CN102289553A - Method and device for solving disassembly path of product parts - Google Patents

Abstract

The invention provides a method and device for solving the disassembly path of product parts. The method comprises the following steps: solving the path of a first solving stage by taking the assembled posture of the parts as the first start posture of the first solving stage to obtain the first end posture of the first solving stage; solving a path of the second solving stage by taking the first end posture as the second start posture of the second solving stage to obtain the second end posture of the second solving stage; solving a path of the third solving stage by taking the second end posture as the third start posture of the third solving stage to obtain the third end posture of the third solving stage; and connecting the first path from the first start posture to the first end posture, the second path from the second start posture to the second end posture, and the third path from the third start posture to the third end posture in an end-to-end mode to obtain a global disassembly path of the parts. Through the invention, the product disassembly path in a complicated environment can be solved.

Description

The disassembly path method for solving and the device of product component

Technical field

The present invention relates to mechanical engineering field, be meant a kind of disassembly path method for solving and device of product component especially.

Background technology

It is to be the parts assembly path search of leading indicator with the security with what keep away barrier or satisfy that the operation needs are that purpose carries out that the assembly path of product component is found the solution, simultaneously also be whether the planning of checking assembling sequence of product is reasonable, guarantee the important means of product assembling capacity.The assembly path solution technique be towards the assembling design (DFA) in an important gordian technique.The feasibility of assembly path is directly connected to the feasibility of assembling scheme, and in the assembling planning process of modern product, assembly path planning has become one of committed step.

In the assembling of complex products such as aircraft, boats and ships, automobile, spacecraft, because many, the complex structure of product component, the planning of its dismounting/assembly path is to carry out in a complex environment of being made up of product component, clamping apparatus etc.Rely on experience and interactive mode to realize assembly path planning fully, require a great deal of time and very difficult realizing route optimization, even occur because the limitation of interactive approach causes the part parts even can't assemble planning.Utilize PC Tools dismantle/the automatic planning of assembly path is a technology that wide application background is arranged.

Domestic at present, for assembly path automatic calculation technology certain research has been arranged abroad, but still mainly rest on the stage of theory study, relevant practical tool is less, its performance also haves much room for improvement.

Summary of the invention

The technical problem to be solved in the present invention provides a kind of disassembly path method for solving and device of product component, can realize improving the efficient of finding the solution in detaching products path in the complex environment detaching products path being found the solution.

For solving the problems of the technologies described above, embodiments of the invention provide a kind of disassembly path method for solving of product component, comprising:

The pose of assembling of product component is set;

The described pose that assembled is found the solution the first start bit appearance in stage as first, described first path of finding the solution the stage is found the solution, obtain described product component and find the solution first of the stage described first and stop pose;

Stop pose as the second second initial pose of finding the solution the stage with described first, described second path of finding the solution the stage is found the solution, obtain described product component and find the solution second of the stage described second and stop pose;

Stop pose as the 3rd the 3rd initial pose of finding the solution the stage with described second, the described the 3rd path of finding the solution the stage is found the solution, obtain described product component and find the solution the 3rd of the stage the described the 3rd and stop pose;

Described first start bit appearance is arrived first path of the described first termination pose, the described second initial pose arrives described second and stops second path of pose and the described the 3rd initial pose and arrive the described the 3rd Third Road that stops pose and directly join end to end, and obtains the overall disassembly path of described parts.

Wherein, the described process that described first path of finding the solution the stage is found the solution comprises:

The root node that described first start bit appearance is set to set;

Produce one first spatial pose at random, corresponding first node of described first spatial pose;

Obtain in the tree from the second nearest node of described first node;

Described parts are moved the 3rd node of the new pose correspondence after described first step-length that obtains moving according to default first step-length along described second node to the described first node direction;

At described the 3rd node place, and the crucial interpolation point on from described second node to the path of described the 3rd node carries out collision detection to described parts;

If described parts have collision at described the 3rd node place and described crucial interpolation point place and patch model, then expand described second node, if expansion failure, then returning the step that produces one first spatial pose at random re-executes, if expand successfully, judge whether the distance whether described parts and described patch model do not exist other collision of dough sheet level or described the 3rd node to arrive the corresponding root node of described first start bit appearance reaches the first default local disassembly path length, if, stop described first and find the solution finding the solution of stage, re-execute otherwise return the step that produces one first spatial pose at random; If collisionless then connects described second node and the formed path of described the 3rd node as described first path.

Wherein, the method for described collision detection comprises:

Obtain a test ray;

Described test ray is intersected test with described parts and with patch model that described parts carry out crash tests respectively;

Obtain the line segment that described test ray is arranged in described parts and described patch model simultaneously;

Repeatedly obtain different test rays and respectively described parts and described patch model are intersected test, obtain a plurality of line segments;

If length greater than the pre-set ratio threshold value, thinks then that described parts and described patch model have produced collision greater than the ratio of the sum of the line segment number of preset length threshold value and described a plurality of line segments in described a plurality of line segments, otherwise think collisionless.

