CN109670250A - A kind of the accessibility automatic evaluation method and system of maintenance of equipment - Google Patents
A kind of the accessibility automatic evaluation method and system of maintenance of equipment Download PDFInfo
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Abstract
The invention discloses the accessibility automatic evaluation methods and system of a kind of maintenance of equipment.The appraisal procedure includes: to obtain virtual arm data and Virtual Maintenance object data；According to Virtual Maintenance object data, the first Virtual Maintenance characteristics of objects point is extracted based on abutment points method arrow angle feature point extraction algorithm；According to Virtual Maintenance object data, the second Virtual Maintenance characteristics of objects point is extracted based on vertex significant characteristics point extraction algorithm；Virtual arm kinematics model is constructed according to virtual arm data；The reachable domain of virtual arm end or maintenance tool end is determined according to virtual arm kinematics model；Uniformly subdivision will be carried out up to domain, and determine set of characteristic points；The accessibility assessment result of maintenance of equipment is determined according to the first Virtual Maintenance characteristics of objects point, the second Virtual Maintenance characteristics of objects point and set of characteristic points.Provided appraisal procedure and system can automatically determine the accessibility assessment result of maintenance of equipment according to the present invention, improve the accuracy of accessibility assessment result.
Description
Technical field
The present invention relates to maintenance activity fields, a kind of accessibility automatic evaluation method more particularly to maintenance of equipment and are
System.
Background technique
To guarantee that equipment has preferable use reliability and lower Life Cycle Cost, capability of maintenance design and verifying
Have become essential research field during equipment Design.It, can be to the maintenance process of equipment under virtual maintenance environment
The mass data for being emulated, while being generated in simulation process can be to equipment repair accessibility, maintenance time, maintenance safety etc.
Assay provides strong support, and finds the deficiency of equipment Maintainability design aspect in advance, and suggests improvements, will be related
Potential problems in terms of Product maintenance are just resolved early stage the design phase.Accessibility refers in maintenance operation, when
After the maintenance erect-position of maintenance personal determines, whether Awaiting Parts are in virtual human arm or the coverage of handheld tool.It can
It is most important design objective in maintainability qualitative requirement up to property, is the first element of capability of maintenance design analysis.
Virtual Maintenance Technology provides a simulated environment true to nature for maintenance.However, Virtual Maintenance Technology development is also not
Maturation works still based on qualitative evaluation currently based on the maintainability evaluation of Virtual Maintenance Technology, lacks objective, quantitative, complete
The evaluation method in face.In accessibility measure, the analysis tool mainly provided using DELMIA software constructs virtual manpower
Arm envelope ball, evaluation personnel show that maintenance accessi bility is assessed by the relative positional relationship of observation maintenance position and arm envelope ball
As a result.A large amount of research work has been done in capability of maintenance design theory and analysis method by domestic and international many scientific research institutions, institution of higher learning
Make, also proposed many method for quantitatively evaluating in terms of accessibility measure.However, there is also qualitative subjectives for these evaluation methods
The problems such as with expertise is relied on, there is a large amount of subjective behaviors in evaluation procedure, and can not provide objective data support
Assessment result, the low problem of accessibility assessment result accuracy.
Summary of the invention
The object of the present invention is to provide the accessibility automatic evaluation methods and system of a kind of maintenance of equipment, to solve existing dimension
It repairs in device reachability evaluation procedure, subjective consciousness is strong and relies on expertise to provide objective data support assessment knot
Fruit, the low problem of caused accessibility assessment result accuracy.
To achieve the above object, the present invention provides following schemes:
A kind of accessibility automatic evaluation method of maintenance of equipment, comprising:
Obtain virtual arm data and Virtual Maintenance object data；
According to the Virtual Maintenance object data, it is virtual that first is extracted based on abutment points method arrow angle feature point extraction algorithm
Maintenance objects characteristic point；
According to the Virtual Maintenance object data, the second Virtual Maintenance is extracted based on vertex significant characteristics point extraction algorithm
Characteristics of objects point；
Virtual arm kinematics model is constructed according to the virtual arm data；
The reachable domain of virtual arm end or maintenance tool end is determined according to the virtual arm kinematics model；
The reachable domain is subjected to uniformly subdivision, determines set of characteristic points；
According to the first Virtual Maintenance characteristics of objects point, the second Virtual Maintenance characteristics of objects point and the feature
Point set determines the accessibility assessment result of the maintenance of equipment；The accessibility assessment result include Awaiting Parts maintenance can
In up to range and Awaiting Parts are not in maintenance coverage.
Optionally, described according to the Virtual Maintenance object data, angle feature point extraction algorithm is sweared based on abutment points method
The first Virtual Maintenance characteristics of objects point is extracted, is specifically included:
Virtual Maintenance object is described using triangle grid model；
Each side of the triangle mesh model is traversed, and judges whether the side only exists an abutment points, is obtained
First judging result；
If first judging result is expressed as the side and only exists an abutment points, determine that two endpoints on the side are
First Virtual Maintenance characteristics of objects point；
If first judging result is expressed as the side there is more than an abutment points, the method arrow between abutment points is determined
Angle；
Judge whether the weight of the method arrow angle is less than weight threshold, obtains the second judging result；
If the weight that second judging result is expressed as the method arrow angle is less than weight threshold, the two of the side are determined
A endpoint is the first Virtual Maintenance characteristics of objects point.
