CN106742402B - A kind of mechanical model packing method based on mechanical freedom - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B63/00—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
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Abstract
The mechanical model packing method based on mechanical freedom that the invention discloses a kind of, this method can carry out a small amount of fractionation to mechanical model and obtain the manner of packing for meeting object space utilization rate.This method is broadly divided into such as three steps: 1) carrying out building search tree according to mechanical joint, each node in search tree indicates a kind of fractionation scheme；2) to every kind of fractionation scheme, obtained component groups will be split and optimize volume；3) component groups after optimization are packed.Present invention firstly provides optimize mechanical model packing method based on mechanical joint freedom degree, keep the component groups volume after splitting minimum by optimizing movable joint parameter, the space utilization rate highest in packaging, this method are better than existing method in the scheme of fractionation and computational efficiency.
Description
Technical field
The present invention relates to field of computer aided design, are related to Model Mounting and threedimensional model packing method, especially relate to
And a kind of mechanical model packing method based on mechanical freedom.
Background technique
One, mechanical model trim designs
Mechanical model trim designs are to be attached different types of component and keep movement cooperation to reach designer
Desired result.In trim designs, mainly two kinds of information are designed: 1) spatial position of component and court in assembly
To information.2) the mechanical connection relationship between component and movement chain information.In previous research, carry out table often through semantization
Show mechanical connection relationship, and using ontology description language (OWL) in semantic net rule language (SWRL) and semantic Web come
Indicate the semantic information of Automatic manual transmission connection.In this kind of research, it is not defined and moves out transitive relation, but pass through component
Between semantic constraint indicate the relative movement information between component.Niloy J.Mitra and Lifeng Zhu [Zhu, L.,
Et al., Motion-guided mechanical toy modeling.ACM Trans.Graph., 2012.] it is then et al.
The connection type between component is obtained by analyzing mechanical component self attributes.
Two, model is packed
Existing packaging algorithm mostly to be encountered in industrial process or real work the problem of as background carry out exploitation algorithm.
It can make target container filling rate for example, proposing in the research of Egeblad et al. and picking out several from suite of furniture
Maximum furniture.The packaging efficiency of the algorithm is up to 91.3%, but works as and need all to pack all components, and cannot assume that
There are when multiple identical components in mechanical model, which can not be applicable in.Also researcher proposes that providing one group of needs is wrapped
These objects are packaged into the container of minimum volume by the object of dress.Assume that packaged object is cuboid in the algorithm.
But since the geometrical characteristic of mechanical component is different, if using the parallel bounding box (Axially-aligned of reference axis of component
Bounding box) if, there can be the case where most of space waste.There are also researchers to propose the model of an entirety,
Model is split by partitioning algorithm, then the model after segmentation is packaged into a smallest container.In packaging,
Since model is irregular geometry, so after model is carried out uniform discrete, after segmentation is indicated with voxel mode
Model.
Summary of the invention
The mechanical model packing method based on mechanical freedom that the purpose of the present invention is to provide a kind of, this method can be right
Mechanical model carries out a small amount of fractionation and obtains the manner of packing for meeting object space utilization rate.This method be broadly divided into as
Three steps: 1) carrying out building search tree according to mechanical joint, and each node in search tree indicates a kind of fractionation scheme；2) right
Every kind of fractionation scheme will split obtained component groups and optimize volume；3) component groups after optimization are packed.
Specific step is as follows for the method for the present invention:
(1) Automatic manual transmission information and target packaging space utilization rate are inputted.Assembly information includes mechanical component geological information
Joint link information between component.Space utilization rate is ratio of the sum of the mechanical component volume with packaging volume.
(2) mechanical component p is definediIt indicates, the collection of mechanical component shares P expression, P={ pi| i ∈ [1, n] }, wherein n table
Show component number in mechanical model.Define mechanical joint ciIt indicates, articulation set shares C expression, C={ ci| i ∈ [1, m] },
Middle m indicates joint number in mechanical model.
(3) search tree is established according to the joint set C in step (1).Each a kind of fractionation side of node on behalf in search tree
Formula.
(4) using each node in depth optimization traversal search tree.
(5) set for defining set or multiple components with joint connection that group is single component, is indicated with g.
(6) it is traversed at node according to step (4), the fractionation mode indicated according to node splits into mechanical model multiple
group.It defines the group collection split into and shares G expression, G={ gi| ∈ [1, k] }, wherein k indicates group number.