Wherein, the step of described second node of described expansion comprises:

The leaf node of searching described in the described tree under second node farthest is the 4th node;

Obtain first former generation's node of described leaf node successively, second former generation's node reaches a preset value or has obtained the root node of described tree up to the quantity of the former generation's node that is obtained;

Obtain the average pose node of described former generation's node of described preset value quantity, perhaps the average pose node of a plurality of former generation's nodes that comprise described first former generation's node, second former generation's node the root node from described leaf node to described tree;

Replace described second node with described the 4th node, and determine that new direction is to described the 4th node from described average pose node.

Wherein, the described process that described second path of finding the solution the stage is found the solution comprises:

The root node that the described second initial pose is set to set;

Produce one second spatial pose at random, corresponding the 5th node of described second spatial pose;

Obtain in the tree from the 6th nearest node of described the 5th node;

Obtain random number r in interval [0,1], with the expansion Probability p on described random number r and described the 6th node relatively, if r＜p then expands described the 6th node; If r＞=p, then making under described the 6th node farthest leaf node replace described the 6th node expands, if expansion failure, returning the step that produces one second spatial pose at random re-executes, if expand successfully, whether the distance that described the 6th node that the new expansion of judgement obtains arrives the root node of described first start bit appearance correspondence reaches the second default local disassembly path length, if reach, stop described first and find the solution the stage, re-execute otherwise return the step that produces one second spatial pose at random.

Wherein, the process that described six nodes are expanded comprises:

The direction of described parts along described the 6th node to described the 5th node moved the new pose node after this step-length of calculating motion according to a fixed step size;

Crucial interpolation point to the path of described parts at described new pose node place and from described the 6th node to described new pose node carries out collision detection, if collisionless then connects described the 6th node and described new pose node; If there is collision, the expansion probability of expanding the failure node is reduced, and determine an extended mode, calculate described new pose node according to the described extended mode of choosing, described the 6th node is expanded to described new pose node.

Wherein, described extended mode comprises: to the expansion of sampled point direction, expand to the direction of this node to father's node of this node, at random choice direction expansion and/or the one dimension direction expansion along the space.

Wherein, the expansion weights of described leaf node remain 1.

Wherein, the described step that the described the 3rd path of finding the solution the stage is found the solution is specially:

Adopt two-way quick expansion at random tree algorithm the described the 3rd path of finding the solution the stage is found the solution.

Wherein, said method also comprises:

According to the global path step-length of setting, the path point sequence in the described overall disassembly path is carried out interpolation and suitable sliding.

Wherein, said method also comprises:

To the path point sequence inverted sequence on the described overall disassembly path, obtain the assembly path of described parts.

Embodiments of the invention also provide a kind of disassembly path solving device of product component, comprising:

Module is set, is used to be provided with the pose of assembling of product component;

First finds the solution module, is used for the described pose that assembled is found the solution the first start bit appearance in stage as first, and described first path of finding the solution the stage is found the solution, and obtains described product component and finds the solution first of the stage described first and stop pose;

Second finds the solution module, is used for stopping pose as the second second initial pose of finding the solution the stage with described first, and described second path of finding the solution the stage is found the solution, and obtains described product component and finds the solution second of the stage described second and stop pose;

The 3rd finds the solution module, is used for stopping pose as the 3rd the 3rd initial pose of finding the solution the stage with described second, and the described the 3rd path of finding the solution the stage is found the solution, and obtains described product component and finds the solution the 3rd of the stage the described the 3rd and stop pose;

Overall situation disassembly path generation module, be used for described first start bit appearance is arrived first path of the described first termination pose, the described second initial pose arrives described second and stops second path of pose and the described the 3rd initial pose and arrive the described the 3rd Third Road that stops pose and directly join end to end, and obtains the overall disassembly path of described parts.

The beneficial effect of technique scheme of the present invention is as follows:

In the such scheme, finding the solution of overall disassembly path is decomposed into a plurality of stages (comprises that above-mentioned first finds the solution the stage, second finds the solution the stage and the 3rd finds the solution the stage) carry out, used the derivation algorithm that adapts to its feature each stage, can stablize fast the dismounting/assembly path in the complex environment is found the solution, and this method be one general, detaching products in the feasible complex environment/assembly path method for solving, digitizing geometric model based on product, pass through respective algorithms, utilize computing machine that detaching products/assembly path is found the solution, can stablize and find the solution environment the unknown fast and have slype, dismounting/assembly path in the complex environments such as a large amount of barriers.

