CN106203696B - A kind of hybrid precast sequence generating method based on symbol - Google Patents
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Abstract
The invention discloses a kind of hybrid precast sequence generating method based on symbol is indicated including elder generation according to the ZBDD that the connecting matrix and interference matrix of assembly create connecting matrix and interference matrix；Further according to the interference matrix of assembly, precedence relation matrix is solved；All feasible assembly are searched again for out, and creates file and stores the sub-assemblies generated in feasible assembly sequence and assembling process, creation dynamic array storage generates the number of path of each sub-assemblies；It refines afterwards to the file of the feasible assembly sequence of storage of generation and sub-assemblies, deletes the death situation state in assembling process.The present invention can be under higher time and space efficiency, guarantee the completeness of assembly sequence by analyzing all possible assembly manipulation, by judging that partial assembled geometric feasibility guarantees the reliability of assembly sequence, by judging that the satisfiability of dominance relation guarantees the high efficiency of algorithm, it is finally completed the generation to all feasible assembly sequences of assembly.
Description
Technical field
The present invention relates to assembly sequence-planning technical fields, and in particular to a kind of hybrid precast sequence generation based on symbol
Method.
Background technique
Assembly sequence-planning (Assembly Sequence Planning, ASP) is a technology difficulty in assemble planning
Point occupies critically important status in product design and development and production process.Production for mass product, one outstanding
Assembly sequence will greatly shorten the production cycle of product, reduce the producing cost of product, improve the capability and performance of product.
ASP is a highly constrained NP combinatorial optimization problem, and the selection of assembly sequence will follow the geometrical-restriction relation between part,
Exhaustive search algorithm complexity is exponential.When product is complex, number of components is more, easily there is combinations of states explosion and ask
Topic.As it can be seen that combinatorial complexity is to restrict a key factor of assembly sequence-planning efficiency and automatization level.
Slow down or partial extent on avoid a kind of possible strategy of combinatorial complexity problem from being symbolization or implicit
Description technique.Ordered Binary Decision Diagrams (Ordered Binary Decision Diagram, OBDD) and its extension form can be with
Implicit representation and the search for realizing state space or variable combination, are one of symbol technologies maximally efficient so far.Closely
Nian Lai, OBDD and its extension form (such as ADD and ZBDD) have had some applications in terms of assembly sequence-planning.Experiment knot
Fruit shows using OBDD or its extension form as the expression of assembly sequence than scheming to indicate to occupy smaller storage using AND/OR
Space.
During exhaustive algorithm generates all assembly sequences, some sons that can not be assembled again later are often generated
Assembly, referred to as infeasible sub-assemblies.It is subsequent to occur if not preventing the generation of this kind of sub-assemblies in advance
More infeasible sub-assemblies lead to occur after search various death situation states (nonfinal state, but do not have successor states).Institute
Also to be recalled, all death situation states are deleted, and when infeasible sub-assemblies number is more, when last handling dead state
It is more complicated, the solution efficiency and solution scale of assembly sequence-planning problem can be reduced.If guidance is added in exhaustive algorithm
Information generates infeasible sub-assemblies in the process to evade assembly sequences generation, will be under the premise of guaranteeing the quality of solution, effectively
Ground improves the efficiency of search, and improves the quality of the feasible assembly sequence of gained.
Summary of the invention
The present invention provides a kind of hybrid precast sequence generating method based on symbol, in conjunction with heuristic strategies, Neng Gou great
The earth improves the efficiency of assembly sequence-planning, expands the scale of assembly sequence-planning.
To solve the above problems, the present invention is achieved by the following technical solutions:
A kind of hybrid precast sequence generating method based on symbol, comprises the following steps that
Step A. obtains assembly knowledge, generates the connecting matrix and interference matrix of assembly；
Step B. creates the ZBDD expression of connecting matrix according to the connecting matrix of assembly；
Step C. creates the ZBDD expression of interference matrix according to the interference matrix of assembly；
Step D. solves precedence relation matrix according to the interference matrix of assembly；
Step E. is indicated according to the ZBDD of assembly connecting matrix, the ZBDD of interference matrix is indicated and dominance relation square
Battle array, symbolization ZBDD and layering thought search out all feasible assembly, can row assembly sequence；Meanwhile to searching out
The sub-assemblies generated during feasible assembly and assembly sequence-planning are stored, and are saved and generated each sub-assemblies
Number of path；
Step F. is searched for according to the feasible assembly of preservation and sub-assemblies and is deleted the death situation state in assembling process.
Specific step is as follows by the step B:
Step B1. is encoded using each part of the variable to assembly；
Step B2. creates the composite set of assembly connecting relation according to the connecting matrix of assembly；
Step B3. is according to the mapping relations of the composite set of assembly connecting relation and composite set to ZBDD, in turn
The ZBDD for obtaining assembly connecting relation is indicated.
Specific step is as follows by the step C:
Step C1. uses 6 binary variables, that is, Z={ z0,z1,z2,z3,z4,z5To+the X of reference axis ,+Y ,+Z ,-X ,-
Y and this 6 directions-Z are encoded；
Step C2. obtains the composite set of assembly interference relationship according to the interference matrix of assembly；
Step C3. according to assembly interfere relationship composite set and composite set to ZBDD mapping relations, in turn
The ZBDD for obtaining assembly interference relationship is indicated.
Specific step is as follows by the step D:
Three integer variables of step D1. application, i.e. the number of iterations variable a, b and c, and enable the number of iterations variable a=1；
Step D2. enables the number of iterations variable b=1, if a ≠ b at this time, goes to step D3, otherwise goes to step D6；
Step D3. enables the number of iterations variable c=b+1, if a ≠ c at this time, goes to step D4, otherwise goes to step D5；
If Tx in step D4. interference matrixb-1xa-1∧Txc-1xa-1≠ 1, then it represents that part xa-1It cannot be in part xb-1With
Part xc-1All reassembled after assembly, and must be prior to part xb-1With part xc-1Assembly is assembled therebetween, by iteration
The current value of degree variables a, b and c, i.e. (a, b, c) are stored in precedence relation matrix；Otherwise, D5 is gone to；Wherein ∧ indicate to
The step-by-step of amount with；
Step D5. enables the number of iterations variable c cumulative 1, if c≤n, goes to step D4；Otherwise, step D6 is gone to；
Step D6. enables the number of iterations variable b cumulative 1, if b < n, goes to step D3；Otherwise, step D7 is gone to；
Step D7. enables the number of iterations variable a cumulative 1, if a≤n, goes to step D2；Otherwise, step D terminates, and acquires
Complete precedence relation matrix；
Above-mentioned Txb-1xa-1Indicate part xb-1With part xa-1Motion-vector function in interference matrix, Txc-1xa-1It indicates
Part xc-1With part xa-1Motion-vector function in interference matrix；N is part total number.
