CN102289553B - 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

Disassembly path method for solving and the device of product component

Technical field

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

Background technology

It is that to keep away barrier or satisfy the operation needs be the parts assembly path search take security as leading indicator that purpose is carried out that the assembly path of product component is found the solution, simultaneously be also whether the checking Assembly sequence of products 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 the complex products such as aircraft, boats and ships, automobile, spacecraft,, complex structure many due to product component, the planning of its dismounting/assembly path is to carry out in a complex environment that is comprised 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 causing the part parts even can't assemble planning due to the limitation of interactive approach.Utilize PC Tools dismantle/the automatic planning of assembly path is a technology that wide application background is arranged.

At present domestic, 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 is to provide a kind of disassembly path method for solving and device of product component, can realize improving the solution efficiency in detaching products path in complex environment, the 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 the 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 the 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 the first path of described the first termination pose, the described second initial pose arrives described second and stops the second path of pose and the described the 3rd initial pose and arrive the described the 3rd Third Road footpath that stops pose and join end to end, and obtains the overall disassembly path of described parts.

Wherein, the described process that described the 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;

Random one first spatial pose that produces, corresponding the first node of described the first spatial pose;

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

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

At described the 3rd node place, and the crucial interpolation point on from described the 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, expand described the second node, if expand unsuccessfully, the step of returning to random generation one first spatial pose 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 root node corresponding to 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, otherwise the step of returning to random generation one first spatial pose re-executes, if collisionless connects described the second node and described the 3rd node formed path as described the 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 in described a plurality of line segment, length greater than the pre-set ratio threshold value, thinks 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, otherwise think collisionless.

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

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

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

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

Wherein, the described process that described the 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;

The random second space pose that produces, corresponding the 5th node of described second space pose;

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

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

Wherein, the process of described six nodes being expanded comprises:

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

To described parts at described new pose node place and the crucial interpolation point in the path from described the 6th node to described new pose node carry out collision detection, if collisionless connects described the 6th node and described new pose node; If there is collision, the Extending probability of expanding failed 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 sampled point Directional Extension, arrive the Directional Extension of this node to father's node of this node, random choice direction expansion and/or the one dimension Directional Extension 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 Extended random tree algorithm that 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 described overall disassembly path is carried out interpolation and smooth.

Wherein, said method also comprises:

To the path point sequence inverted sequence on 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 for arranging 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 the first path of finding the solution the stage is found the solution, and obtains described product component at the described first first termination pose of finding the solution the stage;

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

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

Overall situation disassembly path generation module, be used for described first start bit appearance is arrived the first path of described the first termination pose, the described second initial pose arrives described second and stops the second path of pose and the described the 3rd initial pose and arrive the described the 3rd Third Road footpath that stops pose and 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 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 complex environment is found the solution, and the method be one general, detaching products in feasible complex environment/assembly path method for solving, take the digitizing geometric model of product as the basis, pass through respective algorithms, utilize computing machine that detaching products/assembly path is found the solution, can stablize that to find the solution fast environment unknown and with 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 method shown in Figure 1, and parts begin to obtain the process schematic diagram of global path through the first path, the second path and Third Road footpath from assembling pose;

Fig. 3 is that first of method of the present invention is found the solution the expansion process schematic diagram based on the Quick Extended random tree algorithm of history guiding that adopts in phase process;

Fig. 4 is that first of method of the present invention is found the solution the collision algorithm schematic diagram that adopts in phase process;

Fig. 5 repeatedly carries out the schematic diagram of ray detection in collision algorithm shown in Figure 4;

Fig. 6 is that second of method of the present invention is found the solution in node extended mode in the adaptive Quick Extended random tree algorithm that adopts in phase process the schematic diagram to the sampled point Directional Extension;

Fig. 7 is that second of method of the present invention is found the solution in node extended mode in the adaptive Quick Extended random tree algorithm that adopts in phase process the schematic diagram to the father node of this node to the propagation direction expansion of this node;

Fig. 8 is the schematic diagram that second of method of the present invention is found the solution random choice direction expansion in node extended mode in the adaptive Quick Extended random tree algorithm that adopts in phase process;

Fig. 9 is that second of method of the present invention is found the solution in node extended mode in the adaptive Quick Extended random tree algorithm that adopts in phase process the schematic diagram of a certain dimension Directional Extension along the space.