Optionally, described according to the Virtual Maintenance object data, it is extracted based on vertex significant characteristics point extraction algorithm
Second Virtual Maintenance characteristics of objects point, specifically includes:
Calculate the difference in height in the triangle grid model between adjacent vertex；
The average height difference on each vertex is determined according to the difference in height；
The second Virtual Maintenance characteristics of objects point is extracted according to the average height difference.
Optionally, described that virtual arm kinematics model is constructed according to the virtual arm data, it specifically includes:
The rotational freedom of virtual arm is determined according to the virtual arm data；The rotational freedom includes shoulder joint
Rotational freedom, elbow joint rotational freedom and wrist joint rotational freedom；
The relative transform matrix between each joint is determined according to the rotational freedom；The relative transform matrix includes
Elbow joint is opposite with respect to the transformation matrix of elbow joint and arm end effector point relative to transformation matrix, the wrist joint of shoulder joint
In carpal transformation matrix；
Virtual arm kinematics model is constructed according to the relative transform matrix.
Optionally, described according to the first Virtual Maintenance characteristics of objects point, the second Virtual Maintenance characteristics of objects point
And the set of characteristic points determine the accessibility assessment result of the maintenance of equipment, specifically include:
Judge each described first Virtual Maintenance characteristics of objects point and each second Virtual Maintenance characteristics of objects point
The set of characteristic points whether are all belonged to, third judging result is obtained；
If each described first Virtual Maintenance characteristics of objects point of the third judging result and each is second virtual
Maintenance objects characteristic point all belongs to the set of characteristic points, determine the accessibility assessment result be Awaiting Parts maintenance can
Up in range；
If each described first Virtual Maintenance characteristics of objects point of the third judging result and each is second virtual
Maintenance objects characteristic point does not all belong to the set of characteristic points, determines that the accessibility assessment result is that Awaiting Parts are not being tieed up
It repairs in coverage.
A kind of accessibility automatic evaluation system of maintenance of equipment, comprising:
Data acquisition module, for obtaining virtual arm data and Virtual Maintenance object data；
First Virtual Maintenance characteristics of objects point extraction module, for being based on adjoining according to the Virtual Maintenance object data
Point method arrow angle feature point extraction algorithm extracts the first Virtual Maintenance characteristics of objects point；
Second Virtual Maintenance characteristics of objects point extraction module, for being based on vertex according to the Virtual Maintenance object data
Significant characteristics point extraction algorithm extracts the second Virtual Maintenance characteristics of objects point；
Virtual arm kinematics model constructs module, for constructing virtual arm kinematics according to the virtual arm data
Model；
Up to domain determining module, for determining virtual arm end or maintenance mans according to the virtual arm kinematics model
Has the reachable domain of end；
Set of characteristic points determining module determines set of characteristic points for the reachable domain to be carried out uniformly subdivision；
Accessibility assessment result determining module, for according to the first Virtual Maintenance characteristics of objects point, second void
Quasi- maintenance objects characteristic point and the set of characteristic points determine the accessibility assessment result of the maintenance of equipment；The accessibility
Assessment result includes Awaiting Parts in maintenance coverage and Awaiting Parts are not in maintenance coverage.
Optionally, the first Virtual Maintenance characteristics of objects point extraction module specifically includes:
Virtual Maintenance object description unit, for describing Virtual Maintenance object using triangle grid model；
First judging unit for traversing each side of the triangle mesh model, and judges whether the side only deposits
In an abutment points, the first judging result is obtained；
First the first determination unit of Virtual Maintenance characteristics of objects, if being expressed as the side only for first judging result
There are an abutment points, determine that two endpoints on the side are the first Virtual Maintenance characteristics of objects point；
Method swears angle determination unit, if being expressed as the side for first judging result, there is more than an adjoinings
Point determines the method arrow angle between abutment points；
Second judgment unit obtains the second judgement for judging whether the weight of the method arrow angle is less than weight threshold
As a result；
First Virtual Maintenance characteristics of objects the second determination unit of point, if being expressed as the method for second judging result
It swears that the weight of angle is less than weight threshold, determines that two endpoints on the side are the first Virtual Maintenance characteristics of objects point.
Optionally, the second Virtual Maintenance characteristics of objects point extraction module specifically includes:
Difference in height computing unit, for calculating the difference in height in the triangle grid model between adjacent vertex；
Average height difference determination unit, for determining the average height difference on each vertex according to the difference in height；
Second Virtual Maintenance characteristics of objects point extraction unit, for extracting the second Virtual Maintenance according to the average height difference
Characteristics of objects point.
Optionally, the virtual arm kinematics model building module specifically includes:
Rotational freedom determination unit, for determining the rotational freedom of virtual arm according to the virtual arm data；
The rotational freedom includes shoulder joint rotational freedom, elbow joint rotational freedom and wrist joint rotational freedom；
Relative transform matrix's determination unit, for determining the Relative Transformation between each joint according to the rotational freedom
Matrix；The relative transform matrix includes transformation of the elbow joint relative to the opposite elbow joint of transformation matrix, wrist joint of shoulder joint
Matrix and arm end effector point are relative to carpal transformation matrix；
Virtual arm kinematics model construction unit, for constructing virtual arm kinematics according to the relative transform matrix
Model.