Specific step is as follows by the step E:
Step E1. creates a feasible assembly manipulation file File_FeasibleOperations to store feasible assembly
Operation；N sub-assemblies file of creation is successively used to store the sub-assemblies with i part, i=1,2 ..., n, and n is part
Total number；First sub-assemblies file initially stores the sub-assemblies of all n single parts, and remaining paper is initially empty；
A two dimension dynamic array Num_Routes is created to store the number of path for generating each sub-assemblies；
First assembly file is denoted as current layer, i.e. level variables L=1 by step E2.；
Step E3. reads a sub-assemblies p from current layer, and the composite set for establishing sub-assemblies p indicates Fp
(X)；
If the sub-assemblies before step E4. is stored in sub-assemblies p had all carried out feasible sex determination with p, turn
To step E11；Otherwise, a sub-assemblies q is selected from the sub-assemblies being stored in front of sub-assemblies p；
If the parts count for including in sub-assemblies q is less than or equal to n-L, the composite set for establishing sub-assemblies q is indicated
Fq(X)；Otherwise, step E11 is gone to；
Step E5. judges whether the composite set of 2 sub-assemblies includes common part, that is, judges Fp(X)∩Fq
It (X) whether is empty；If being not sky, includes that common part can not assemble, go to step E4, select next subassembly
Body is determined；If it is sky, does not include common part, go to step E6；Wherein ∩ indicates intersection of sets operation；
Step E6. judges whether sub-assemblies p and sub-assemblies q meet in step D precedence relation matrix generated
Dominance relation constraint, i.e., judge sub-assemblies p and sub-assemblies q are assembled together whether will lead to it according to precedence relation matrix
The part that he is not assembled can not assemble；If being unsatisfactory for dominance relation constraint, step E4 is gone to；If meeting dominance relation about
Beam then goes to step E7；
Step E7. judges whether sub-assemblies p and sub-assemblies q meet connecting relation constraint and the interference square of connecting matrix
The interference relation constraint of battle array, that is, judge whether sub-assemblies p and sub-assemblies q meet assembly feasibility；It can if being unsatisfactory for assembly
Row goes to step E4；If meeting assembly feasibility, the two can be assembled into new sub-assemblies, go to step E8；
Step E8. thus generates feasible assembly manipulation NewFeasibleOperation and sub-assemblies
NewSubassembly；
Step E9. checks whether sub-assemblies NewSubassembly has been saved from i-th of sub-assemblies file；If
It is not saved, sub-assemblies NewSubassembly is written in i-th of sub-assemblies file File_i and is stored, and is dynamic in two dimension
State array Num_Routes memory frees into the number of path of the sub-assemblies；If being saved, it need to only change and be stored in originally
The number of path for generating the sub-assemblies in two-dimentional dynamic array；I=x+y at this time, wherein x represents zero that sub-assemblies p includes
Number of packages and 1≤x < n, y represent the number of components that sub-assemblies q includes and 1≤y < n；
The feasible assembly that step E10. creates feasible assembly manipulation NewFeasibleOperation write step E1
It is stored in operation file File_FeasibleOperations, and goes to step E4；
It is finished if the sub-assemblies of step E11. current layer storage are not determined, goes to step E3；Otherwise, then level
Variables L cumulative 1, if level variables L is less than part total number n, goes to step E3；Otherwise, step E terminates.
In step E9, the calculation formula for generating the number of path of sub-assemblies is as follows:
Wherein, NumpRepresent the number of path for generating sub-assemblies p, NumqThe number of path for generating sub-assemblies q is represented, x is represented
Number of components included in sub-assemblies p and 1≤x < n, y represent number of components included in sub-assemblies q and 1≤y < n,
NumNewSubassemblyRepresent the number of path of the generation sub-assemblies of current iteration, NumNewSubassembly'For the life of last iteration
At the number of path of sub-assemblies；！Indicate factorial；
Specific step is as follows by the step E7:
Step E71. calculates Fp(X) and Fq(X) cartesian product Fpq(X), i.e. Fpq(X)=Fp(X)×Fq(X), it and creates
Fpq(X) ZBDD corresponding to, is denoted as ZBDDpq；
Step E72. executes ZBDDpq∩ZBDDCIf result be not it is empty, 2 representated by sub-assemblies p and sub-assemblies q
A part or sub-assemblies meet connecting relation constraint, go to step E73；Otherwise, it is unsatisfactory for the constraint of connecting relation, goes to step
Rapid E4；
Step E73. creates a ZBDD, is denoted as ZBDDD, for storing the assembly of the Lothrus apterus between components to be assembled road
Diameter, the initial six direction z for storing reference axis0,z1,z2,z3,z4And z5；
Step E74. is for ZBDDpqIn each paths x0x1…xn-1, in ZBDDTIt is middle to search for corresponding path x0x1…
xn-1z0z1z2z3z4z5, intercept z0z1z2z3z4z5, corresponding ZBDD is created, ZBDD is denoted asDS；And enable ZBDDD=ZBDDD∩
ZBDDDS；
If step E75. ZBDDDIt is not sky, then two parts or subassembly representated by sub-assemblies p and sub-assemblies q
Body meets interference relation constraint, and the sub-assemblies p and sub-assemblies q known to step E72 also meets connecting relation constraint, therefore two
Person meets assembly feasibility, goes to step E8；Otherwise, it is unsatisfactory for interference relation constraint, goes to step E4.
Specific step is as follows by the step F:
Step F1. enables file i.e. second sub-assemblies file of the storage comprising the sub-assemblies of 2 parts for currently quilt
Simplify layer, that is, simplifies level variable SL=2, and enable deleted marker variable flag=0；
Step F2. selects a sub-assemblies sa from the layer；
Step F3. determines whether sub-assemblies sa takes part in assembly according to the feasible assembly manipulation of storage, that is, determines son dress
Whether ligand sa is infeasible sub-assemblies；If sub-assemblies sa is not all right sub-assemblies, sub-assemblies sub-assemblies are deleted
Sa and all assembly manipulations for generating sub-assemblies sa, enable flag=1；
It is finished if the sub-assemblies of step F4. current layer storage do not check, goes to step F2；If it is not, then simplification
Level variable SL cumulative 1 goes to step F2 if simplifying level variable SL is less than part total number n；Otherwise, if flag=
1, then step F1 is gone to, if flag=0, step F terminates.