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 arranges 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 the 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 the 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 the first path of described the first termination pose, the described second initial pose arrives described second and stops the second path of pose and the described the 3rd initial pose and arrive the described the 3rd Third Road footpath that stops pose and 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 refers to because product structure is complicated, amount of parts is various, working environment has uncertain the grade and causes the obstacle environment that dismounting/assembly path is found the solution may have slype, intensive barrier, the difficult problems such as the easy change of scene, existing algorithm and instrument solution efficiency are low maybe can't 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 complex environment is found the solution, and the method be one general, detaching products in feasible complex environment/assembly path method for solving, take the digitizing geometric model of product as the basis, pass through respective algorithms, utilize computing machine that detaching products/assembly path is found the solution, can stablize that to find the solution fast environment unknown and with slype, dismounting/assembly path in the complex environments such as a large amount of barriers.

In another embodiment of the present invention, the Quick Extended random tree algorithm based on the history guiding that the process that described the first path of finding the solution the stage is found the solution adopts the present invention to propose, wherein, object collision in this algorithm detects collision detection and the appraisal procedure that adopts based on random ray test, wherein, the Quick Extended random tree algorithm based on the history guiding comprises:

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

Random one first spatial pose that produces, corresponding the first node of described the first spatial pose;

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

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

At described the 3rd node place, and the crucial interpolation point on from described the 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 current assembly environment, wherein, other parts are when being used as barrier, also can be called as patch model), expand described the second node, if expand unsuccessfully, the step of returning to random generation one first spatial pose 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 root node corresponding to 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, otherwise the step of returning to random generation one first spatial pose re-executes, if collisionless connects described the second node and described the 3rd node formed path as described the first path.

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

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

Obtain successively first former generation's node of described leaf node, second former generation's node, until the former generation's node quantity that obtains 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 the second node with described the 4th node, and definite a new direction is from described average pose node to described the 4th 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 the first spatial pose);

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

Step 24 is along q _NearTo q _RandDirection is moved according to a fixed step size (wherein this step-length can preset), 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 connects q _NearAnd q _newIf have collision, expand q _Near, carry out following steps 251-254, return to net result;

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

Step 252 is sought N former generation's node of leaf node successively, until the former generation's node quantity that obtains 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 for to expand unsuccessfully, is returned to step 22; If expand successfully, judge new pose q _newWhether whether the distance that arrives starting point (above-mentioned first start bit appearance) surpasses the first default local disassembly path length or parts and described patch model does not exist other collision of dough sheet level fully, if so, stops calculating; If not, return to step 22.

In above-mentioned Quick Extended random tree algorithm based on the history guiding, collision detection algorithm adopts collision detection and the appraisal procedure based on random ray test, and the implementation procedure of the 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 in described a plurality of line segment, length greater than the pre-set ratio threshold value, thinks 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, 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 random ray test and appraisal procedure:

If utilize the 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 refers to 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, random ray O of definition in the space ₁D ₁

Step 33 is done ray respectively and is intersected test with object A and object B, all dough sheets of traversal A and B in 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 be without intersection point, or with object B without intersection point, return to step 32; As shown in Figure 4;

Step 34 is obtained respectively the line segment that ray is positioned at object A and object B inside, wherein, is arranged in line segment such as the A of object A ₁A ₂, A ₂A ₃And A ₃A ₄, be positioned at line segment such as the B of object B inside ₁B ₂If, set X _OAElement number is even number, 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 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 namely is arranged in simultaneously object A and object B inside namely 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 random ray (the random rays shown in a plurality of arrows as shown in Figure 5); Repeating step 33-36N time records testing result in S _ALLIn;