Optionally, the accessibility assessment result determining module specifically includes:
Third judging unit, for judging each described first Virtual Maintenance characteristics of objects point and each second void
Whether quasi- maintenance objects characteristic point all belongs to the set of characteristic points, obtains third judging result；
The first determination unit of accessibility assessment result, if for each described first virtual dimension of the third judging result
It repairs characteristics of objects point and each second Virtual Maintenance characteristics of objects point all belongs to the set of characteristic points, it can described in determination
It is Awaiting Parts in maintenance coverage up to property assessment result；
The second determination unit of accessibility assessment result, if for each described first virtual dimension of the third judging result
Repair characteristics of objects point and each second Virtual Maintenance characteristics of objects point do not all belong to the set of characteristic points, determine described in
Accessibility assessment result is Awaiting Parts not in maintenance coverage.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: the present invention provides one kind
The accessibility automatic evaluation method and system of maintenance of equipment, in conjunction with based on abutment points method arrow angle feature point extraction algorithm and vertex
Significant characteristics point extraction algorithm extracts the first Virtual Maintenance characteristics of objects point and the second Virtual Maintenance characteristics of objects point, compares
In traditional feature point extraction algorithm, Virtual Maintenance object required for accessibility measure can more comprehensively, be more accurately extracted
Characteristic point；And virtual arm kinematics model is constructed, it is determined according to virtual arm kinematics model up to domain, according to the spy of extraction
Sign point and the accessibility assessment result that maintenance of equipment is automatically determined up to set of characteristic points determined by domain.Entire evaluation process
In, departing from the subjective consciousness of staff, the accessibility assessment result of maintenance of equipment is automatically determined out, to improve reachable
The objectivity and accuracy of property assessment result.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the accessibility automatic evaluation method flow chart of maintenance of equipment provided by the present invention；
Fig. 2 is the accessibility automatic evaluation method flow chart of the maintenance of equipment provided by the present invention according to function division；
Fig. 3 is that abutment points method provided by the present invention swears angle schematic diagram；
Fig. 4 is the three-link seven freedom rough schematic view of arm provided by the present invention；
Fig. 5 is human hand dimensions' schematic diagram provided by the present invention；
Fig. 6 is holding tool tip coordinate system schematic diagram provided by the present invention；
Fig. 7 is the accessibility automatic evaluation system structure chart of maintenance of equipment provided by the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide the accessibility automatic evaluation methods and system of a kind of maintenance of equipment, can automatically determine
The accessibility assessment result of maintenance of equipment out improves the objectivity and accuracy of accessibility assessment result.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the accessibility automatic evaluation method flow chart of maintenance of equipment provided by the present invention, as shown in Figure 1, a kind of
The accessibility automatic evaluation method of maintenance of equipment, comprising:
Step 101: obtaining virtual arm data and Virtual Maintenance object data.
Virtual environment is built in computer DELMIA software and obtains Virtual Human Data, Virtual Maintenance object data and void
Near-ring border parts data.
Virtual environment is built in computer DELMIA software first, by visual human, Virtual Maintenance object and virtual environment
Component is loaded into the virtual environment in DELMIA software, then adjusts maintenance erect-position, the position of maintenance tool etc. of visual human
Comply with practical maintenance operating condition.Followed by Virtual Human Data, the virtual dimension in DELMIA interface function acquisition virtual environment
Repair object data and virtual environment parts data.
Step 102: according to the Virtual Maintenance object data, being extracted based on abutment points method arrow angle feature point extraction algorithm
First Virtual Maintenance characteristics of objects point.
The step 102 specifically includes: describing Virtual Maintenance object using triangle grid model；Traverse the triangular network
Each side of model, and judge whether the side only exists an abutment points, if so, determining that two endpoints on the side are the
Virtual Maintenance characteristics of objects point；If it is not, determining that the method between abutment points swears angle；Judge method arrow angle weight whether
Less than weight threshold, if so, determining that two endpoints on the side are the first Virtual Maintenance characteristics of objects point.
Virtual Maintenance object is mainly expressed using triangle grid model, approaches expression three by a series of spatial triangles
Dimension module.
Triangle grid model is the fragment linearity curved surface being formed by connecting by space triangular matrix by side and vertex, is usually remembered
For M.
Triangular mesh model M=(V, E, T) is the set of three kinds of geometric elements of points, edges, faces in space, and V indicates definition
In Rk(k=2,3) vertex set on；E={ ei, e=(vi, vj) indicate by vertex vi、vjThe triangle edges of composition；T=
{tiIndicate by v not on the same lineiAnd vj, vkThe convex closure that ∈ V is constituted is known as triangle t=(vi, vj,vk), t indicates top
Point vi、vjAnd vkAdjacent triangle.
The triangle grid model of Virtual Maintenance object is normally based on side structure.One triangle gridding, one vertical array
It is described with a triangle array:
V:(double x, y, z) [m] (1)
T:(int v0,v1,v2)[n] (2)
Wherein, there are x, tri- coordinate components of y, z in each vertex, and each triangle is determined by its three vertex.v0、v1、
v2Index of three vertex of triangle in vertical array V is respectively indicated, m, n respectively refer to number of vertex and triangle number；Each
Vertex can also include normal direction, color, the texture coordinate etc. on vertex other than coordinate.