Compared with prior art, the present invention under the premise of known assembly knowledge for generating feasible assembly sequence, energy
It is enough to guarantee the completeness of assembly sequence by analyzing all possible assembly manipulation under higher time and space efficiency, lead to
The reliability for judging that partial assembled geometric feasibility guarantees assembly sequence is crossed, by judging that the satisfiability of dominance relation guarantees to calculate
The high efficiency of method is finally completed the generation to all feasible assembly sequences of assembly.OBDD is used to indicate as assembly sequence,
No matter a sub-assemblies include several parts, indicate the variable number of sub-assemblies, assembly manipulation and assembly sequence all as many
The problem of be resolved, while solving the problems, such as how preferably to avoid the generation of more infeasible sub-assemblies in advance.
Detailed description of the invention
A kind of flow chart of the hybrid precast sequence generating method based on symbol of Fig. 1.
Fig. 2 is the illustraton of model of one embodiment of the present of invention.
Fig. 3 is the connecting matrix of embodiment illustrated in fig. 2.
Fig. 4 is the interference matrix of embodiment illustrated in fig. 2.
Fig. 5 is the ZBDD expression figure of the connecting matrix of embodiment illustrated in fig. 2.
Fig. 6 is the ZBDD expression figure of the interference matrix of embodiment illustrated in fig. 2.
Fig. 7 is the precedence relation matrix of embodiment illustrated in fig. 2.
Fig. 8 is the file File_1 of embodiment illustrated in fig. 2, i.e., with the sub-assemblies of 1 part.
Fig. 9 is the file File_2 of embodiment illustrated in fig. 2, i.e., with the sub-assemblies of 2 parts.
Figure 10 is the file File_3 of embodiment illustrated in fig. 2, i.e., with the sub-assemblies of 3 parts.
Figure 11 is the file File_4 of embodiment illustrated in fig. 2, i.e., with the sub-assemblies of 4 parts.
Figure 12 is the file File_5 of embodiment illustrated in fig. 2, i.e., with the sub-assemblies of 5 parts.
Figure 13 is the file File_6 of embodiment illustrated in fig. 2, i.e., complete assembly.
Figure 14 is all feasible assembly manipulations of embodiment illustrated in fig. 2.
Specific embodiment
The invention discloses a kind of hybrid precast sequence generating method based on symbol, including the following steps: obtain assembly
Knowledge, the i.e. connecting matrix and interference matrix of assembly；According to the connecting matrix of assembly, the ZBDD table of connecting matrix is created
Show；According to the interference matrix of assembly, the ZBDD for creating interference matrix is indicated；According to the interference matrix of assembly, solve preferential
Relational matrix；Search out all feasible assembly, can row assembly sequence, and create file and store feasible assembly sequence and assembly
The sub-assemblies generated in the process, creation dynamic array storage generate the number of path of each sub-assemblies；It can to the storage of generation
The file of row assembly sequence and sub-assemblies is refined, and the death situation state in assembling process is deleted.The present invention can be higher
Under time and space efficiency, guarantee the completeness of assembly sequence by analyzing all possible assembly manipulation, passes through judgement part
The reliability that geometric feasibility guarantees assembly sequence is assembled, by judging that the satisfiability of dominance relation guarantees the efficient of algorithm
Property, it is finally completed the generation to all feasible assembly sequences of assembly.
Below by a specific example, the present invention will be described in further detail:
A kind of hybrid precast sequence generating method based on symbol, as shown in Figure 1, specifically comprising the following steps, it may be assumed that
Step 1. obtains assembly knowledge, generates the connecting matrix and interference matrix of assembly.Fig. 2 is an assembly
Illustraton of model.
Step 2. creates the ZBDD expression of connecting matrix according to the connecting matrix of assembly.Fig. 3 is the connection of Fig. 2 assembly
Connect matrix.
Step S21. encodes each part and sub-assemblies of assembly, because the assembly in embodiment has 6
A part, then with 6 variable X={ x0,x1,x2,x3,x4,x5Part and sub-assemblies are encoded.Each variable indicates one
A part, the set expression sub-assemblies of two or more variable compositions.
Step S22. connecting matrix according to the embodiment, the composite set for obtaining assembly connecting relation indicate C (x0,x1,
x2,x3,x4,x5)={ x0x1,x1x2,x1x3,x3x4,x3x5,x4x5}；
Step S23. obtains the ZBDD table of assembly connecting relation according to the composite set C (X) of assembly connecting relation
Show, as shown in figure 5, being denoted as ZBDDC。
Interference matrix of the step 3. according to assembly, the ZBDD expression of creation interference square.Fig. 4 is the interference of Fig. 2 assembly
Matrix.
Step S31. encodes all directions of reference axis, and three-dimensional coordinate shares+X ,+Y ,+Z ,-X ,-Y and-Z six
Direction, so using 6 binary variable Z={ z0,z1,z2,z3,z4,z5Encoded for it.
Step S32. interference matrix according to the embodiment, the composite set for obtaining assembly interference relationship are expressed as T (x0,
x1,x2,x3,x4,x5,z0,z1,z2,z3,z4,z5)={ x0x1z0,x0x2z0,x0x2z1,x0x2z2,x0x2z4,x0x2z5,x0x3z0,
x0x4z0,x0x5z0,x1x2z0,x1x3z3,x1x4z0,x1x4z3,x1x5z0,x1x5z3,x2x3z1,x2x3z2,x2x3z3,x2x3z4,
x2x3z5,x2x4z1,x2x4z2,x2x4z3,x2x4z4,x2x4z5,x2x5z1,x2x5z2,x2x5z3,x2x5z4,x2x5z5,x3x4z0,
x3x5z0,x4x5z0,x4x5z3}。
Step S33. interferes the composite set T (XZ) of relationship according to assembly, obtains the ZBDD table of assembly interference relationship
Show, as shown in fig. 6, being denoted as ZBDDT。
Step 4. solves precedence relation matrix according to the interference matrix of assembly.
Three integer variables of step S41. application, i.e. the number of iterations variable a, b and c, and enable a=1.
Step S42. enables b=1, if a ≠ b at this time, goes to step S43, otherwise goes to step S46.
Step S46. enables the number of iterations variable b cumulative 1, if b≤n-1, wherein then going to step S43 for parts count；
Otherwise, step S47 is gone to；B=2 and b≤5 at this time go to step S43.
Step S43. enables c=b+1, if a ≠ c at this time, goes to step S44, otherwise goes to step S45；It calculates at this time
C=3 and a ≠ c can be obtained, then goes to step S44.
