evaluation by establishing a grading criterion of the viewing cone parameterization according to a model selected by an ergonomic principle.
(5) And selecting different maintenance working line-of-sight criteria as a visual reachability scoring model according to the ergonomic criteria. And a maintenance working stadia scoring model in visual accessibility is established according to an ergonomic principle. The method realizes visual reachability parameterization evaluation by establishing a scoring criterion of the sight distance parameterization according to a model selected by an ergonomic principle.
(6) And selecting different maintenance work illumination intensity criteria as a visual reachability scoring model according to the ergonomic criteria. In step 7, a maintenance work illumination intensity scoring model in visual reachability is established according to ergonomic principles. The method realizes visual reachability parameterization evaluation by establishing a scoring criterion of illumination intensity parameterization according to a model selected by an ergonomic principle.
(7) According to the ergonomic criteria, different maintenance work illumination intensity criteria are selected as a visual reachability scoring model; establishing a maintenance work illumination intensity scoring model in visual reachability according to an ergonomic principle; the visual accessibility parameterization evaluation is realized by a model selected according to an ergonomic principle and establishing a scoring criterion of illumination intensity parameterization.
(8) The invention considers that the body posture of the maintenance personnel is unconstrained in the actual operation, and therefore, a re-detection method is established. When the human body is comfortable, the moving angle of the vertical plane head is 6 degrees to-6 degrees, the head is moved in the virtual environment and re-detected, and the comprehensive visual accessibility evaluation result is corrected, so that the comprehensive visual accessibility evaluation result is more in line with the actual maintenance working condition.
(9) The invention analyzes the importance and interrelation of the indexes such as visual shielding, viewing cone, viewing distance, illumination intensity and the like, and then establishes a visual reachability comprehensive evaluation model. The vision reachability comprehensive evaluation model takes the illumination intensity and the vision shielding proportion of the environmental components as coefficients, and takes the viewing cone and the viewing distance as the scoring standard, which is more scientific than the traditional evaluation system and more accords with the actual maintenance working condition.
(10) Compared with the current situation that maintenance personnel are required to conduct subjective qualitative judgment and expert opinion assistance in the existing visual reachability analysis and evaluation method, the visual reachability automatic evaluation method helps designers to achieve objective, automatic visual reachability parameterization evaluation, and effectively reduces the working time of the designers.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. A method of machine design adjustment based on maintenance visual accessibility, comprising:
setting up a maintenance virtual environment in maintenance simulation software, wherein the maintenance virtual environment comprises a virtual person, a virtual prototype, a maintenance part and an environment part;
determining feature points which are not shielded by the maintenance component and the environmental component according to the position data of the maintenance component and the environmental component, and recording the feature points as non-shielded feature points;
determining a first visual reachability score of the non-occluded feature point based on the viewing cone by adopting an optimal direct view range model, an optimal eye movement view range model, a maximum direct view range model and a maximum eye movement view range model;
determining a second visual reachability score for the non-occluded feature point based on the line of sight;
determining a third visual reachability score for the non-occluded feature point based on the illumination intensity;
determining a visual reachability composite score for the repair component based on the first visual reachability score, the second visual reachability score, and the third visual reachability score;
determining whether to adjust a prototype design based on the visual reachability composite score for the repair component;
the method for determining the characteristic points of the maintenance part which are not blocked by the maintenance part and are not blocked by the environment part according to the position data of the maintenance part and the environment part specifically comprises the following steps:
acquiring characteristic points of the maintenance part;
constructing an AABB bounding box of the maintenance part according to the characteristic points of the maintenance part;
determining a viewpoint position;
constructing a sight line parameter equation according to the characteristic point position of the maintenance component and the viewpoint position;
based on a sight line parameter equation, detecting whether the characteristic points of the maintenance part are shielded by an AABB bounding box of the maintenance part point by utilizing a sight line interference detection algorithm, and marking the characteristic points which are not shielded by the AABB bounding box of the maintenance part as first characteristic points;