According to the difference of function, vision accessibility Assessment and analysis method are divided into 3 systems and 7 steps.
System includes Virtual Maintenance characteristics of objects point extraction system, virtual human arm end or maintenance tool end up to domain acquisition system
System extracts twice as shown in Fig. 2, system 2 combines the feature point extraction algorithm based on abutment points method arrow angle and vertex conspicuousness
Virtual Maintenance characteristics of objects point, and the characteristic point of extraction is stored in Virtual Maintenance characteristics of objects point set FA。
Virtual Maintenance Object table is extracted using the feature point extraction algorithmic preliminaries based on abutment points method arrow corner dimension first
Region feature point, method arrow be curved surface on one point on normal vector.
As shown in figure 3, set e as certain a line in triangle gridding,For viPer unit system arrow, ifWithAngle be α.
The abutment points method for calculating side e first swears angle α, if w (e)=cos α, being calculated by the product of normal vector can be in the hope of
Obtain w (e):If βiFor the normal vector angle of any two adjacent vertex, n is the item number on side, then there is threshold value
ε:So that(3)
When only one abutment points of side e, illustrate that the side is boundary line, then the two of side e endpoint is characteristic point.Work as side
When the weight of the abutment points method arrow angle of e is less than threshold value, illustrate that the abutment points method arrow angle on the side is larger, then two ends of side e
Point is characteristic point.The preliminary set of characteristic points F (e) of Virtual Maintenance subject surface can be obtained by formula (1), by extracted all features
Point deposit set FAIn.
Step 103: according to the Virtual Maintenance object data, extracting second based on vertex significant characteristics point extraction algorithm
Virtual Maintenance characteristics of objects point.
The step 103 specifically includes: calculating the difference in height in the triangle grid model between adjacent vertex；According to institute
State the average height difference that difference in height determines each vertex；The second Virtual Maintenance characteristics of objects is extracted according to the average height difference
Point.
The conspicuousness on triangle grid model vertex is determined by its concave-convex surface degree, if the concave-convex journey on a certain vertex
Degree is higher than the concave-convex degree on other vertex in its neighborhood, then the geometry conspicuousness on the vertex is also higher.Triangle grid model top
Point concave-convex degree be to be measured by the average height difference in the vertex and its certain neighborhood between other vertex, when certain vertex with
When average height difference in its certain neighborhood between other vertex is bigger, illustrate that its concave-convex degree is higher, the conspicuousness of this point
It is higher.
(1) successively centered on each vertex v in triangle grid model vertex set, vertex vertex adjacent thereto is calculated
Between difference in height.The normal vector NV on each vertex is calculated first:
Wherein F (v) is dough sheet set associated by vertex v, and NF (f) is the normal vector of dough sheet f, and area (f) is the face dough sheet f
Product.
(2) the average normal vector NE (v, v') on each side is next calculated:
Wherein v, v' are two vertex on the side.
(3) the difference in height h (v, v') between adjacent vertex is then calculated:
H (v, v')=| | (v-v') NE (v, v') | | (6)
I.e. using two vertex as endpoint while this while the standoff height that is averaged on normal vector.
(4) average height difference on each vertex is finally calculated:
Wherein V (v) is the vertex set being connected with vertex v, | V (v) | indicate the size of set V (v).
(5) according to the difference in height of all grid vertexes, the vertex for extracting preceding 10% is marked as characteristic point, rejects and repeat
The characteristic point of extraction is finally stored in set FAIn.
Step 104: virtual arm kinematics model is constructed according to the virtual arm data.
The step 104 specifically includes: the rotational freedom of virtual arm is determined according to the virtual arm data；It is described
Rotational freedom includes shoulder joint rotational freedom, elbow joint rotational freedom and wrist joint rotational freedom；According to described
Rotational freedom determines the relative transform matrix between each joint；The relative transform matrix includes elbow joint relative to shoulder joint
The transformation matrix of section, wrist joint are with respect to the transformation matrix of elbow joint and arm end effector point relative to carpal transformation square
Battle array；Virtual arm kinematics model is constructed according to the relative transform matrix.
Arm plays direct effect in maintenance operation, and Awaiting Parts can be accessed, and refers to hand or hand-held
Can maintenance tool touch Awaiting Parts.As shown in figure 4, arm envelope upper arm, lower arm and palm three parts, mainly include shoulder
Three joint, elbow joint and wrist joint joints, wherein upper arm lengths are l, and lower arm lengths are m, and the length of palm is n.According to dimension
After the characteristics of repairing operation carries out Rational Simplification, shoulder joint has 3 rotational freedoms, including rotates and (be parallel in sagittal plane
The median plane of body), coronal-plane rotation (plane of the shoulder to another shoulder) and around humerus rotate, rotate angle use θ respectively1,
θ2, θ3It indicates.Elbow joint has 1 rotational freedom, including bends and stretches rotation around elbow joint, rotates angle θ4It indicates.Wrist joint has
3 rotational freedoms, including outreach, it is interior receipts and around ulna rotate, rotation angle use θ respectively5, θ6, θ7It indicates.Arm after simplification
7 freedom degrees are shared, table 1 is virtual each joint rotation angle range table of human arm provided by the present invention, and rotation angle range is such as
Shown in table 1.