For step S44. in interference matrix, the motion-vector function representation between two parts p1 and p2 is Tp1p2=(T0,
T1,T2,T3,T4,T5), referred to as transfer function or T- function.Is defined as: Tp1p2=Ti→ { 0,1 }, i=0,1,2,3,4,5.Its
In, Tp1p2I-th of component Ti=1 (i=0,1,2,3,4,5) indicates that part p2 has the freedom of movement on the i of direction for p1
Degree, i.e. part p2 have the Lothrus apterus assembly path for arriving part p1 on the i of direction；Ti=0 (i=0,1,2,3,4,5) is indicated
Part p2 is for p1 there is no the one-movement-freedom-degree on the i of direction, i.e. part p2, which exists on the i of direction with part p1, to be interfered, nothing
Method implements assembly.Wherein, 0,1,2,3,4,5 six direction for corresponding respectively to three-dimensional coordinate system :+X ,+Y ,+Z ,-X ,-Y ,-
Z.According to above- mentioned information it is found that if Tx in interference matrixb-1xa-1∧Txc-1xa-1≠ 1, then part xa-1It cannot be in part xb-1With
xc-1All reassembled after assembly, and must be prior to part xb-1And xc-1Assembly is assembled therebetween.Therefore, if Txb- 1xa-1∧Txc-1xa-1≠ 1, then (a, b, c) is stored in precedence relation matrix；A=1, b=2, c=3 at this time, and Tx1x0With
Tx2x0It is unsatisfactory for condition Txb-1xa-1∧Txc-1xa-1≠ 1, so (1,2,3) is not preserved in precedence relation matrix
In PrecedenceMatrix.
Step S45. enables the number of iterations variable c cumulative 1, if c≤n, wherein n is parts count, then goes to step S44；
Otherwise, step S46 is gone to；C=4 at this time, c≤6, so going to step S44.
Circulation executes step S44~step S45, until c > 6, then can search for out preferential under the premise of a=1, b=2
Relation constraint.
Step S46. enables the number of iterations variable b cumulative 1, if b≤n-1, wherein then going to step S43 for parts count；
Otherwise, step S47 is gone to；B=3 and b≤5 at this time go to step S43.
Circulation executes step S43~step S46, until b > 5, then can search for out dominance relation under the premise of a=1
Constraint.
Step S47. enables the number of iterations variable a cumulative 1, if a≤n, goes to step S42；Otherwise, step S4 terminates,
Acquire complete precedence relation matrix.A=2 and a≤6 at this time go to step S42.
Circulation executes step S42~step S47, until a > 6, then can search for out all dominance relation constraints, that is, acquire
Complete precedence relation matrix PrecedenceMatrix, as shown in Figure 7.
Step 5. searches out all feasible assembly, can row assembly sequence, and create file and store feasible assembly manipulation
With the sub-assemblies generated in assembling process, the number of path that dynamic array storage generates each sub-assemblies is created.That is: to all
The sub-assemblies stored in the file of sub-assemblies carry out combination of two, meet matrix whenever two sub-assemblies are combined
When dominance relation constraint in PrecedenceMatrix, connecting relation constrain and interfere relation constraint, corresponding file is just arrived
Whether the middle new sub-assemblies for checking that two sub-assemblies are composed have existed, if it is not, then new sub-assemblies are added
It is added in file, and applies for a block space, storage generates the number of path of the sub-assemblies；Otherwise, it does not add, need to only change original
The number of path of the generation of the storage sub-assemblies.Meanwhile the assembly manipulation being added in the file for storing feasible assembly manipulation,
Until each sub-assemblies carried out combining feasibility judgement with other sub-assemblies.
Step S51. is firstly, the file of one entitled File_FeasibleOperations of creation can luggage for storing
With operation.6 files are created, File_1, File_2, File_3, File_4, File_5 and File_6 are successively named as.File_
I is used to store the sub-assemblies with i part, wherein i=1 ..., and 6.File File_1 initially stores 6 zero of assembly
Part, file File_2, File_3, File_4, File_5 and File_6 are initially empty.Create a two-dimentional dynamic array Num_
Routes, for storing the number of path for generating each sub-assemblies.Wherein, Num_Routes [i-1] [j-1] storage is to generate
The number of path of j-th of sub-assemblies in file File_i.What is stored in Num_Routes [5] [0] is the institute for generating assembly
There is feasible assembly sequence number.In addition, it is specified that the generation path of single part is 1, i.e. Num_Routes successively stores 6 in [1]
1；
Step S52. will store the file File_1 of the single part of assembly, is denoted as current layer L=1, that is to say first
The single part in file File_1 is handled, current layer is allowed to be directed toward file File_1；
Step S53. reads a sub-assemblies c from the layer, is denoted as p.The composite set for establishing p indicates { x0, it is denoted as Fp
(X)；
If the sub-assemblies before step S54. is stored in p had all carried out feasible sex determination with p, step is gone to
S511.Because sub-assemblies c representated by p is stored in first sub-assemblies, there is no sub-assemblies before p,
Then step S511 is gone to；
It is finished if the sub-assemblies of step S511. current layer storage are not determined, goes to step S53.Because of first layer
File File_1 in house 6 single part sub-assemblies, finished so not being determined, go to step S53；
Step S53. reads a sub-assemblies from the layer, reads second sub-assemblies b at this time, is denoted as p, establishes it
Composite set indicates { x1, it is denoted as Fp(X)；
Step S54. selects a sub-assemblies from the sub-assemblies being stored in front of sub-assemblies b representated by p, this
When read first sub-assemblies c storing before p, be denoted as q.Also, the parts count for including in q is less than or equal to n-L,
It is to be less than or equal to 5, therefore, the composite set for establishing q indicates { x0, it is denoted as Fq(X)；
Step S55. judges whether the composite set of 2 sub-assemblies includes common part, that is, judges Fp(X)∩Fq
It (X) whether is empty；If being not sky, includes that common part can not assemble, go to step S54, select next subassembly
Body is determined；If it is sky, do not include common part, goes to step S56 and judge whether the two meets dominance relation about
Beam.Because of Fp(X)∩FqIt (X) is sky, so, p and q do not include common part, go to step S56.
Step S56. judges whether sub-assemblies p and sub-assemblies q meet in step S4 precedence relation matrix generated
Dominance relation constraint, i.e., whether judge that sub-assemblies p and sub-assemblies q are assembled together according to precedence relation matrix will lead to
Other parts not being assembled can not assemble；If being unsatisfactory for dominance relation constraint, step S54 is gone to；If meeting dominance relation
Constraint then goes to step S57 and carries out assembly feasibility judgement to the two.