(7) to each element g in step (5) set GiCarry out volume optimization.
(8) the set G after volume optimization in step (6) is packed with algorithm is packed, and calculates the space after packaging
Utilization rate.
(9) if space utilization rate is greater than object space utilization rate, continue extreme saturation child node.Otherwise, father is returned
Other branches of node visit.
(10) after traversing, the minimum fractionation mode G for meeting object space utilization rate is returnedmin。
When constructing search tree according to joint information, specific implementation step are as follows:
(3.1) joint connection status flag bit is defined." 0 " indicates failure state, disconnects the connection relationship of the joint.
" 1 " indicates active states, keeps the connection relationship of the joint.The joint that F is active states is defined to gather.
(3.2) use bottom-up mode by mechanical model from the articulate state of disconnection institute, by way of merging
Find out optimal solution.Therefore, search root vertex joint is all failure state, i.e.,
(3.3) when constructing search tree, each child node determines the state in a joint.1st node layer determines first
Connection relationship is active states or failure state.Then using the first-level nodes as root node.Determine next connection relationship
State.The state of all connection relationships is determined by continuous iteration, so that it may generate the search tree for having complete solution space.
(3.4) for each node, corresponding active states joint set F={ ci|ciFor active states }.According to set F
In joint generate corresponding group.
It is carrying out extreme saturation, algorithm is accelerated by following rule:
(4.1) in order to reduce calculation amount when extreme saturation, N is definedminFor current minimum group number.
(4.2) if the group number in current collection G is greater than Nmin, continue to search its child node, until in set G
Group is less than or equal to NminWhen calculated again.
(4.3) if in a certain node, group number subtracts unknown state connection relationship number greater than N in set Gmin, say
All nodes are not optimal solutions in the bright node and its subtree, we directly carry out beta pruning to subtree.
Optimize the specific implementation step of group are as follows:
(7.1) joint information according to present in group finds out movement transmitting source, and designated movement transitive relation.
(7.1.1) in the component groups that there is connection, specifying the component of most stem or most tail portion is movement transmitting source.With biography
The component that the source of passing is directly connected to is the sub- component in transmitting source, and sub- component receives the movement in transmitting source, and passes motion to next
A component.
(7.2) joint is divided by cradle head, linear joint and fixing joint according to joint information.Cradle head and movement
Joint can change group volume by adjustment means relative position.
(7.3) using group volume as objective function, using L-BFGS algorithm optimization group volume.
(7.4) group volume function indicates are as follows:
Wherein, Rot (θi) indicate to rotate θ angle to the relatively primitive position of i-th of rotation subjoint.Trans(τj) expression pair
J-th of mobile relatively primitive position translation τ distance of subjoint.The bounding box volume size of Vol () expression group.λ is constant
, V0lcollision(G) size of impact volume in group is indicated.
Specific steps when packaging model are as follows:
(8.1) size for comparing all group bounding boxs in group set, according to the maximum length of each group and most
Big width sets the bed-plate dimension of packing container.
(8.2) group is ranked up according to the volume of group, and group is subjected to voxelization.
(8.3) the 3D mirror image I of voxelization is created for packing container.
(8.4) it by the group after sequence, is sequentially placed into mirror image I.
(8.4.1) definition rotation four-tuple collection shares R expression, and generates the element in set by predefined mode.
(8.4.2) is according to four element q ∈ R in set R to groupg to be packagediIt is rotated.
(8.4.3) is by postrotational groupRq(gi) position that can be placed is found out in packing container, and calculate each position
The cost set.It finds out the position of the least cost and places group.
(8.4.4) spends calculation formula are as follows:
Wherein, ΔhIndicating height incrementss, B indicates container volume,Indicate groupgiUnder
Square white space size.Γ is giIn the 2D view field of container bottoms,Indicate giWith vertical line x=<x, y>crosspoint
Minimum height values.Indicate the group having been placed in container and vertical line x=<x, y>crosspoint maximum height
Value.
The beneficial effects of the present invention are: present invention firstly provides optimize mechanical model packaging side based on mechanical freedom
Method keeps the component groups volume after splitting minimum by optimizing movable joint parameter, the space utilization rate highest in packaging, this method
Existing method is better than in the scheme of fractionation and computational efficiency.