Description of drawings

Fig. 1 is the disassembly path method for solving schematic flow sheet of product component of the present invention;

Fig. 2 is in the method shown in Figure 1, and parts begin to obtain the process synoptic diagram of global path through first path, second path and Third Road footpath from assembling pose;

Fig. 3 for first of method of the present invention find the solution adopt in the phase process based on the quick expansion of the history guiding expansion process synoptic diagram of tree algorithm at random;

Fig. 4 finds the solution the collision algorithm synoptic diagram that adopts in the phase process for first of method of the present invention;

Fig. 5 is for repeatedly carrying out the synoptic diagram of ray detection in the collision algorithm shown in Figure 4;

Fig. 6 for second of method of the present invention find the solution the adaptive quick expansion adopted in the phase process at random in the node extended mode in the tree algorithm to the synoptic diagram of sampled point direction expansion;

Fig. 7 for second of method of the present invention find the solution the adaptive quick expansion adopted in the phase process at random in the node extended mode in the tree algorithm to the father node of this node synoptic diagram to the propagation direction expansion of this node;

Fig. 8 finds the solution the adaptive quick expansion adopted in the phase process synoptic diagram of choice direction expansion at random in the node extended mode in the tree algorithm at random for second of method of the present invention;

Fig. 9 finds the solution the adaptive quick expansion adopted in the phase process synoptic diagram of a certain dimension direction expansion along the space in the node extended mode in the tree algorithm at random for second of method of the present invention.

Embodiment

For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.

As shown in Figure 1 and Figure 2, the disassembly path method for solving of a kind of product component of embodiments of the invention comprises:

Step 11 is provided with the pose of assembling of product component;

Step 12 is found the solution the first start bit appearance in stage with the described pose that assembled as first, and described first path of finding the solution the stage is found the solution, and obtains described product component and finds the solution first of the stage described first and stop pose;

Step 13 stops pose as the second second initial pose of finding the solution the stage with described first, and described second path of finding the solution the stage is found the solution, and obtains described product component and finds the solution second of the stage described second and stop pose;

Step 14 stops pose as the 3rd the 3rd initial pose of finding the solution the stage with described second, and the described the 3rd path of finding the solution the stage is found the solution, and obtains described product component and finds the solution the 3rd of the stage the described the 3rd and stop pose;

Step 15, described first start bit appearance is arrived first path of the described first termination pose, the described second initial pose arrives described second and stops second path of pose and the described the 3rd initial pose and arrive the described the 3rd Third Road that stops pose and directly join end to end, (as shown in Figure 2, parts 21 are through the first path a, the second path b and Third Road footpath c to obtain the overall disassembly path of described parts, path a, b, c joins end to end, and obtains the overall disassembly path of parts).

This embodiment is mainly used in complex environment in the product component assembling process, finding the solution of the dismounting/assembly path of product component, complex environment is meant because the product structure complexity, amount of parts is various, working environment has uncertainty etc. and the obstacle environment that causes dismounting/assembly path to find the solution may have slype, intensive barrier, difficult problems such as the easy change of scene, existed algorithms and instrument find the solution that efficient is low maybe can't to be solved, this embodiment of the present invention is decomposed into a plurality of stages with finding the solution of overall disassembly path and (comprises that above-mentioned first finds the solution the stage, second finds the solution the stage and the 3rd finds the solution the stage) carry out, used the derivation algorithm that adapts to its feature each stage, can stablize fast the dismounting/assembly path in the complex environment is found the solution, and this method be one general, detaching products in the feasible complex environment/assembly path method for solving, digitizing geometric model based on product, pass through respective algorithms, utilize computing machine that detaching products/assembly path is found the solution, can stablize and find the solution environment the unknown fast and have slype, dismounting/assembly path in the complex environments such as a large amount of barriers.

In another embodiment of the present invention, the process that described first path of finding the solution the stage is found the solution adopt that the present invention proposes based on the quick expansion of history guiding tree algorithm at random, wherein, object collision in this algorithm detects collision detection and the appraisal procedure that adopts based on ray test at random, wherein, based on the quick expansion of history guiding at random tree algorithm comprise:

The root node that described first start bit appearance is set to set;

Produce one first spatial pose at random, corresponding first node of described first spatial pose;

Obtain in the tree from the second nearest node of described first node;

Described parts are moved the 3rd node of the new pose correspondence after described first step-length that obtains moving according to default first step-length along described second node to the described first node direction;

At described the 3rd node place, and the crucial interpolation point on from described second node to the path of described the 3rd node carries out collision detection to described parts;

If described parts have collision (wherein at described the 3rd node place and described crucial interpolation point place and patch model, the patch model here can comprise: the patch model of other all parts and environmental model in the current assembly environment, wherein, other parts are when being used as barrier, also can be called as patch model), then expand described second node, if expansion failure, then returning the step that produces one first spatial pose at random re-executes, if expand successfully, judge whether the distance whether described parts and described patch model do not exist other collision of dough sheet level or the 3rd node to arrive the corresponding root node of described first start bit appearance reaches the first default local disassembly path length, if, stop described first and find the solution finding the solution of stage, re-execute otherwise return the step that produces one first spatial pose at random; If collisionless then connects described second node and the formed path of described the 3rd node as described first path.