Because the coding of sub-assemblies c and b are x respectively representated by q and p0And x1, the assembly according to figure 7
For precedence relation matrix PrecedenceMatrix it is found that there are dominance relations to constrain (4,1,2), that is to say indicates part x0With zero
Part x1It will lead to part x after being assembled together3It can not assemble.Therefore, p and q are unsatisfactory for precedence relation matrix
Dominance relation constraint in PrecedenceMatrix.Go to step S54.
If the sub-assemblies before step S54. is stored in p had all carried out feasible sex determination with p, step is gone to
S511.Because sub-assemblies b is stored in second sub-assemblies representated by p, also, is stored in first before b
Sub-assemblies c was carried out judgement, therefore did not had the sub-assemblies not being determined before p, then went to step S511；
It is finished if the sub-assemblies of step S511. current layer storage are not determined, goes to step S53.Because of first layer
File File_1 in house 6 single part sub-assemblies, only determined the first two at present, so the subassembly of this layer storage
Body is not determined and finishes, and goes to step S53；
Step S53. reads a sub-assemblies from the layer, reads third sub-assemblies u at this time, is denoted as p, establishes it
Composite set indicates { x2, it is denoted as Fp(X)；
Step S54. selects a sub-assemblies from the sub-assemblies being stored in front of sub-assemblies u representated by p, this
When read first sub-assemblies c storing before p, be denoted as q.Also, the parts count for including in q is less than or equal to n-L,
It is to be less than or equal to 5, therefore, the composite set for establishing q indicates { x0, it is denoted as Fq(X)；
Step S55. judges whether the composite set of 2 sub-assemblies includes common part, that is, judges Fp(X)∩Fq
It (X) whether is empty；If it is sky, does not include common part, go to step S56.Because of Fp(X)∩FqIt (X) is sky, so,
P and q does not include common part.Go to step S56.
Step S56. judges whether sub-assemblies p and sub-assemblies q meet in step S4 precedence relation matrix generated
Dominance relation constraint, i.e., whether judge that sub-assemblies p and sub-assemblies q are assembled together according to precedence relation matrix will lead to
Other parts not being assembled can not assemble；If being unsatisfactory for dominance relation constraint, step S54 is gone to；If meeting dominance relation
Constraint then goes to step S57 and carries out assembly feasibility judgement to the two.
Because the coding of sub-assemblies c and u are x respectively representated by q and p0And x2, the assembly according to figure 7
Precedence relation matrix PrecedenceMatrix it is found that there are dominance relation constraint (2,1,3), (4,1,3), (5,1,3) and (6,
1,3), that is to say indicates part x0With part x2It will lead to part x after being assembled together1、x3、x4And x5It can not assemble.Therefore,
P and q is unsatisfactory for the constraint of the dominance relation in precedence relation matrix PrecedenceMatrix.Go to step S54.
Step S54. selects a sub-assemblies from the sub-assemblies being stored in front of sub-assemblies u representated by p, this
When read and be stored in second sub-assemblies b before p, be denoted as q.Also, the parts count for including in q is less than or equal to n-L,
It is to be less than or equal to 5, therefore, the composite set for establishing q indicates { x1, it is denoted as Fq(X)；
Step S55. judges whether the composite set of 2 sub-assemblies includes common part, that is, judges Fp(X)∩Fq
It (X) whether is empty；If it is sky, does not include common part, go to step S56.Because of Fp(X)∩FqIt (X) is sky, so,
P and q does not include common part.Go to step S56.
Step S56. judges whether sub-assemblies p and sub-assemblies q meet in step S4 precedence relation matrix generated
Dominance relation constraint, i.e., whether judge that sub-assemblies p and sub-assemblies q are assembled together according to precedence relation matrix will lead to
Other parts not being assembled can not assemble；If being unsatisfactory for dominance relation constraint, step S54 is gone to；If meeting dominance relation
Constraint then goes to step S57 and carries out assembly feasibility judgement to the two.
Because the coding of sub-assemblies b and u are x respectively representated by q and p1And x2, the assembly according to figure 7
Precedence relation matrix PrecedenceMatrix is it is found that part x0With part x2Be assembled together not will lead to other parts can not
Assembly.Therefore, p and q meets the constraint of the dominance relation in precedence relation matrix PrecedenceMatrix.Step is executed downwards
S57 carries out assembly feasibility judgement to the two；
Step S57. judges whether sub-assemblies p and sub-assemblies q meet the connecting relation constraint and interference of connecting matrix
The interference relation constraint of matrix, that is, judge whether sub-assemblies p and sub-assemblies q meet assembly feasibility；If not satisfied, going to
Step S54；If meeting assembly feasibility, the two can be assembled into new sub-assemblies, go to step S58；
Step S571. calculates Fp(X) and Fq(X) cartesian product Fpq(X), i.e. Fpq(X)=Fp(X)×Fq(X)=
{x1x2, and create Fpq(X) ZBDD corresponding to, is denoted as ZBDDpq；
Step S572. executes ZBDDpq∩ZBDDCIf result be not it is empty, representated by sub-assemblies p and sub-assemblies q
2 parts or sub-assemblies meet connecting relation constraint, go to step S573；Otherwise, it is unsatisfactory for the constraint of connecting relation, is gone to
Step S54；Because of ZBDD at this timepq∩ZBDDC={ x1x2, so, p and q meet connecting relation constraint, go to step S573.
Step S573. creates a ZBDD, is denoted as ZBDDD, for storing the assembly of the Lothrus apterus between components to be assembled
Path, the initial six direction z for storing reference axis0,z1,z2,z3,z4And z5；
Step S574. is for ZBDDpqIn each paths x0x1…xn-1, in ZBDDTIt is middle to search for corresponding path
x0x1…xn-1z0z1z2z3z4z5, intercept z0z1z2z3z4z5, corresponding ZBDD is created, ZBDD is denoted asDS；And enable ZBDDD=ZBDDD∩
ZBDDDS；Then, to ZBDDpqIn path x1x2It is operated.In ZBDDTIn the respective path x that searches out1x2z0.Therefore, it cuts
{ z can be obtained by taking0}.Therefore have, ZBDDDS={ z0}.Execute ZBDDD=ZBDDD∩ZBDDDS, ZBDD can be obtainedD={ z0}。
If step S575. ZBDDDIt is not sky, then two parts or subassembly representated by sub-assemblies p and sub-assemblies q
Body meets interference relation constraint, goes to step S58；Otherwise, it is unsatisfactory for interference relation constraint, goes to step S54.By step S574
In calculated result known to be not sky, so p and q meet interference relation constraint.Sub-assemblies p and son dress known to step S572
Ligand q also meets connecting relation constraint, therefore the two meets assembly feasibility, goes to step S58.