Table 1
Homogeneous coordinates can effectively describe the translation and rotation geometry transformation in each joint of arm, be illustrated in figure 4 arm
Original state, midpoint O, O1、O2Shoulder joint, elbow joint and wrist joint are respectively represented, P point represents the end of palm operating point,
Coordinate system as shown in the figure is established respectively.In Fig. 4, subscript " 0 " indicates shoulder joint, and " 1 " indicates elbow joint, and " 2 " indicate wrist joint,
" 3 " indicate arm end effector point.
Then the transformation matrix of each joint rotation angle is as follows:
T (a, b, c) be translation transformation matrix, wherein a, b, c respectively indicate artis along X-axis, Y-axis, Z axis translation away from
From.
Then total transformation matrix of the elbow joint relative to shoulder joint are as follows:
Total transformation matrix of the wrist joint relative to elbow joint are as follows:
Arm end effector point P is relative to the total transformation matrix of wrist joint are as follows:
Total transformation matrix (that is: virtual arm kinematics model) of the arm end effector point P relative to shoulder joint can be obtained:
0G3=0G1 1G2 2G3 (8)
Step 105: according to the virtual arm kinematics model determine virtual arm end or maintenance tool end can
Up to domain.
(1) manually maintenance
Calculating arm end is each by the human arm of different percentiles according to virtual arm kinematics model (8) up to domain
Portion size and each joint rotation angle range of arm substitute into virtual arm kinematics model (8), in 7 freedom degree rotating directions
Loop iteration is carried out, with all arm end spaces accessible points of 5 ° or 10 ° of the angle change cycle calculations in interval.Table 2 is this hair
The length and diameter of different percentile human body upper arm and forearm provided by bright corresponds to table, and as shown in table 2, unit is millimeter.
Table 2
(2) tool maintenance is used
Each spot size of hand and arm of maintenance personal is that reachable tree when calculating handheld tool is in need of consideration, hand
Each section is as shown in Figure 5.Table 3 is that the size of different percentile manpowers provided by the present invention corresponds to table, as shown in table 3, unit
For millimeter.
Table 3
1) finger grabbing type tool tip is up to domain
Finger grabbing type tool refers to refer to ball flesh as groundwork face, and metacarpus and forearm other muscle is assisted to complete jointly
The tool of movement, such as screwdriver.The movement of finger is mainly shown as when finger grabbing type tool work, limb activity range compares
It is small.Finger grabbing type tool resists palm in tool tail portion when holding, and thumb and index finger pinch tool, is approximately considered and extends at wrist
One Duan Gangti, rigid body longitudinal axis are overlapped with the vertical center line of screw, and rigid body moves reciprocatingly around the rotation of screw median vertical line.Cause
This, when calculating handheld tool reachable tree, arm end effector point is considered as wrist and closed by hand length L, tool length N
Section translates a distance (L/2+N) along X-axis.
Then finger grabbing type tool tip is relative to the total transformation matrix of wrist joint are as follows:
Total transformation matrix of the finger grabbing type tool tip relative to shoulder joint can be obtained:
0G3'=0G1 1G2 2G3′ (9)
Kinematical equation of the finger grabbing type tool tip relative to shoulder joint can be obtained according to formula (9), according under different percentiles
The length of maintenance personal's arm each section and each joint rotation angle range can calculate finger grabbing type tool tip in shoulder joint
All space accessible points in coordinate system O, to calculate finger grabbing type tool tip up to domain.
2) holding tool tip is up to domain
Holding tool refers to the tool that grasping is both participated in by palm each section muscle, such as cutter, pliers and various spanners
Deng.The operation of holding tool can generally be completed by wrist muscle or upper arm muscles, and metacarpus muscle is mainly to maintain tool appearance
The effect of gesture can be approximately considered tool one Duan Gangti of extension at wrist, and rigid body top is in Awaiting Parts vertical center line
On, rigid body longitudinal axis is vertical with Awaiting Parts vertical center line, and rigid body moves reciprocatingly around the rotation of Awaiting Parts median vertical line, just
Body movement drives the movement of other positions of upper limb.It is up to principle select tools grip features point the Distance tool tail portion with torque for D/
2, D is wide for the hand palm.
As shown in fig. 6, holding tool tip is to wrist joint coordinate system O2Conversion are as follows: first along Z3Mobile a distance n1
=(N-D/2) to O3, secondly around Y3Axis is rotated by 90 °, along X3Axis moves a distance n2=(L/2) to O2, finally around Y2Axis rotation
θ6, around Z2Axis rotates θ7。
Then holding tool tip is relative to the total transformation matrix of wrist joint are as follows:
Total transformation matrix of the holding tool tip relative to shoulder joint can be obtained:
0G3"=0G1 1G2 2G3″ (10)
Kinematical equation of the holding tool tip relative to shoulder joint can be obtained according to formula (10), according under different percentiles
The length of maintenance personal's arm each section and each joint rotation angle range can calculate holding tool tip in shoulder joint
All space accessible points in coordinate system O, to calculate holding tool tip up to domain.
Step 106: the reachable domain being subjected to uniformly subdivision, determines set of characteristic points A.