acquiring characteristic points of the environmental component;
constructing an AABB bounding box of the environmental component according to the characteristic points of the environmental component;
based on the sight parameter equation, detecting whether the first feature point is shielded by an AABB bounding box of the environmental component point by utilizing a sight interference detection algorithm, and determining the first feature point which is not shielded by the AABB bounding box of the environmental component as a non-shielded feature point;
after the detecting whether the first feature point is blocked by the AABB bounding box of the environmental component point by using the line-of-sight interference detection algorithm, the method further comprises:
judging whether the characteristic points of the maintenance part have characteristic points which are shielded by the environment part or not;
if yes, adjusting the head position of the virtual person, re-determining the viewpoint, and jumping to the step of determining the viewpoint position;
if not, executing a step of determining a first visual reachability score;
the determining the visual accessibility composite score of the maintenance component according to the first visual accessibility score, the second visual accessibility score and the third visual accessibility score specifically comprises:
according toAfter calculating and adjusting the head position of the virtual person, the visual accessibility comprehensive score S of the maintenance part ca Wherein m represents the number of the non-occluded characteristic points after the head position of the virtual person is adjusted, n represents the number of the characteristic points which are not occluded by the human body after the head position of the virtual person is adjusted, S 1 Representing a first visual reachability score after adjustment of the head position of a virtual person, S 2 Representing a second visual reachability score after adjustment of the virtual human head position, S 3 Representing a third visual reachability score, m, after adjustment of the virtual human head position 11 Representing the number of maintenance part characteristic points which are not blocked by the maintenance part and the environmental part after the head is adjusted upwards by 6 degrees, m 12 The number of maintenance part characteristic points which are not blocked by the maintenance part and the environment part is re-detected after the head is downwards adjusted by 6 degrees, S 11 、S 12 Respectively representing a first visual reachability score after the head is adjusted upwards by 6 degrees and a first visual reachability score after the head is adjusted downwards by 6 degrees, S 21 、S 22 Respectively representing a second visual reachability score with the head adjusted up by 6 degrees and a second visual reachability score with the head adjusted down by 6 degrees, S 31 、S 32 Representing a third visual reachability score with the head adjusted up by 6 degrees and a third visual reachability score with the head adjusted down by 6 degrees;
determining a third visual reachability score of the non-occluded feature point based on the illumination intensity, specifically comprising:
according to different requirements of different maintenance works on illumination intensity, establishing illumination intensity evaluation models of different maintenance works;
and determining a third visual reachability score of the non-occluded characteristic point according to the illumination intensity and the illumination intensity evaluation model corresponding to the virtual environment.
2. The maintenance visual reachability-based machine design adjustment method according to claim 1, wherein said determining whether to adjust a prototype design based on a visual reachability composite score of the maintenance component specifically comprises:
judging whether the visual accessibility comprehensive score of the maintenance component is smaller than a set threshold value;
if so, the design of the maintenance component needs to be adjusted;
if not, no adjustments to the design of the repair parts are required.
3. The maintenance visual accessibility-based machine design adjustment method of claim 1, wherein said environmental component is an environmental component surrounding a maintenance path.
4. The maintenance visual reachability-based machine design adjustment method according to claim 1, wherein said maintenance simulation software is DELMIA software.
5. The maintenance visual accessibility-based mechanical design adjustment method according to claim 1, wherein the view cone range determined by the optimal direct view range model is a cone space in which a normal line is a straight line with a horizontal downtilt angle of 30 degrees and a cone angle is 30 degrees; the cone space with the cone angle of 60 degrees is determined by the optimal eye movement field of view range model, wherein the cone range is a straight line with the normal line of 30 degrees of downward inclination angle of the horizontal line; the viewing cone range determined by the maximum direct visual field range model is a straight line with a normal line of 30 degrees of downward inclination of a horizontal line, the horizontal plane is-60 degrees to 60 degrees, and the vertical plane is 15 degrees to-75 degrees of elliptical cone space; the viewing cone range determined by the maximum eye movement visual field range model is a straight line with a normal line of 30 degrees of downward inclination of a horizontal line, the horizontal plane is-60 degrees to 60 degrees, and the vertical plane is an elliptic cone space of 25 degrees to-85 degrees.