Step S58. thus generates feasible assembly manipulation NewFeasibleOperation and sub-assemblies
NewSubassembly；NewFeasibleOperation can be obtained according to the expression of the composite set of sub-assemblies representated by p and q
={ x2y1y2, NewSubassembly={ bu }.
Step S59. checks whether sub-assemblies NewSubassembly has been saved from i-th of sub-assemblies file；
If not being saved, sub-assemblies NewSubassembly is written in i-th of sub-assemblies file File_i and is stored, and in two dimension
Dynamic array Num_Routes memory frees into the number of path of the sub-assemblies；If being saved, it need to only change original storage
The number of path for generating the sub-assemblies in two-dimentional dynamic array；I=x+y at this time, wherein x represents sub-assemblies p and includes
Number of components and 1≤x < n, y represent the number of components that sub-assemblies q includes and 1≤y < n.
Because NewSubassembly includes two parts, checked from corresponding file File_2
Whether NewSubassembly has been saved.Due to first sub-assemblies that this is to solve for, so, the sub-assemblies not by
Save, sub-assemblies NewSubassembly be written hard disk in file File_2 in store.Due to having 6 parts, because
This is with 6 binary variable X={ x0,x1,x2,x3,x4,x5Indicate, the coding according to b and u is x respectively1And x2Sub- dress can be obtained
The storage form of ligand { bu } is " 011000 ".
In addition, two-dimensional array Num_Routes memory in memory frees into the number of path of the sub-assemblies
NumNewSubassembly.Since NewSubassembly is to generate for the first time, so NumNewSubassemblyIt is initially 0.Also, because
For x=1, y=1, so Nump=1, Numq=1.According to the following formula Num for calculating number of pathNewSubassembly=1 ×
1+0=1.Therefore, the Num acquiredNewSubassemblyValue 1 be stored in the Num_Routes [1] [0] of two-dimensional array.
Step S510. feasible assembly manipulation NewFeasibleOperation write step S51 created can luggage
With being stored in operation file File_FeasibleOperations, and go to step S54；
For the assembly, due to having 6 parts, assembly behaviour is indicated using 12 binary variables (X, Y)
Make.Wherein X={ x0,x1,x2,x3,x4,x5For indicating p, Y={ y0,y1,y2,y3,y4,y5For indicating
NewSubassembly.Therefore, feasible assembly manipulation { x2y1y2Be stored in file File_FeasibleOperations
Coding form is " 001000011000 ".Go to step S54.
If the sub-assemblies before step S54. is stored in p had all carried out feasible sex determination with p, step is gone to
S511.Because sub-assemblies u representated by p is stored in the sub-assemblies of third, also, is stored in two sons before u
Assembly c and b have been determined, therefore do not have the sub-assemblies not being determined before p, then go to step S511；
It is finished if the sub-assemblies of step S511. current layer storage are not determined, goes to step S53；Otherwise, then layer
Secondary variables L cumulative 1, if L is less than part total number n, goes to step S53；Otherwise, step S5 terminates.
Circulation executes step S53~step S511, until each of each layer sub-assemblies are all filled with other sons
Ligand carried out assembly feasibility judgement, and step S5 terminates.
Step S6. refines to the feasible assembly manipulation of storage of generation and the file of sub-assemblies, deletes assembling process
In death situation state.Comprising steps of
It is currently to be simplified layer that step S61., which enables file of the storage comprising the sub-assemblies of 2 parts, is denoted as present simplified
Sub-assemblies in layer SL=2, i.e. first processing file File_2 allow present simplified layer to be directed toward file File_2, and enable and deleting
Except indexed variable flag=0；
Step S62. reads out first sub-assemblies " 011000 " from the layer and i.e. { bu } is denoted as sa；
Step S63. determines whether sub-assemblies sa takes part in assembly according to the feasible assembly manipulation of storage, that is, determines son
Whether assembly sa is infeasible sub-assemblies；If sub-assemblies sa is not all right sub-assemblies, sub-assemblies subassembly is deleted
Body sa and all assembly manipulations for generating sub-assemblies sa, enable flag=1.Therefore, file File_ is arrived
The assembly manipulation that search is participated in the presence or absence of sub-assemblies sa in FeasibleOperations.
First assembly manipulation " 001000011000 " in file File_FeasibleOperations is read, i.e.,
{x2y1y2}.The assembly manipulation indicates that part " 010000 " and part " 001000 " are assembled together and generate sub-assemblies
" 011000 ", therefore, the assembly manipulation can not prove that can " 011000 " be assembled with other sub-assemblies, i.e., can not illustrate
Whether " 011000 " is death situation state.
Then it is successively read and is stored in subsequent assembly manipulation, until when reading assembly manipulation " 000111011111 ",
It was found that sub-assemblies " 011000 " can be assembled with sub-assemblies " 000111 ", generate sub-assemblies " 011111 ".Thus
It is found that " 011000 " is not death situation state, it is not necessary to delete, flag's is still 0.Step S64 is executed, next sub-assemblies are read
Determined.
It is finished if the sub-assemblies of step S64. current layer storage do not check, goes to step S62；If it is not, then letter
Change level variable SL cumulative 1, if SL is less than part total number n, goes to step S62；Otherwise, if flag=1, step is gone to
Rapid S61, if flag=0, step S6 terminates.It is finished because the sub-assemblies of the second layer do not check at this time, goes to step
Rapid S62 reads next sub-assemblies, is determined without allowing SL to add 1 to go to next layer.
Circulation executes step S61~step S64, until sub-assemblies all in file File_2~file File_5
(intermediate state that is to say assembly) is all checked and is finished, it is ensured that exist without death situation state, then step S6 terminates, entire algorithm
It leaves it at that.All feasible assembly sequences of assembly can be acquired at this time.
File File_1, File_2, File_3, File_4, File_5 and the File_6 acquired after the end of the program
Successively as shown in Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12 and Figure 13, all sub-assemblies are stored in 6 files.File
All feasible assembly sequences are stored in File_FeasibleOperations, as shown in figure 14.