Since arm end may reach identical position in different positions, exists in these accessible points and compute repeatedly
Point, and these accessible points are distributed in discretization, are not suitable for accessibility measure demand, it is therefore desirable to space will be carried out up to domain cut open
Point.The a large amount of spatial distribution characteristic for repeating accessible point and extracting accessible point, specific steps can be removed using uniformly subdivision method
It is as follows:
1) uniformly subdivision.Known reachable point set E is made of N number of accessible point, is denoted as E={ ei | i=1,2 ..., N }.It can
It is V up to the space envelope region of point set E, region V is divided into n × n × n small cubes, each small cubes number is
qj,k,r, corresponding small cubes are denoted as V (qj,k,r)。
2) empty cube is removed.Initialization A is empty set.Judge point eiWhether some small cube in V is belonged to
Body, if belonging to V (qj,k,r), then the small cubes are stored in set A.
Step 107: according to the first Virtual Maintenance characteristics of objects point, the second Virtual Maintenance characteristics of objects point and
The set of characteristic points determine the accessibility assessment result of the maintenance of equipment；The accessibility assessment result includes Awaiting Parts
In maintenance coverage and Awaiting Parts are not in maintenance coverage.
The step 107 specifically includes: judge each described first Virtual Maintenance characteristics of objects point and each
Whether 2 Virtual Maintenance characteristics of objects points all belong to the set of characteristic points, if so, determining that the accessibility assessment result is
Awaiting Parts are in maintenance coverage；If it is not, determining that the accessibility assessment result is that Awaiting Parts are not being repaired up to model
In enclosing.
Successively judge set FAEach of characteristic point whether be located at some small cubes in set M, if all
Characteristic point is respectively positioned in cube, then illustrates that the Awaiting Parts are accessible；If there is the feature for being not belonging to any small cubes
Point then illustrates that the Awaiting Parts accessibility is poor, not can contact.Evaluation result is fed back into designer, is capability of maintenance design side
The tradeoff and optimization of case provide reference.
Fig. 7 is the accessibility automatic evaluation system structure chart of maintenance of equipment provided by the present invention, as shown in fig. 7, a kind of
The accessibility automatic evaluation system of maintenance of equipment, comprising:
Data acquisition module 701, for obtaining virtual arm data and Virtual Maintenance object data.
First Virtual Maintenance characteristics of objects point extraction module 702, for being based on neighbour according to the Virtual Maintenance object data
Junction point method swears that angle feature point extraction algorithm extracts the first Virtual Maintenance characteristics of objects point.
The first Virtual Maintenance characteristics of objects point extraction module 702 specifically includes: Virtual Maintenance object description unit, uses
Virtual Maintenance object is described in use triangle grid model；First judging unit, for traversing the every of the triangle mesh model
A line, and judge whether the side only exists an abutment points, obtain the first judging result；First Virtual Maintenance characteristics of objects
First determination unit determines the side if being expressed as the side for first judging result only exists an abutment points
Two endpoints are the first Virtual Maintenance characteristics of objects point；Method swears angle determination unit, if indicating for first judging result
It is the side there is more than an abutment points, determines the method arrow angle between abutment points；Second judgment unit, it is described for judging
Whether the weight of method arrow angle is less than weight threshold, obtains the second judging result；First Virtual Maintenance characteristics of objects point second is really
Order member determines the side if the weight for second judging result to be expressed as the method arrow angle is less than weight threshold
Two endpoints be the first Virtual Maintenance characteristics of objects point.
Second Virtual Maintenance characteristics of objects point extraction module 703, for being based on top according to the Virtual Maintenance object data
Point significant characteristics point extraction algorithm extracts the second Virtual Maintenance characteristics of objects point.
The second Virtual Maintenance characteristics of objects point extraction module 703 specifically includes: difference in height computing unit, for calculating
Difference in height in the triangle grid model between adjacent vertex；Average height difference determination unit, for according to the difference in height
Determine the average height difference on each vertex；Second Virtual Maintenance characteristics of objects point extraction unit, for according to the average height
Difference extracts the second Virtual Maintenance characteristics of objects point.
Virtual arm kinematics model constructs module 704, transports for constructing virtual arm according to the virtual arm data
It is dynamic to learn model.
The virtual arm kinematics model building module 704 specifically includes: rotational freedom determination unit is used for basis
The virtual arm data determines the rotational freedom of virtual arm；The rotational freedom include shoulder joint rotational freedom,
Elbow joint rotational freedom and wrist joint rotational freedom；Relative transform matrix's determination unit, for being rotated certainly according to described
Relative transform matrix between each joint is determined by degree；The relative transform matrix includes change of the elbow joint relative to shoulder joint
Matrix, wrist joint are changed with respect to the transformation matrix of elbow joint and arm end effector point relative to carpal transformation matrix；It is empty
Quasi- arm motion model construction unit, for constructing virtual arm kinematics model according to the relative transform matrix.
Up to domain determining module 705, for determining virtual arm end or dimension according to the virtual arm kinematics model
Repair the reachable domain of tool tip.
Set of characteristic points determining module 706 determines set of characteristic points for the reachable domain to be carried out uniformly subdivision.
Accessibility assessment result determining module 707, for according to the first Virtual Maintenance characteristics of objects point, described second
Virtual Maintenance characteristics of objects point and the set of characteristic points determine the accessibility assessment result of the maintenance of equipment；It is described reachable
Property assessment result include Awaiting Parts in maintenance coverage and Awaiting Parts are not in maintenance coverage.