Wherein, the step of described second node of described expansion comprises:

The leaf node of searching described in the described tree under second node farthest is the 4th node;

Obtain first former generation's node of described leaf node successively, second former generation's node, up to the former generation's node quantity that is obtained reach a preset value N (as N=8) or obtained as described in the root node of tree;

Obtain the average pose node of described former generation's node of described preset value quantity, perhaps the average pose node of a plurality of former generation's nodes that comprise described first former generation's node, described second former generation's node the root node from described leaf node to described tree;

Replace described second node with described the 4th node, and determine that new direction is to described the 4th node from described average pose node.

The specific implementation process can be with reference to as follows:

Step 21 is treated the root node that the starting point of solution path (above-mentioned first finds the solution the stage) is set to set;

Step 22 produces a spatial pose q at random _Rand(above-mentioned first spatial pose);

Step 23 obtains in the tree from the nearest node q of spatial pose at random _Near(above-mentioned second node);

Step 24 is along q _NearTo q _RandDirection is moved according to a fixed step size (wherein this step-length can preestablish), the new pose q after this step-length of calculating motion _New(above-mentioned the 3rd node);

Step 25, to parts at new pose q _NewPlace and q _NearTo q _NewCrucial interpolation point place, path carry out collision detection, if collisionless then connects q _NearAnd q _NewIf have collision, then expand q _Near, carry out following steps 251-254, return net result;

Step 251 is sought q in the tree _NearFarthest leaf node q under the node _Front(above-mentioned the 4th node);

Step 252 is sought N former generation's node of leaf node successively, up to the former generation's node quantity that is obtained reach a preset value N (as N=8) or obtained as described in the root node of tree;

Step 253, the average posture information q of N former generation's node of calculating _AverThe average pose node q of a plurality of former generation's nodes that comprise described first former generation's node, second former generation's node (average pose node) or the root node from described leaf node to described tree _Aver

Step 254 determines that new expansion node is q _Front, replace q _NearNew propagation direction should be: from q _AverTo q _FrontExecution in step 24-25; As shown in Figure 3, q _DirBe used in the drawings showing from node q _FrontWith vector (q _Front-q _Aver) expand q for direction _Dir-q _Front=q _Front-q _Aver

Step 26 is if the result of step 25 then returns step 22 for the expansion failure; If expand successfully, then judge new pose q _NewWhether whether the distance that arrives starting point (above-mentioned first start bit appearance) surpasses first default local disassembly path length or parts and described patch model does not exist other collision of dough sheet level fully, if then stop to calculate; If not, then return step 22.

At random in the tree algorithm, collision detection algorithm adopts collision detection and the appraisal procedure based on ray test at random in above-mentioned quick expansion based on history guiding, and the implementation procedure of this method comprises:

Obtain a test ray;

Described test ray is intersected test with described parts and with patch model that described parts carry out crash tests respectively;

Obtain the line segment that described test ray is arranged in described parts and described patch model simultaneously;

Repeatedly obtain different test rays and respectively described parts and described patch model are intersected test, obtain a plurality of line segments;

If length greater than the pre-set ratio threshold value, thinks then that described parts and described patch model have produced collision greater than the ratio of the sum of the line segment number of preset length threshold value and described a plurality of line segments in described a plurality of line segments, otherwise think collisionless.

As shown in Figure 4 and Figure 5, should can be with reference to as follows based on the specific implementation process of the collision detection of the test of ray at random and appraisal procedure:

If utilize this method that the collision situation of object A and object B is detected and assesses, the patch model that acquiescence has obtained A and B (wherein, this patch model is meant product component related in the solution procedure of path, clamping apparatus, working environment etc., wherein working environment comprises worktable, workshop etc.), the product component here, clamping apparatus and working environment etc. can be called under the prerequisite of how much patch model (being generally unordered tri patch model), and arthmetic statement is as follows:

Step 31, ratio threshold value 0＜p＜1 is set in preseting length threshold value t＞0;

Step 32 defines a ray O at random in the space ₁D ₁

Step 33 is done ray respectively and to be intersected test with object A and object B, all dough sheets of traversal A and B in the test, and the intersection point of recording ray and object in order are respectively and gather X _OA={ A ₁, A ₂, A ₃..., X _OB={ B ₁, B ₂, B ₃...; If ray and object A do not have intersection point, or do not have intersection point, then return step 32 with object B; As shown in Figure 4;