Method of the invention provides the connecting matrix and interference matrix of assembly；It is created and is joined according to the connecting matrix of assembly
The ZBDD for connecing matrix is indicated；It is indicated according to the ZBDD that the interference matrix of assembly creates interference matrix；According to the interference of assembly
Matrix solves precedence relation matrix；Combination of two is carried out to the sub-assemblies in the file of all storage sub-assemblies, whenever two
A sub-assemblies are combined the dominance relation constraint met in matrix PrecedenceMatrix, connecting relation constraint and are done
When relating to relation constraint, whether the new sub-assemblies for just checking that two sub-assemblies are composed into corresponding file have been deposited
If it is not, then new sub-assemblies are added in file, and applying for a block space, storage generates the path of the sub-assemblies
Number；Otherwise, it does not add, need to only change the number of path for generating the sub-assemblies stored originally.Meanwhile the assembly manipulation being added
Into the file for storing feasible assembly manipulation, until each sub-assemblies combine with other sub-assemblies it is feasible
Property judgement；Delete the death situation state in assembling process.The present invention can be all by analyzing under higher time and space efficiency
Possible assembly manipulation guarantees the completeness of assembly sequence, can by judge partial assembled geometric feasibility guarantee assembly sequence
By property, by judging that the satisfiability of dominance relation guarantees the high efficiency of algorithm, being finally completed can luggage to all of assembly
Generation with sequence.
Sub-assemblies, the variable number of assembly manipulation and assembly sequence and pre- are indicated in assembly sequence-planning in order to reduce
The generation of more infeasible sub-assemblies is first avoided, and then improves the efficiency of assembly sequence-planning, expands assembly sequence-planning
Scale, the present invention analyze the characteristics of sub-assemblies, assembly manipulation and assembly sequence, are expressed as composite set, made
The part not in sub-assemblies is obtained, variable is not present in the set for indicating the sub-assemblies, encodes change used to reduce
Measure number；Secondly, the characteristics of being indicated using ZBDD and handling composite set high efficiency, reduce assembly sequences generation in the process to sky
Between demand, better solve combinatorial problem, computational efficiency with higher；Finally, the present invention is herein in connection with heuristic strategies,
In the case where not influencing feasible assembly manipulation generation, the generation of more infeasible sub-assemblies is avoided in advance, to simplify most
The process of death situation state is deleted afterwards.Therefore, present invention time with higher and space efficiency.
In conjunction with the accompanying drawings to the description of the specific embodiment of the invention, other aspects of the present invention and feature are to this field
It is obvious for technical staff.
Specific embodiments of the present invention are described and illustrated above, these embodiments should be considered to be only exemplary
, it is not used to limit the invention, the present invention should be explained according to the attached claims.
Claims (7)
1. a kind of hybrid precast sequence generating method based on symbol, characterized in that comprise the following steps that
Step A. obtains assembly knowledge, generates the connecting matrix and interference matrix of assembly；
Step B. creates the ZBDD expression of connecting matrix according to the connecting matrix of assembly；
Step C. creates the ZBDD expression of interference matrix according to the interference matrix of assembly；
Step D. solves precedence relation matrix according to the interference matrix of assembly；
Step E. is indicated according to the ZBDD of assembly connecting matrix, the ZBDD of interference matrix is indicated and precedence relation matrix, is adopted
All feasible assembly are searched out with symbols Z BDD and layering thought, it can row assembly sequence；Meanwhile it can luggage to what is searched out
Match and assembly sequence-planning during the sub-assemblies that generate stored, and save the path for generating each sub-assemblies
Number；That is:
Step E1. creates a feasible assembly manipulation file File_FeasibleOperations to store feasible assembly manipulation；
N sub-assemblies file of creation is successively used to store the sub-assemblies with i part, and i=1,2 ..., n, wherein n is part
Total number；First sub-assemblies file initially stores the sub-assemblies of all n single parts, and remaining paper is initially empty；
A two dimension dynamic array Num_Routes is created to store the number of path for generating each sub-assemblies；
First assembly file is denoted as current layer, i.e. level variables L=1 by step E2.；
Step E3. reads a sub-assemblies p from current layer, and the composite set for establishing sub-assemblies p indicates Fp(X)；
If the sub-assemblies before step E4. is stored in sub-assemblies p had all carried out feasible sex determination with p, step is gone to
Rapid E11；Otherwise, a sub-assemblies q is selected from the sub-assemblies being stored in front of sub-assemblies p；
If the parts count for including in sub-assemblies q is less than or equal to n-L, the composite set for establishing sub-assemblies q indicates Fq(X)；
Otherwise, step E11 is gone to；
Step E5. judges whether the composite set of 2 sub-assemblies includes common part, that is, judges Fp(X)∩Fq(X) it is
No is empty；If for sky, include that common part can not assemble, go to step E4, select next sub-assemblies into
Row determines；If it is sky, does not include common part, go to step E6；
It is preferential in step D precedence relation matrix generated that step E6. judges whether sub-assemblies p and sub-assemblies q meet
Relation constraint judges sub-assemblies p and sub-assemblies q are assembled together whether will lead to other not according to precedence relation matrix
The part being assembled can not assemble；If being unsatisfactory for dominance relation constraint, step E4 is gone to；If meeting dominance relation constraint,
Go to step E7；
Step E7. judges whether sub-assemblies p and sub-assemblies q meet connecting relation constraint and the interference matrix of connecting matrix
Interfere relation constraint, that is, judges whether sub-assemblies p and sub-assemblies q meet assembly feasibility；If being unsatisfactory for assembly feasibility,
Go to step E4；If meeting assembly feasibility, the two can be assembled into new sub-assemblies, go to step E8；
Step E8. thus generates feasible assembly manipulation NewFeasibleOperation and sub-assemblies NewSubassembly；
Step E9. checks whether sub-assemblies NewSubassembly has been saved from i-th of sub-assemblies file；If not by
It saves, sub-assemblies NewSubassembly is written in i-th of sub-assemblies file File_i and is stored, and in two-dimentional dynamic number
Group Num_Routes memory frees into the number of path of the sub-assemblies；If being saved, it need to only change and be stored in two dimension originally
The number of path for generating the sub-assemblies in dynamic array；I=x+y at this time, wherein x represents the number of components that sub-assemblies p includes
And 1≤x < n, y represent the number of components that sub-assemblies q includes and 1≤y < n；
The feasible assembly manipulation that step E10. creates feasible assembly manipulation NewFeasibleOperation write step E1
It is stored in file File_FeasibleOperations, and goes to step E4；
It is finished if the sub-assemblies of step E11. current layer storage are not determined, goes to step E3；Otherwise, then level variable
L cumulative 1, if level variables L is less than part total number n, goes to step E3；Otherwise, step E terminates；
Step F. is searched for according to the feasible assembly of preservation and sub-assemblies and is deleted the death situation state in assembling process.
2. a kind of hybrid precast sequence generating method based on symbol according to claim 1, characterized in that the step B
Specific step is as follows:
Step B1. is encoded using each part of the variable to assembly；
Step B2. creates the composite set of assembly connecting relation according to the connecting matrix of assembly；
Step B3. is obtained according to the mapping relations of the composite set of assembly connecting relation and composite set to ZBDD
The ZBDD of assembly connecting relation is indicated.