Detailed description of the invention
Fig. 1 is plane mechanism movable joint type schematic diagram；
Fig. 2 is that search tree constructs schematic diagram.
Specific embodiment
In the mechanical model packing method based on mechanical freedom, a small amount of fractionation is carried out to mechanical model and obtains one
A manner of packing for meeting object space utilization rate.This method is broadly divided into such as three steps: 1) carrying out structure according to mechanical joint
Search tree is built, each node in search tree indicates a kind of fractionation scheme；2) to every kind of fractionation scheme, the component that fractionation is obtained
Group optimizes volume；3) component groups after optimization are packed.The specific steps of which are as follows:
(1) Automatic manual transmission information and target packaging space utilization rate are inputted.Assembly information includes mechanical component geological information
Joint link information between component.The geological information of mechanical model is the three-dimensional grid information of part.In the method, only
Plane mechanism model is discussed, the joint connection of mechanical model is divided into fixing joint, cradle head and linear joint, and joint type is such as
Shown in Fig. 1.Specified rotary shaft and rotation center are needed in cradle head；Specified motion-vector is needed in linear joint.It is empty
Between utilization rate be the ratio of the sum of mechanical component volume with packaging volume.
(2) mechanical component p is definediIt indicates, the collection of mechanical component shares P expression, P={ pi| i ∈ [1, n] }, wherein n table
Show component number in mechanical model.Define mechanical joint ciIt indicates, articulation set shares C expression, C={ ci| i ∈ [1, m] },
Middle m indicates joint number in mechanical model.
(3) search tree is established according to the joint set C in step (1).Each a kind of fractionation side of node on behalf in search tree
Formula.
(4) using each node in depth optimization traversal search tree.
(5) set for defining set or multiple components with joint connection that group is single component, is indicated with g.
(6) it is traversed at node according to step (4), the fractionation mode indicated according to node splits into mechanical model multiple
group.It defines the group collection split into and shares G expression, G={ gi| ∈ [1, k] }, wherein k indicates group number.
(7) to each element g in step (5) set GiCarry out volume optimization.
(8) the set G after volume optimization in step (6) is packed with algorithm is packed, and calculates the space after packaging
Utilization rate.
(9) if space utilization rate is greater than object space utilization rate, continue extreme saturation child node.Otherwise, father is returned
Other branches of node visit.
(10) after traversing, the minimum fractionation mode G for meeting object space utilization rate is returnedmin。
When constructing search tree according to joint information, as shown in Fig. 2, specific implementation step are as follows:
(3.1) define joint connection status flag bit: " 0 " indicates failure state, disconnects the connection relationship of the joint；
" 1 " indicates active states, keeps the connection relationship of the joint；The joint that F is active states is defined to gather.
(3.2) use bottom-up mode by mechanical model from the articulate state of disconnection institute, by way of merging
Find out optimal solution.Therefore, search root vertex joint is all failure state, i.e.,
(3.3) when constructing search tree, each child node determines the state in a joint: the 1st node layer determines first
Connection relationship is active states or failure state.Then using the first-level nodes as root node.Determine next connection relationship
State.The state of all connection relationships is determined by continuous iteration, so that it may generate the search tree for having complete solution space.
(3.4) for each node, corresponding active states joint set F={ ci|ciFor active states }.According to set F
In joint generate corresponding group.
It is carrying out extreme saturation, algorithm is accelerated by following rule:
(4.1) in order to reduce calculation amount when extreme saturation, N is definedminFor current minimum group number.
(4.2) if the group number in current collection G is greater than Nmin, continue to search its child node, until in set G
Group is less than or equal to NminWhen calculated again.
(4.3) if in a certain node, group number subtracts unknown state connection relationship number greater than N in set Gmin, say
All nodes are not optimal solutions in the bright node and its subtree, we directly carry out beta pruning to subtree.
Optimize the specific implementation step of group are as follows:
(7.1) joint information according to present in group finds out movement transmitting source, and designated movement transitive relation.
(7.1.1) in the component groups that there is connection, specifying the component of most stem or most tail portion is movement transmitting source.With biography
The component that the source of passing is directly connected to is the sub- component in transmitting source, and sub- component receives the movement in transmitting source, and passes motion to next
A component.