Step 34 is obtained the line segment that ray is positioned at object A and object B inside respectively, wherein, is arranged in line segment such as the A of object A ₁A ₂, A ₂A ₃And A ₃A ₄, be positioned at the line segment such as the B of object B inside ₁B ₂, if set X _OAElement number is an even number, then has $S_{\mathrm{oA}}=\left\{\stackrel{\‾}{A_j{A}_j+1}\right|A_j,A_j+1\∈X_{\mathrm{OA}},j=\mathrm{1,3,5},...,\left(\right|X_{\mathrm{OA}}|-1)\},$ If odd number then has $S_{\mathrm{oA}}=\left\{\stackrel{\‾}{A_j{A}_j+1}\right|A_j,A_j+1\∈X_{\mathrm{OA}},j=\mathrm{2,4,6},...,\left(\right|X_{\mathrm{OA}}|-1)\}.$ Same mode defines S _OB

Step 35, traversal S _OAAnd S _OB, $S_{\mathrm{oAB}}=\{L=L_{\mathrm{OA}}\∩L_{\mathrm{OB}}|\∀L_{\mathrm{OA}}\∈S_{\mathrm{OA}},\∀L_{\mathrm{OB}}\∈S_{\mathrm{OB}}\},$ The line segment that promptly is arranged in object A and object B inside simultaneously promptly is positioned at the common factor of A and B, i.e. line segment B ₁A ₃And A ₃B ₂

Step 36 reflects according to the light reflection rule ray in the common factor of A and B, define new ray or redefine ray (rays at random shown in a plurality of arrows as shown in Figure 5) at random; Repeating step 33-36N time, the record testing result is in S _ALLIn;

Step 37 is analyzed and the assessment testing result, if S _ALLIn length greater than the number of elements ratio of t greater than p, think that then A and B have produced degree of depth collision; Otherwise think and produced shallow collision or collisionless.

In another embodiment of the present invention, the adaptive quick expansion that process employing the present invention that described second path of finding the solution the stage is found the solution proposes is tree algorithm at random, wherein, object collision in this algorithm detects and adopts traditional collision checking method, wherein, adaptive quick expansion at random tree algorithm comprise:

The root node that the described second initial pose is set to set;

Produce one second spatial pose at random, corresponding the 5th node of described second spatial pose;

Obtain in the tree from the 6th nearest node of described the 5th node;

Obtain random number r in interval [0,1], with the expansion Probability p on described random number r and described the 6th node relatively, if r＜p then expands described the 6th node; If r＞=p, then making under described the 6th node farthest leaf node replace described the 6th node expands, if expansion failure, returning the step that produces one second spatial pose at random re-executes, if expand successfully, whether the distance that described the 6th node that the new expansion of judgement obtains arrives the root node of described first start bit appearance correspondence reaches the second default local disassembly path length, if reach, stop described first and find the solution the stage, re-execute otherwise return the step that produces one second spatial pose at random.Wherein, the second default local disassembly path length here can be identical with the above-mentioned first default local disassembly path length, also can be inequality.

Wherein, the process that described six nodes are expanded comprises:

The direction of described parts along described the 6th node to described the 5th node moved the new pose node after this step-length of calculating motion according to a fixed step size;

Crucial interpolation point to the path of described parts at described new pose node place and from described the 6th node to described new pose node carries out collision detection, if collisionless then connects described the 6th node and described new pose node; If there is collision, the expansion probability of expanding the failure node is reduced, and determine an extended mode, calculate described new pose node according to the described extended mode of choosing, described the 6th node is expanded to described new pose node.

In this algorithm, described extended mode can comprise: to the expansion of sampled point direction, expand to the direction of this node to father's node of this node, at random choice direction expansion and/or the one dimension direction expansion along the space.

Preferably, the expansion weights of the described leaf node in this algorithm remain 1.

This self-adaptation is expanded the specific implementation process of tree algorithm at random fast can be with reference to as follows:

Four kinds of related in this algorithm node extended modes comprise: expand to the sampled point direction; Father node to this node is expanded to the propagation direction of this node; Choice direction expansion at random; The a certain dimension direction expansion along the space is respectively shown in Fig. 6,7,8,9.