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

In another embodiment of the present invention, the adaptive Quick Extended random tree algorithm that the process that described the second path of finding the solution the stage is found the solution adopts the present invention to propose, wherein, object collision in this algorithm detects and adopts traditional collision checking method, wherein, adaptive Quick Extended random tree algorithm comprises:

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

The random second space pose that produces, corresponding the 5th node of described second space pose;

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

Obtain random number r in interval [0,1], with the Extending probability p on described random number r and described the 6th node relatively, if r＜p expands described the 6th node; If r＞=p, making under described the 6th node farthest leaf node replace described the 6th node expands, if expand unsuccessfully, the step of returning to random generation one second space pose re-executes, if expand successfully, whether the distance that described the 6th node that the new expansion of judgement obtains arrives root node corresponding to described first start bit appearance reaches the second default local disassembly path length, if reach, stop described first and find the solution the stage, otherwise the step of returning to random generation one second space pose re-executes.Wherein, the second default local disassembly path length here can be identical with above-mentioned the first default local disassembly path length, also can be not identical.

Wherein, the process of described six nodes being expanded comprises:

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

To described parts at described new pose node place and the crucial interpolation point in the path from described the 6th node to described new pose node carry out collision detection, if collisionless connects described the 6th node and described new pose node; If there is collision, the Extending probability of expanding failed 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 sampled point Directional Extension, arrive the Directional Extension of this node to father's node of this node, random choice direction expansion and/or the one dimension Directional Extension along the space.

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

The specific implementation process of this self-adaptation Quick Extended random tree algorithm can be with reference to as follows:

Four kinds of node extended modes related in this algorithm comprise: to the sampled point Directional Extension; Father node to this node is expanded to the propagation direction of this node; Random choice direction expansion; The a certain dimension Directional Extension along the space is respectively as 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 stochastic space pose q who is subjected to the terminal point guiding _Rand(being above-mentioned second space pose);

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

Step 44 is obtained random number r in interval [0,1], with q _NearOn Extending probability p relatively, if r＜p, to q _NearExpand; If r＞=p makes q _NearUnder farthest leaf node q _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 connects q _NearAnd q _newIf there is collision, the Extending probability of expanding failed node reduced, and repeat at the most below N execution;

A chooses extended mode;

B calculates q according to extended mode _new

C is with q _NearTo q _newExpansion;

D is if success returns results; If failure turns back to a;

Step 47 is if the result of step 44 for to expand unsuccessfully, is returned to step 42; If expand successfully, judge that whether close terminal point less than threshold value, if not, returns to step 42 to new node, if so, stops calculating.Wherein, in this expansion process, compose weights on each node, show by setting the weights size whether this point is easy to expansion (also claiming Extending probability), and control tree at the probability of this node growth; In the expansion of tree, if certain node is chosen as node to be expanded, further determine whether expand at this node according to the weights size; Preferably, the expansion weights of all leaf nodes always remain 1, guarantee that its Extending probability is not weakened; If expand unsuccessfully at a certain nonleaf node, reduce the weights of this node; If certain node is repeatedly expanded failure, it is 0 that its expansion weights 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 different extended modes, select corresponding propagation direction, and with a fixed step size expansion.

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 Extended random tree algorithm that 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 described overall disassembly path is carried out interpolation and smooth.