3. a kind of hybrid precast sequence generating method based on symbol according to claim 1, characterized in that the step C
Specific step is as follows:
Step C1. uses 6 binary variables, that is, Z={ z0,z1,z2,z3,z4,z5To+the X of reference axis ,+Y ,+Z ,-X ,-Y and-
This 6 directions Z are encoded；
Step C2. obtains the composite set of assembly interference relationship according to the interference matrix of assembly；
The composite set and composite set that step C3. interferes relationship according to assembly and then are obtained to the mapping relations of ZBDD
Assembly interferes the ZBDD of relationship to indicate.
4. a kind of hybrid precast sequence generating method based on symbol according to claim 1, characterized in that the step D
Specific step is as follows:
Three integer variables of step D1. application, i.e. the number of iterations variable a, b and c, and enable the number of iterations variable a=1；
Step D2. enables the number of iterations variable b=1, if a ≠ b at this time, goes to step D3, otherwise goes to step D6；
Step D3. enables the number of iterations variable c=b+1, if a ≠ c at this time, goes to step D4, otherwise goes to step D5；
If Tx in step D4. interference matrixb-1xa-1∧Txc-1xa-1≠ 1, then it represents that part xa-1It cannot be in part xb-1And part
xc-1All reassembled after assembly, and must be prior to part xb-1With part xc-1Assembly is assembled therebetween, by the number of iterations
The current value of variable a, b and c, i.e. (a, b, c) are stored in precedence relation matrix；Otherwise, D5 is gone to；
Step D5. enables the number of iterations variable c cumulative 1, if c≤n, goes to step D4；Otherwise, step D6 is gone to；
Step D6. enables the number of iterations variable b cumulative 1, if b < n, goes to step D3；Otherwise, step D7 is gone to；
Step D7. enables the number of iterations variable a cumulative 1, if a≤n, goes to step D2；Otherwise, step D terminates, and acquires complete
Precedence relation matrix；
Above-mentioned Txb-1xa-1Indicate part xb-1With part xa-1Motion-vector function in interference matrix, Txc-1xa-1Indicate part
xc-1With part xa-1Motion-vector function in interference matrix；N is part total number.
5. a kind of hybrid precast sequence generating method based on symbol according to claim 1, characterized in that in step E9,
The calculation formula for generating the number of path of sub-assemblies is as follows:
Wherein, NumpRepresent the number of path for generating sub-assemblies p, NumqThe number of path for generating sub-assemblies q is represented, x represents son dress
Number of components included in ligand p and 1≤x < n, y represent number of components included in sub-assemblies q and 1≤y < n,
NumNewSubassemblyRepresent the number of path of the generation sub-assemblies of current iteration, NumNewSubassembly'For the life of last iteration
At the number of path of sub-assemblies.
6. a kind of hybrid precast sequence generating method based on symbol according to claim 1, characterized in that the step E7
Specific step is as follows:
Step E71. calculates Fp(X) and Fq(X) cartesian product Fpq(X), i.e. Fpq(X)=Fp(X)×Fq(X), and F is createdpq(X)
Corresponding ZBDD, is denoted as ZBDDpq；
Step E72. executes ZBDDpq∩ZBDDCIf result be not it is empty, 2 zero representated by sub-assemblies p and sub-assemblies q
Part or sub-assemblies meet connecting relation constraint, go to step E73；Otherwise, it is unsatisfactory for the constraint of connecting relation, goes to step
E4；
Step E73. creates a ZBDD, is denoted as ZBDDD, for storing the Lothrus apterus assembly path between components to be assembled, just
The six direction z for the storage reference axis that begins0,z1,z2,z3,z4And z5；
Step E74. is for ZBDDpqIn each paths x0x1…xn-1, in ZBDDTIt is middle to search for corresponding path x0x1…xn- 1z0z1z2z3z4z5, intercept z0z1z2z3z4z5, corresponding ZBDD is created, ZBDD is denoted asDS；And enable ZBDDD=ZBDDD∩ZBDDDS；
If step E75. ZBDDDIt is not sky, then two parts representated by sub-assemblies p and sub-assemblies q or sub-assemblies meet
Interfere relation constraint, the sub-assemblies p and sub-assemblies q known to step E72 also meets connecting relation constraint, therefore the two meets
Assembly feasibility goes to step E8；Otherwise, it is unsatisfactory for interference relation constraint, goes to step E4.
7. a kind of hybrid precast sequence generating method based on symbol according to claim 1, characterized in that the step F
Specific step is as follows:
It is currently to be simplified that step F1., which enables file i.e. second sub-assemblies file of the storage comprising the sub-assemblies of 2 parts,
Layer simplifies level variable SL=2, and enables deleted marker variable flag=0；
Step F2. selects a sub-assemblies sa from the layer；
Step F3. determines whether sub-assemblies sa takes part in assembly according to the feasible assembly manipulation of storage, i.e. judgement sub-assemblies
Whether sa is infeasible sub-assemblies；If sub-assemblies sa is not all right sub-assemblies, delete sub-assemblies sub-assemblies sa with
And all assembly manipulations for generating sub-assemblies sa, enable flag=1；
It is finished if the sub-assemblies of step F4. current layer storage do not check, goes to step F2；If it is not, then simplified level
Variable SL cumulative 1 goes to step F2 if simplifying level variable SL is less than part total number n；Otherwise, if flag=1,
Step F1 is gone to, if flag=0, step F terminates.
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| CN104504471A (en) * | 2014-12-22 | 2015-04-08 | 华北电力大学 | Assembly sequence planning method and assembly sequence planning system |
| CN104573194A (en) * | 2014-12-20 | 2015-04-29 | 西安工业大学 | Recognition method for subassembly in assembly sequence planning |
| CN104598695A (en) * | 2015-02-06 | 2015-05-06 | 桂林电子科技大学 | Assembly sequence generating method based on sign ZBDD |
| CN104616084A (en) * | 2015-02-15 | 2015-05-13 | 桂林电子科技大学 | Assembly sequence planning method |
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| CN104573194A (en) * | 2014-12-20 | 2015-04-29 | 西安工业大学 | Recognition method for subassembly in assembly sequence planning |
| CN104504471A (en) * | 2014-12-22 | 2015-04-08 | 华北电力大学 | Assembly sequence planning method and assembly sequence planning system |
| CN104598695A (en) * | 2015-02-06 | 2015-05-06 | 桂林电子科技大学 | Assembly sequence generating method based on sign ZBDD |
| CN104616084A (en) * | 2015-02-15 | 2015-05-13 | 桂林电子科技大学 | Assembly sequence planning method |
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