Algorithm flow is described below:

Step 41 is treated the root node that the starting point of solution path is set to set, below repeating at the most to carry out for K time:

Step 42 produces a q of spatial pose at random that is subjected to the terminal point guiding _Rand(being above-mentioned second spatial pose);

Step 43 obtains in the tree from the nearest node q of spatial pose at random _Near(being above-mentioned the 6th node);

Step 44 is obtained random number r in interval [0,1], with q _NearOn the expansion Probability p relatively, if r＜p, then to q _NearExpand; If r＞=p then makes q _NearFollowing leaf node q farthest _FrontReplace q _NearExpand:

Step 45 is along q _NearTo q _RandDirection is moved according to a fixed step size, the new pose q after this step-length of calculating motion _New

Step 46, to object at new pose q _NewPlace and q _NearTo q _NewCrucial interpolation point place, path carry out collision detection, if collisionless then connects q _NearAnd q _NewIf there is collision, the expansion probability of expanding the failure node reduced, and repeat at the most below N the execution;

A chooses extended mode;

B calculates q according to extended mode _New

C is with q _NearTo q _NewExpansion;

D, if success, return results; If failure turns back to a;

Step 47 is if the result of step 44 then returns step 42 for the expansion failure; If expand successfully, judge then whether close terminal point if not, then returns step 42 less than threshold value to new node, if then stop to calculate.Wherein, in this expansion process, on each node, compose weights, show by setting the weights size whether this point is easy to expansion (also claiming the expansion probability), and the control tree is in this node growth probability; In the expansion of tree, if certain node is chosen as node to be expanded, further whether decision is expanded at this node according to the weights size; Preferably, the expansion weights of all leaf nodes always remain 1, guarantee that its expansion probability is not weakened; If in a certain nonleaf node expansion failure, then reduce the weights of this node; If certain node is repeatedly expanded failure, it is 0 that its expansion weights then are set, and closes the expansion of this node; When tree expansion runs into barrier, repeatedly attempt adopting different extended mode (as at above-mentioned a, b, c attempts in four kinds of extended modes of d) to expand, strengthen near the expansion of tree barrier; In the different extended modes, select corresponding propagation direction, and expand with a fixed step size.

In another embodiment of the present invention, the above-mentioned step that the described the 3rd path of finding the solution the stage is found the solution is specially: adopt traditional two-way quick expansion at random tree algorithm the described the 3rd path of finding the solution the stage is found the solution.

Further, above-mentioned method shown in Figure 1 can also comprise:

According to the global path step-length of setting, the path point sequence in the described overall disassembly path is carried out interpolation and suitable sliding.

Further, above-mentioned method shown in Figure 1 can also comprise:

To the path point sequence inverted sequence on the described overall disassembly path, obtain the assembly path of described parts.

To sum up, embodiments of the invention propose detaching products in a kind of general, feasible complex environment/assembly path method for solving, based on the digitizing geometric model of product, by respective algorithms, utilize computing machine that detaching products/assembly path is found the solution.Principal feature of the present invention and advantage are: the proposition of (1) novelty based on the quick expansion of history guiding tree algorithm (RRT-H) algorithm, self-adaptation collision detection and the appraisal procedure (RTSColDet algorithm) expanding tree algorithm (RRT-A algorithm) at random fast and in the RRT-H algorithm, adopt at random based on ray test at random, this RTSColDet algorithm can solve the conventional butt detection algorithm to the puppet of the collision detection between the two articles with face contact collision problem; The RRT-H algorithm can fast and stable be found the solution the path of simple motion in the utmost point narrow space; The RRT-A algorithm can stablize that to find the solution environment fast unknown and have dismounting/assembly path in the complex environments such as slype, a large amount of barriers.Method of the present invention product component, clamping apparatus, the working environment that the path solution procedure is related comprises geometry patch model (being generally unordered tri patch model) the input path solving device that worktable, workshop etc. are all, and defines position and the attitude of each model in the space according to its posture information; Setting will be carried out the parts that find the solution in the path, it is set has assembled pose and unassembled pose, and path then to be asked is to have assembled the path of pose to unassembled pose, and all the other all models are then treated as the barrier in the dismounting/assembling process; The step-length of global path is set; Path step-length in the RRT-H/RRT-A algorithm is set respectively; The collision depth threshold of RTSColDet is set; Then carry out the path solution procedure, this path solution procedure is found the solution the disassembly path of specified parts, divides three phases to realize, first finds the solution the stage, second finds the solution the stage and the 3rd and find the solution the stage, calculates failure as arbitrary stage, then withdraws from this time and finds the solution; At first use the RRT-H algorithm to carry out finding the solution of first path, wherein collision detection utilizes the RTSColDet algorithm to realize; First to find the solution the initial pose state that RRT-H was set in the stage be parts assemblings pose in the global path for this, do not set the termination pose state of RRT-H; When the collision dough sheet number that returns as RTSColDet collision detection result is 0, detect once more with the conventional butt detection algorithm, as collisionless, find the solution in the path that then stops this stage; Otherwise whether the node of judging new expansion arrives the distance of the root node of described phase one tree reaches the first default local disassembly path length, if find the solution in the path that then stops this stage; This second stage of finding the solution uses RRT-A to carry out the path and finds the solution, use traditional collision detection algorithm to carry out collision detection; Set and (promptly first to find the solution the stage) path of finding the solution on last stage and stop the initial pose that pose is set at RRT-A, a certain node reaches the distance of setting apart from the global path starting point in the tree of RRT-A generation, then stops this and second finds the solution finding the solution of stage; The 3rd stage of finding the solution used RRT-ExtCon (two-way quick expansion is tree algorithm at random) to carry out the path and finds the solution, use traditional collision detection algorithm to carry out collision detection; Set on last stage the path that (be above-mentioned second find the solution the stage) find the solution and stop the initial pose that pose is set at RRT-ExtCon, the termination pose of global path is the termination pose of RRT-ExtCon, stops the path behind the path that stops pose and finds the solution when solving this initial pose; Three sections paths that above-mentioned three stages of finding the solution are found the solution connect according to the order head and the tail, then obtain the overall disassembly path from parts assembling pose to unassembled pose, come down to a series of orderly pose path point; According to demand, as the needs assembly path, then with this path point sequence inverted sequence; According to the global path step-length of setting, the path point sequence is carried out interpolation (being preferably linear interpolation), meticulousr to obtain along sliding overall disassembly path.