The accessibility assessment result determining module 707 specifically includes: third judging unit, for judging described in each
Whether the first Virtual Maintenance characteristics of objects point and each second Virtual Maintenance characteristics of objects point all belong to the characteristic point
Set, obtains third judging result；The first determination unit of accessibility assessment result, if for the third judging result each
The first Virtual Maintenance characteristics of objects point and each second Virtual Maintenance characteristics of objects point all belong to the characteristic point
Set determines that the accessibility assessment result is Awaiting Parts in maintenance coverage；Accessibility assessment result second determines
Unit, if for each described first Virtual Maintenance characteristics of objects point of the third judging result and each is second virtual
Maintenance objects characteristic point does not all belong to the set of characteristic points, determines that the accessibility assessment result is that Awaiting Parts are not being tieed up
It repairs in coverage.
Compared with prior art, the present invention can reach it is following the utility model has the advantages that
(1) present invention realizes the evaluation of accessibility automated analysis, with approachability analysis evaluation side under existing virtual environment
Method need repairing personnel carry out qualitative subjective judgement compared with the present situation that expert opinion assist, help designer realization it is objective
, automation approachability analysis evaluation, designer's working time is effectively reduced.
(2) present invention is combined to be extracted based on abutment points method arrow angle feature point extraction algorithm and vertex significant characteristics point and be calculated
Method extracts Virtual Maintenance characteristics of objects point, and compared to traditional feature point extraction algorithm, more comprehensively can more accurately extract can
Virtual Maintenance characteristics of objects point required for being evaluated up to property.
(3) present invention considers manually maintenance and uses two kinds of maintenance modes of tool maintenance, has calculated separately arm end
It is suitable for up to domain compared to manually maintenance is only considered up to domain, finger grabbing type tool tip up to domain and holding tool tip
Maintenance activity mode in most of practical maintenance operations.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of accessibility automatic evaluation method of maintenance of equipment characterized by comprising
Obtain virtual arm data and Virtual Maintenance object data；
According to the Virtual Maintenance object data, the first Virtual Maintenance is extracted based on abutment points method arrow angle feature point extraction algorithm
Characteristics of objects point；
According to the Virtual Maintenance object data, the second Virtual Maintenance object is extracted based on vertex significant characteristics point extraction algorithm
Characteristic point；
Virtual arm kinematics model is constructed according to the virtual arm data；
The reachable domain of virtual arm end or maintenance tool end is determined according to the virtual arm kinematics model；
The reachable domain is subjected to uniformly subdivision, determines set of characteristic points；
According to the first Virtual Maintenance characteristics of objects point, the second Virtual Maintenance characteristics of objects point and the feature point set
Close the accessibility assessment result for determining the maintenance of equipment；The accessibility assessment result includes that Awaiting Parts are being repaired up to model
In enclosing and Awaiting Parts are not in maintenance coverage.
2. the accessibility automatic evaluation method of maintenance of equipment according to claim 1, which is characterized in that described according to
Virtual Maintenance object data extracts the first Virtual Maintenance characteristics of objects point based on abutment points method arrow angle feature point extraction algorithm,
It specifically includes:
Virtual Maintenance object is described using triangle grid model；
Each side of the triangle mesh model is traversed, and judges whether the side only exists an abutment points, obtains first
Judging result；
If first judging result is expressed as the side and only exists an abutment points, determine that two endpoints on the side are first
Virtual Maintenance characteristics of objects point；
If first judging result is expressed as the side there is more than an abutment points, the method arrow folder between abutment points is determined
Angle；
Judge whether the weight of the method arrow angle is less than weight threshold, obtains the second judging result；
If the weight that second judging result is expressed as the method arrow angle is less than weight threshold, two ends on the side are determined
Point is the first Virtual Maintenance characteristics of objects point.
3. the accessibility automatic evaluation method of maintenance of equipment according to claim 2, which is characterized in that described according to
Virtual Maintenance object data extracts the second Virtual Maintenance characteristics of objects point based on vertex significant characteristics point extraction algorithm, specifically
Include:
Calculate the difference in height in the triangle grid model between adjacent vertex；
The average height difference on each vertex is determined according to the difference in height；
The second Virtual Maintenance characteristics of objects point is extracted according to the average height difference.
4. the accessibility automatic evaluation method of maintenance of equipment according to claim 1, which is characterized in that described according to
Virtual arm data constructs virtual arm kinematics model, specifically includes:
The rotational freedom of virtual arm is determined according to the virtual arm data；The rotational freedom includes shoulder joint rotation
Freedom degree, elbow joint rotational freedom and wrist joint rotational freedom；
The relative transform matrix between each joint is determined according to the rotational freedom；The relative transform matrix includes that elbow closes
The transformation matrix and arm end effector point for saving the opposite elbow joint of the transformation matrix relative to shoulder joint, wrist joint are relative to wrist
The transformation matrix in joint；
Virtual arm kinematics model is constructed according to the relative transform matrix.