It (7.2) is all plane mechanism since common mechanical model is most of.Therefore, the objective for implementation of this method is also flat
Face mechanism.In plane mechanism, movable joint is known as kinematic pair, and kinematic pair is divided into low secondary and higher pair.Low pair is by two components
Contact of the face with face, higher pair are point or the line contact by two components.Since higher pair contact area is small, and stabilization can not be formed
Connecting joint, so it is not intended that higher pair in connection relationship.Therefore, in the method, the joint between two components can
To be divided into fixing joint, mobile subjoint and rotation subjoint.Joint is divided into cradle head, linear joint according to joint information
And fixing joint.Cradle head and linear joint can change group volume by adjustment means relative position.
(7.3) using group volume as objective function, using L-BFGS algorithm optimization group volume.
(7.4) group volume function indicates are as follows:
Wherein, wherein Rot (θi) indicate to rotate θ angle to the relatively primitive position of i-th of rotation subjoint.Trans(τj)
It indicates to j-th of mobile relatively primitive position translation τ distance of subjoint.The bounding box volume size of Vol () expression group.λ
For constant term, V0lcollision(G) size of impact volume in group is indicated.
Since, there are rotational parameters, objective function is not a monotonic function in objective function.It is excellent using L-BFGS
The volume of group can only be optimized to one local minimum by changing algorithm, and the result of algorithm and initial value be set with it is very big
Relationship.Therefore, we modify the initial value of movable joint in group by way of multiple repairing weld, are then calculated again with L-BFGS
Method is iterated, and the volume of group is made to reach minimum.
When being packed to model, specific steps are as follows:
(8.1) size for comparing all group bounding boxs in group set, according to the maximum length of each group and most
Big width sets the bed-plate dimension of packing container.
(8.2) when placing part into container, it is different to be put into sequence, also influences whether that last packaging space utilizes
Rate.The study found that different placement schemes space utilization rate difference can be up to if placing part using random order
70%.If placing part using the sequence of volume of part from large to small, different placement schemes space utilization rate difference only has
20%.Therefore, it before to group assembly package, needs first to be ranked up according to group volume size.According to the body of group
Product is ranked up group, and group is carried out voxelization.
(8.3) the 3D mirror image I of voxelization is created for packing container.When creating mirror image, with the packing container bottom surface of setting
It is height with maximum height the bottom of having a size of.And the voxelized space empty according to the creation of the rasterisation step-length of voxel.
(8.4) it by the group after sequence, is sequentially placed into mirror image I.
(8.4.1) definition rotation four-tuple collection shares R expression, and by all in Eulerian angles uniform sampling generation set
Element.
(8.4.2) is according to four element q ∈ R in set R to groupg to be packagediIt is rotated, the g after rotating throughiIt is several
What shape is denoted as Rq(gi)。
(8.4.3) is by postrotational groupRq(gi) position that can be placed is found out in packing container, and calculate each position
The cost set.It finds out the position of the least cost and places group.
(8.4.4) spends calculation formula are as follows:
Wherein, ΔhIndicating height incrementss, B indicates container volume,Indicate groupgiUnder
Square white space size.Γ is giIn the 2D view field of container bottoms,Indicate giWith vertical line x=<x, y>crosspoint
Minimum height values.Indicate the group having been placed in container and vertical line x=<x, y>crosspoint maximum height
Value.