In another aspect of this invention, embodiments of the invention also provide a kind of and disassembly path solving device (also can be called solver) the corresponding product component of said method, comprising:

Module is set, is used to be provided with the pose of assembling of product component;

First finds the solution module, is used for the described pose that assembled is found the solution the first start bit appearance in stage as first, and described first path of finding the solution the stage is found the solution, and obtains described product component and finds the solution first of the stage described first and stop pose;

Second finds the solution module, is used for stopping pose as the second second initial pose of finding the solution the stage with described first, and described second path of finding the solution the stage is found the solution, and obtains described product component and finds the solution second of the stage described second and stop pose;

The 3rd finds the solution module, is used for stopping pose as the 3rd the 3rd initial pose of finding the solution the stage with described second, and the described the 3rd path of finding the solution the stage is found the solution, and obtains described product component and finds the solution the 3rd of the stage the described the 3rd and stop pose;

Overall situation disassembly path generation module, be used for described first start bit appearance is arrived first path of the described first termination pose, the described second initial pose arrives described second and stops second path of pose and the described the 3rd initial pose and arrive the described the 3rd Third Road that stops pose and directly join end to end, and obtains the overall disassembly path of described parts.

All realization means and application scenarios all are applicable to and also can reach identical technique effect among the embodiment of this device in the said method, do not repeat them here.

The above is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (12)

1. the disassembly path method for solving of a product component is characterized in that, comprising:

The pose of assembling of product component is set;

The described pose that assembled is found the solution the first start bit appearance in stage as first, described first path of finding the solution the stage is found the solution, obtain described product component and find the solution first of the stage described first and stop pose;

Stop pose as the second second initial pose of finding the solution the stage with described first, described second path of finding the solution the stage is found the solution, obtain described product component and find the solution second of the stage described second and stop pose;

Stop pose as the 3rd the 3rd initial pose of finding the solution the stage with described second, the described the 3rd path of finding the solution the stage is found the solution, obtain described product component and find the solution the 3rd of the stage the described the 3rd and stop pose;

Described first start bit appearance is arrived first path of the described first termination pose, the described second initial pose arrives described second and stops second path of pose and the described the 3rd initial pose and arrive the described the 3rd Third Road that stops pose and directly join end to end, and obtains the overall disassembly path of described parts.

2. the disassembly path method for solving of product component according to claim 1 is characterized in that, the described process that described first path of finding the solution the stage is found the solution comprises:

The root node that described first start bit appearance is set to set;

Produce one first spatial pose at random, corresponding first node of described first spatial pose;

Obtain in the tree from the second nearest node of described first node;

Described parts are moved the 3rd node of the new pose correspondence after described first step-length that obtains moving according to default first step-length along described second node to the described first node direction;

At described the 3rd node place, and the crucial interpolation point on from described second node to the path of described the 3rd node carries out collision detection to described parts;

If described parts have collision at described the 3rd node place and described crucial interpolation point place and patch model, then expand described second node, if expansion failure, then returning the step that produces one first spatial pose at random re-executes, if expand successfully, judge whether the distance whether described parts and described patch model do not exist other collision of dough sheet level or described the 3rd node to arrive the corresponding root node of described first start bit appearance reaches the first default local disassembly path length, if, stop described first and find the solution finding the solution of stage, re-execute otherwise return the step that produces one first spatial pose at random; If collisionless then connects described second node and the formed path of described the 3rd node as described first path.