5. the accessibility automatic evaluation method of maintenance of equipment according to claim 1, which is characterized in that described according to
First Virtual Maintenance characteristics of objects point, the second Virtual Maintenance characteristics of objects point and the set of characteristic points determine the dimension
The accessibility assessment result for repairing equipment, specifically includes:
Judge each described first Virtual Maintenance characteristics of objects point and each described second Virtual Maintenance characteristics of objects point
The set of characteristic points whether are all belonged to, third judging result is obtained；
If each described first Virtual Maintenance characteristics of objects point of the third judging result and each is described second virtual
Maintenance objects characteristic point all belongs to the set of characteristic points, determine the accessibility assessment result be Awaiting Parts maintenance can
Up in range；
If each described first Virtual Maintenance characteristics of objects point of the third judging result and each is described second virtual
Maintenance objects characteristic point does not all belong to the set of characteristic points, determines that the accessibility assessment result is that Awaiting Parts are not being tieed up
It repairs in coverage.
6. a kind of accessibility automatic evaluation system of maintenance of equipment characterized by comprising
Data acquisition module, for obtaining virtual arm data and Virtual Maintenance object data；
First Virtual Maintenance characteristics of objects point extraction module, for being based on abutment points method according to the Virtual Maintenance object data
Swear that angle feature point extraction algorithm extracts the first Virtual Maintenance characteristics of objects point；
Second Virtual Maintenance characteristics of objects point extraction module, for it is significant to be based on vertex according to the Virtual Maintenance object data
Property feature point extraction algorithm extract the second Virtual Maintenance characteristics of objects point；
Virtual arm kinematics model constructs module, for constructing virtual arm kinematics mould according to the virtual arm data
Type；
Up to domain determining module, for determining virtual arm end or maintenance tool end according to the virtual arm kinematics model
The reachable domain at end；
Set of characteristic points determining module determines set of characteristic points for the reachable domain to be carried out uniformly subdivision；
Accessibility assessment result determining module, for according to the first Virtual Maintenance characteristics of objects point, the second virtual dimension
It repairs characteristics of objects point and the set of characteristic points determines the accessibility assessment result of the maintenance of equipment；The accessibility assessment
As a result include Awaiting Parts in maintenance coverage and Awaiting Parts are not in maintenance coverage.
7. the accessibility automatic evaluation system of maintenance of equipment according to claim 6, which is characterized in that described first is virtual
Maintenance objects feature point extraction module specifically includes:
Virtual Maintenance object description unit, for describing Virtual Maintenance object using triangle grid model；
First judging unit for traversing each side of the triangle mesh model, and judges whether the side only exists one
A abutment points obtain the first judging result；
First the first determination unit of Virtual Maintenance characteristics of objects, only exists if being expressed as the side for first judging result
One abutment points determines that two endpoints on the side are the first Virtual Maintenance characteristics of objects point；
Method swears angle determination unit, if being expressed as the side for first judging result, there is more than an abutment points, really
Determine the method arrow angle between abutment points；
Second judgment unit obtains the second judging result for judging whether the weight of the method arrow angle is less than weight threshold；
First Virtual Maintenance characteristics of objects the second determination unit of point, if being expressed as the method arrow folder for second judging result
The weight at angle is less than weight threshold, determines that two endpoints on the side are the first Virtual Maintenance characteristics of objects point.
8. the accessibility automatic evaluation system of maintenance of equipment according to claim 7, which is characterized in that described second is virtual
Maintenance objects feature point extraction module specifically includes:
Difference in height computing unit, for calculating the difference in height in the triangle grid model between adjacent vertex；
Average height difference determination unit, for determining the average height difference on each vertex according to the difference in height；
Second Virtual Maintenance characteristics of objects point extraction unit, for extracting the second Virtual Maintenance object according to the average height difference
Characteristic point.
9. the accessibility automatic evaluation system of maintenance of equipment according to claim 6, which is characterized in that the virtual arm
Kinematics model building module specifically includes:
Rotational freedom determination unit, for determining the rotational freedom of virtual arm according to the virtual arm data；It is described
Rotational freedom includes shoulder joint rotational freedom, elbow joint rotational freedom and wrist joint rotational freedom；
Relative transform matrix's determination unit, for determining the Relative Transformation square between each joint according to the rotational freedom
Battle array；The relative transform matrix includes transformation square of the elbow joint relative to the opposite elbow joint of transformation matrix, wrist joint of shoulder joint
Battle array and arm end effector point are relative to carpal transformation matrix；
Virtual arm kinematics model construction unit, for constructing virtual arm kinematics mould according to the relative transform matrix
Type.
10. the accessibility automatic evaluation system of maintenance of equipment according to claim 6, which is characterized in that the accessibility
Assessment result determining module specifically includes:
Third judging unit, for judging each described first Virtual Maintenance characteristics of objects point and each second virtual dimension
It repairs whether characteristics of objects point all belongs to the set of characteristic points, obtains third judging result；
The first determination unit of accessibility assessment result, if being used for each described first Virtual Maintenance pair of the third judging result
As characteristic point and each second Virtual Maintenance characteristics of objects point all belong to the set of characteristic points, the accessibility is determined
Assessment result is Awaiting Parts in maintenance coverage；
The second determination unit of accessibility assessment result, if being used for each described first Virtual Maintenance pair of the third judging result
As characteristic point and each second Virtual Maintenance characteristics of objects point do not all belong to the set of characteristic points, determine described reachable
Property assessment result be Awaiting Parts not maintenance coverage in.
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