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

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

To sum up, embodiments of the invention propose detaching products/assembly path method for solving in a kind of general, feasible complex environment, take the digitizing geometric model of product as the basis, 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 Quick Extended random tree algorithm (RRT-H) algorithm, the self-adaptation Quick Extended random tree algorithm (RRT-A algorithm) of history guiding and collision detection and the appraisal procedure (RTSColDet algorithm) based on random ray test that adopts in the RRT-H algorithm, 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 utmost point narrow space; The RRT-A algorithm can stablize that to find the solution fast environment unknown and with the 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 all geometry patch model (being generally unordered tri patch model) input path solving devices such as worktable, workshop, 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 to be asked is to have assembled pose to the path of unassembled pose, and all the other all models are treated as the barrier in 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, and minute three phases realizes, first finds the solution the stage, second finds the solution the stage and the 3rd and find the solution the stage, calculates unsuccessfully as arbitrary stage, withdraws from this time and finds the solution; At first use the RRT-H algorithm to carry out finding the solution of the first path, wherein collision detection utilizes the RTSColDet algorithm to realize; First to find the solution the initial position and posture that RRT-H was set in the stage be parts assemblings pose in global path for this, do not set the termination position and posture of RRT-H; When the collision dough sheet number that returns when RTSColDet collision detection result is 0, again detect with the conventional butt detection algorithm, as collisionless, find the solution in the path that stops this stage; Otherwise whether the distance of the root node that the described phase one of node arrival of the new expansion of judgement sets reaches the first default local disassembly path length, and if so, find the solution in the path that 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 (namely first find the solution the stage) on last stage the initial pose that the path termination pose of finding the solution is set as RRT-A, a certain node reaches the distance of setting apart from the global path starting point in the tree that RRT-A generates, and 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 Extended random tree algorithm) 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 as 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, obtain the overall disassembly path from parts assembling pose to unassembled pose, are in fact a series of orderly pose path points; According to demand, as the needs assembly path, 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), to obtain meticulousr smooth 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 for arranging 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 the first path of finding the solution the stage is found the solution, and obtains described product component at the described first first termination pose of finding the solution the stage;

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

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

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

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

The above is the preferred embodiment 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 (10)

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 the 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 the 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 the first path of described the first termination pose, the described second initial pose arrives described second and stops the second path of pose and the described the 3rd initial pose and arrive the described the 3rd Third Road footpath that stops pose and join end to end, and obtains the overall disassembly path of described parts;

The described process that described the 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;

Random one first spatial pose that produces, corresponding the first node of described the first spatial pose;

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

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

At described the 3rd node place, and the crucial interpolation point on from described the 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, expand described the second node, if expand unsuccessfully, the step of returning to random generation one first spatial pose 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 root node corresponding to 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, otherwise the step of returning to random generation one first spatial pose re-executes, if collisionless connects described the second node and described the 3rd node formed path as described the first path.

2. the disassembly path method for solving of product component according to claim 1, 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 in described a plurality of line segment, length greater than the pre-set ratio threshold value, thinks 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, otherwise think collisionless.

3. the disassembly path method for solving of product component according to claim 1, is characterized in that, the step of described the second node of described expansion comprises:

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

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

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

4. the disassembly path method for solving of product component according to claim 1, is characterized in that, the described process that described the 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;

The random second space pose that produces, corresponding the 5th node of described second space pose;

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

Obtain random number r in interval [0,1], with the Extending probability p on described random number r and described the 6th node relatively, if r＜p expands described the 6th node; If r 〉=p, making under described the 6th node farthest leaf node replace described the 6th node expands, if expand unsuccessfully, the step of returning to random generation one second space pose re-executes, if expand successfully, whether the distance that described the 6th node that the new expansion of judgement obtains arrives root node corresponding to described first start bit appearance reaches the second default local disassembly path length, if reach, stop described first and find the solution the stage, otherwise the step of returning to random generation one second space pose re-executes.

5. the disassembly path method for solving of product component according to claim 4, 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 according to a fixed step size, the new pose node after this step-length of calculating motion;

To described parts at described new pose node place and the crucial interpolation point in the path from described the 6th node to described new pose node carry out collision detection, if collisionless connects described the 6th node and described new pose node; If there is collision, the Extending probability of expanding failed 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.

6. the disassembly path method for solving of product component according to claim 5, it is characterized in that, described extended mode comprises: to the sampled point Directional Extension, arrive the Directional Extension of this node to father's node of this node, random choice direction expansion and/or the one dimension Directional Extension along the space.

7. the disassembly path method for solving of product component according to claim 5, is characterized in that, the expansion weights of described leaf node remain 1.

8. 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 Extended random tree algorithm that the described the 3rd path of finding the solution the stage is found the solution.

9. the disassembly path method for solving of according to claim 1-8 described product components of any one, is characterized in that, also comprises:

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

10. the disassembly path method for solving of product component according to claim 9, is characterized in that, also comprises:

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

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