3. the disassembly path method for solving of product component according to claim 2 is characterized in that, the method for described collision detection comprises:

Obtain a test ray;

Described test ray is intersected test with described parts and with patch model that described parts carry out crash tests respectively;

Obtain the line segment that described test ray is arranged in described parts and described patch model simultaneously;

Repeatedly obtain different test rays and respectively described parts and described patch model are intersected test, obtain a plurality of line segments;

If length greater than the pre-set ratio threshold value, thinks then that described parts and described patch model have produced collision greater than the ratio of the sum of the line segment number of preset length threshold value and described a plurality of line segments in described a plurality of line segments, otherwise think collisionless.

4. the disassembly path method for solving of product component according to claim 2 is characterized in that, the step of described second node of described expansion comprises:

The leaf node of searching described in the described tree under second node farthest is the 4th node;

Obtain first former generation's node of described leaf node successively, second former generation's node reaches a preset value or has obtained the root node of described tree up to the former generation's node quantity that is obtained;

Obtain the average pose node of described former generation's node of described preset value quantity, perhaps the average pose node of a plurality of former generation's nodes that comprise described first former generation's node, second former generation's node the root node from described leaf node to described tree;

Replace described second node with described the 4th node, and determine that new direction is to described the 4th node from described average pose node.

5. the disassembly path method for solving of product component according to claim 1 is characterized in that, the described process that described second path of finding the solution the stage is found the solution comprises:

The root node that the described second initial pose is set to set;

Produce one second spatial pose at random, corresponding the 5th node of described second spatial pose;

Obtain in the tree from the 6th nearest node of described the 5th node;

Obtain random number r in interval [0,1], with the expansion Probability p on described random number r and described the 6th node relatively, if r＜p then expands described the 6th node; If r＞=p, then making under described the 6th node farthest leaf node replace described the 6th node expands, if expansion failure, returning the step that produces one second spatial pose at random re-executes, if expand successfully, whether the distance that described the 6th node that the new expansion of judgement obtains arrives the root node of described first start bit appearance correspondence reaches the second default local disassembly path length, if reach, stop described first and find the solution the stage, re-execute otherwise return the step that produces one second spatial pose at random.

6. the disassembly path method for solving of product component according to claim 5 is characterized in that, the process that described six nodes are expanded comprises:

The direction of described parts along described the 6th node to described the 5th node moved the new pose node after this step-length of calculating motion according to a fixed step size;

Crucial interpolation point to the path of described parts at described new pose node place and from described the 6th node to described new pose node carries out collision detection, if collisionless then connects described the 6th node and described new pose node; If there is collision, the expansion probability of expanding the failure node is reduced, and determine an extended mode, calculate described new pose node according to the described extended mode of choosing, described the 6th node is expanded to described new pose node.

7. the disassembly path method for solving of product component according to claim 6, it is characterized in that, described extended mode comprises: to the expansion of sampled point direction, expand to the direction of this node to father's node of this node, at random choice direction expansion and/or the one dimension direction expansion along the space.

8. the disassembly path method for solving of product component according to claim 6 is characterized in that, the expansion weights of described leaf node remain 1.

9. the disassembly path method for solving of product component according to claim 1 is characterized in that, the described step that the described the 3rd path of finding the solution the stage is found the solution is specially:

Adopt two-way quick expansion at random tree algorithm the described the 3rd path of finding the solution the stage is found the solution.

10. according to the disassembly path method for solving of each described product component of claim 1-9, it is characterized in that, also comprise:

According to the global path step-length of setting, the path point sequence in the described overall disassembly path is carried out interpolation and suitable sliding.

11. the disassembly path method for solving of product component according to claim 10 is characterized in that, also comprises:

To the path point sequence inverted sequence on the described overall disassembly path, obtain the assembly path of described parts.

12. the disassembly path solving device of a product component is characterized in that, comprising:

Module is set, is used to be provided with the pose of assembling of product component;

First finds the solution module, is used for the described pose that assembled is found the solution the first start bit appearance in stage as first, and described first path of finding the solution the stage is found the solution, and obtains described product component and finds the solution first of the stage described first and stop pose;

Second finds the solution module, is used for stopping pose as the second second initial pose of finding the solution the stage with described first, and described second path of finding the solution the stage is found the solution, and obtains described product component and finds the solution second of the stage described second and stop pose;

The 3rd finds the solution module, is used for stopping pose as the 3rd the 3rd initial pose of finding the solution the stage with described second, and the described the 3rd path of finding the solution the stage is found the solution, and obtains described product component and finds the solution the 3rd of the stage the described the 3rd and stop pose;

Overall situation disassembly path generation module, be used for described first start bit appearance is arrived first path of the described first termination pose, the described second initial pose arrives described second and stops second path of pose and the described the 3rd initial pose and arrive the described the 3rd Third Road that stops pose and directly join end to end, and obtains the overall disassembly path of described parts.

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