Claims (6)
1. a kind of mechanical model packing method based on mechanical freedom, which comprises the steps of:
(1) Automatic manual transmission information and target packaging space utilization rate are inputted, assembly information includes mechanical component geological information and structure
Joint link information between part, space utilization rate are ratio of the sum of the mechanical component volume with packaging volume；
(2) mechanical component p is definediIt indicates, the collection of mechanical component shares P expression, P={ pi| i ∈ [1, n] }, wherein n indicates machine
Component number in tool model；Define mechanical joint ciIt indicates, articulation set shares C expression, C={ ci| i ∈ [1, m] }, wherein m table
Show joint number in mechanical model；
(3) search tree, each a kind of fractionation mode of node on behalf in search tree are established according to the joint set C in step (2)；
(4) using each node in depth optimization traversal search tree；
(5) set for defining set or multiple components with joint connection that group is single component, is indicated with g；
(6) it is traversed at node according to step (4), the fractionation mode indicated according to node splits into mechanical model multiple
group；It defines the group collection split into and shares G expression, G={ gi| i ∈ [1, k] }, wherein k indicates group number；
(7) to each element g in step (6) set GiCarry out volume optimization；
(8) the set G after volume optimization in step (7) is packed with algorithm is packed, and calculates the space utilization after packaging
Rate；
(9) if space utilization rate is greater than object space utilization rate, continue extreme saturation child node, otherwise, return to father node
Access other branches；
(10) after traversing, the minimum fractionation mode G for meeting object space utilization rate is returnedmin。
2. the mechanical model packing method according to claim 1 based on mechanical freedom, which is characterized in that the step
Suddenly (3) specifically include following sub-step:
(3.1) define joint connection status flag bit: " 0 " indicates failure state, disconnects the connection relationship of the joint；" 1 " table
Show active states, keeps the connection relationship of the joint；The joint that F is active states is defined to gather；
(3.2) mechanical model is disconnected by the articulate state of institute using bottom-up mode, is found out most by way of merging
Excellent solution；Therefore, search root vertex joint is all failure state, i.e.,
(3.3) when constructing search tree, each child node determines the state in a joint: the 1st node layer determines first connection
Relationship is active states or failure state, then using the first-level nodes as root node, determines the state of next connection relationship；
The state of all connection relationships is determined by continuous iteration, so that it may generate the search tree for having complete solution space；
(3.4) for each node, corresponding active states joint set F={ ci|ciFor active states }；According in set F
Joint generates corresponding group.
3. the mechanical model packing method according to claim 1 based on mechanical freedom, which is characterized in that the step
Suddenly (4) specifically include following sub-step:
(4.1) in order to reduce calculation amount when extreme saturation, N is definedminFor current minimum group number；
(4.2) if the group number in current collection G is greater than Nmin, continue to search its child node, until group in set G
Less than or equal to NminWhen calculated again；
(4.3) if in a certain node, group number subtracts unknown state connection relationship number greater than N in set Gmin, illustrate this
All nodes are not optimal solutions in node and its subtree, directly carry out beta pruning to subtree.
4. the mechanical model packing method according to claim 1 based on mechanical freedom, which is characterized in that the step
Suddenly (7) specifically include following sub-step:
(7.1) joint information according to present in group finds out movement transmitting source, and designated movement transitive relation；
(7.1.1) in the component groups that there is connection, specifying the component of most stem or most tail portion is movement transmitting source；With transmitting source
The component being directly connected to is the sub- component in transmitting source, and sub- component receives the movement in transmitting source, and passes motion to next structure
Part；
(7.2) joint is divided by cradle head, linear joint and fixing joint according to joint information；Cradle head and linear joint
Group volume can be changed by adjustment means relative position；
(7.3) using group volume as objective function, using L-BFGS algorithm optimization group volume；
(7.4) group volume function indicates are as follows:
Wherein, wherein Rot (θi) indicate to rotate θ angle to the relatively primitive position of i-th of rotation subjoint；Trans(τj) indicate
To j-th of mobile relatively primitive position translation τ distance of subjoint；The bounding box volume size of Vol () expression group；λ is normal
It is several, V0lcollision(G) size of impact volume in group is indicated.
5. the mechanical model packing method according to claim 1 based on mechanical freedom, which is characterized in that the step
Suddenly (8) specifically include following sub-step:
(8.1) size of all group bounding boxs in group set is compared, it is wide according to the maximum length of each group and maximum
It spends to set the bed-plate dimension of packing container；
(8.2) group is ranked up according to the volume of group, and group is subjected to voxelization；
(8.3) the 3D mirror image I of voxelization is created for packing container；
(8.4) it by the group after sequence, is sequentially placed into mirror image I.
6. the mechanical model packing method according to claim 5 based on mechanical freedom, which is characterized in that the step
Suddenly (8.4) specifically include following sub-step:
(8.4.1) definition rotation four-tuple collection shares R expression, and generates the element in set by predefined mode；
(8.4.2) is according to four element q ∈ R in set R to groupg to be packagediIt is rotated；
(8.4.3) is by postrotational groupRq(gi) position that can be placed is found out in packing container, and calculate each position
It spends, finds out the position of the least cost and place group；
(8.4.4) spends calculation formula are as follows:
Wherein, ΔhIndicating height incrementss, B indicates container volume,Indicate groupgiLower section is empty
White space size；Γ is giIn the 2D view field of container bottoms,Indicate giWith the crosspoint vertical line x=< x, y >
Minimum height values,Expression has been placed in the group in container and the maximum height in the crosspoint vertical line x=< x, y >
Value.
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