6. The maintenance visual reachability-based mechanical design adjustment method according to claim 2, wherein the feature point of the maintenance component has a score of 1 in an optimal direct view range, a score of 0.7 in an optimal eye movement view range, a score of 0.4 in a maximum direct view range, a score of 0.2 in a maximum eye movement view range, and the set threshold value of 0.7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811580959.1A CN109670249B (en) | 2018-12-24 | 2018-12-24 | Mechanical design adjustment method based on maintenance visual accessibility |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811580959.1A CN109670249B (en) | 2018-12-24 | 2018-12-24 | Mechanical design adjustment method based on maintenance visual accessibility |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109670249A CN109670249A (en) | 2019-04-23 |
| CN109670249B true CN109670249B (en) | 2023-11-03 |
Family
ID=66147143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811580959.1A Active CN109670249B (en) | 2018-12-24 | 2018-12-24 | Mechanical design adjustment method based on maintenance visual accessibility |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109670249B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111581840A (en) * | 2020-05-15 | 2020-08-25 | 中国人民解放军32181部队 | Equipment maintenance characteristic simulation test and evaluation system |
| CN113297734B (en) * | 2021-05-21 | 2024-03-29 | 南京邮电大学 | Visual cone-based simulation evaluation method for assembly process in limited space |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102542611A (en) * | 2010-12-27 | 2012-07-04 | 新奥特（北京）视频技术有限公司 | Three-dimensional object pickup method |
-
2018
- 2018-12-24 CN CN201811580959.1A patent/CN109670249B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102542611A (en) * | 2010-12-27 | 2012-07-04 | 新奥特（北京）视频技术有限公司 | Three-dimensional object pickup method |
Non-Patent Citations (2)
| Title |
|---|
| 特种车辆维修视觉可达性评价方法研究;崔晓风等;《计算机仿真》;20110331;第28卷(第3期);第349页左栏第1段-第352页右栏倒数第1段 * |
| 装备维修作业可视性验证方法研究;吴溪等;《机电产品开发与创新》;20121130;第25卷(第6期);第7页左栏第1段-第9页右栏倒数第1段 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109670249A (en) | 2019-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101966617B (en) | Brief description method for view model for continuous motion of welding robot | |
| CN110227876A (en) | Robot welding autonomous path planning method based on 3D point cloud data | |
| JP6250901B2 (en) | A robot system in which a CNC and a robot controller are connected via a communication network | |
| CA3082637A1 (en) | Method, device and computer program for virtually adjusting the spectacle frame | |
| WO2014080733A1 (en) | Assembly workability evaluation calculation device and assembly workability evaluation method | |
| CN110176078A (en) | A kind of mask method and device of training set data | |
| CN109670249B (en) | Mechanical design adjustment method based on maintenance visual accessibility | |
| CN107608507A (en) | The method for selecting of locomotive component and locomotive auxiliary maintaining system under low light condition | |
| JP5197640B2 (en) | Machining simulation apparatus and numerical control apparatus | |
| US20110320023A1 (en) | System and Method for Identifying Defects of Surfaces Due to Machining Processes | |
| CN101973032A (en) | Off-line programming system and method of optical visual sensor with linear structure for welding robot | |
| CN113634964A (en) | Gantry type robot welding equipment and welding process for large-sized component | |
| CN115793571B (en) | Processing equipment control method and system based on multi-mode data and related equipment | |
| CN107408290A (en) | Increase age forecasting system, increase age Forecasting Methodology and increase age Prediction program | |
| WO2013018235A1 (en) | Method and system for determining defect of surface of model of object | |
| CN114283139A (en) | Weld joint detection and segmentation method and device based on area array structured light 3D vision | |
| US5537523A (en) | Method and apparatus for displaying altitude of form characteristics generated from a geometric model in a computer using a graph | |
| CN113240798B (en) | Intelligent material integrity detection and configuration method based on digital twinning and AR | |
| JP5762099B2 (en) | Posture recognition apparatus, work robot, posture recognition method, program, and recording medium | |
| CN111581840A (en) | Equipment maintenance characteristic simulation test and evaluation system | |
| Inui et al. | Using a GPU to accelerate die and mold fabrication | |
| US7533001B2 (en) | Apparatus and method for evaluating equipment operability | |
| CN112085223A (en) | Guidance system and method for mechanical maintenance | |
| CN107066654A (en) | Towards the TRAJECTORY CONTROL dot picking method and apparatus in the enveloped box face of point cloud model | |
| CN114842144A (en) | Binocular vision three-dimensional reconstruction method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |