CN110322570B - Visualization method for disassembling and assembling robot according to planning sequence in virtual reality - Google Patents
Visualization method for disassembling and assembling robot according to planning sequence in virtual reality Download PDFInfo
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Abstract
The visual method for disassembling and assembling the robot according to the planning sequence in the virtual reality is characterized in that the planning sequence information comprises the disassembling sequence, the moving direction and the moving speed of modules and parts in a robot model; txt text documents contain the tear down order and the movement direction; the Unity3D engine is open source software; the specific process steps are as follows: planning the disassembly sequence of the robot model; planning the moving direction of the disassembled module and parts; constructing sort text documents of the disassembly sequence and the movement direction; establishing a one-to-one correspondence relationship between the disassembled modules of the robot model and the part numbers and the empty numbers; setting the moving speed of the disassembled module and parts; reading in a sort text document by a Unity3D engine; creating an install and uninstall execution button; visualization of robot model according to plan sequence and termination judgment; and the visualization of the robot model according to the planning sequence and the termination judgment of the robot model obtain the visualization of the dismounting effect of the robot in the virtual scene according to the planning sequence. The robot is simple in concept, convenient to realize and good in visual immersion property when being assembled and disassembled.
Description
Technical Field
The invention relates to the technical field of robot visualization, in particular to a visualization method for disassembling and assembling a robot according to a planning sequence in virtual reality.
Background
The rapid development of information technologies such as the internet + and the like at present promotes the wide application of the robot in the manufacturing industry. Innovations and improvements in robots have been a research hotspot in academia and application, wherein an essential link is familiarity with the mutual assembly relationship and structural features of each module and all parts of the robot.
At present, the method familiar with the mutual assembly relationship and structural characteristics of each module and all parts of the robot is to directly disassemble a robot entity, on one hand, the cost for purchasing the robot entity is high, on the other hand, the robot entity is difficult to restore and assemble after being disassembled, and the problem that the robot entity is low in reuse rate and generates large waste is reduced.
Disclosure of Invention
The invention aims to overcome the defects that the existing method familiar with the mutual assembly relationship and structural characteristics of each module and all parts of a robot is to directly disassemble a robot entity, on one hand, the cost for purchasing the robot entity is high, on the other hand, the robot entity is difficult to restore and assemble after being disassembled, and the large waste caused by low reuse rate of the robot entity is reduced.
The technical solution adopted by the invention to specifically solve the technical problem is as follows:
the visualization method for disassembling and assembling the robot according to the planning sequence in the virtual reality comprises a robot model, modules and parts, a disassembling sequence, a moving direction, a sort text document, a Unity3D engine, a moving speed, the disassembling visualization of the robot model, the assembling visualization of the robot model, the disassembling execution button, the assembling execution button, the workshop in the visual virtual scene, the workbench in the visual virtual scene and the visualization of the disassembling and assembling effect of the robot in the virtual scene according to the planning sequence. The modules and parts mean that the robot model is decomposed into different modules, and each module consists of different parts; the planning sequence information comprises the disassembly sequence, the moving direction and the moving speed of the modules and the parts; the text document of the text comprises the disassembly sequence and the movement direction of the modules and the parts in the planning sequence information; the Unity3D engine is visual open source software for realizing the robot to be disassembled and assembled according to a planning sequence based on a virtual reality technology.
A visualization method for disassembling and assembling a robot according to a planning sequence in virtual reality comprises the following specific flow steps:
step 1, planning the disassembly sequence of the robot model: analyzing the assembling sequence of the robot model, determining the disassembling sequence of different modules of the robot model and the disassembling sequence of different parts of the same module, and obtaining the disassembling sequence of the detachable modules and the parts of the robot model;
step 2, planning the moving direction of the disassembled module and the parts: according to the method, collision and interference do not occur between the modules and parts in the detaching process of the robot model, and the moving directions of the detached modules and the parts are regulated and laid out by considering the browsing angle of the detached parts in space;
and 3, constructing a sort text document with the disassembly sequence and the movement direction: numbering modules and parts disassembled from a robot model, constructing two lines of sort text document database information, wherein the first line is the disassembling sequence information of the disassembled modules and the parts, and sequencing the disassembled modules and the parts by using the numbers; the second column is the moving direction information of the removed module and the component, and is defined by X, Y, Z of space coordinates; directly copying and pasting the sort text document into a Project engineering scheme of a Unity3D engine to realize that the sort text document is imported into the Unity3D engine;
step 4, establishing a one-to-one corresponding relation between the number of the disassembled module and the parts of the robot model and the empty number: firstly, importing a robot model into a Unity3D engine; creating a null number in Tag of the Unity3D engine; according to the fact that the first column in the sort text document is the dismounting sequence information of the dismounted module and the part, the same empty number serial number is attached to the corresponding dismounted module and the part, and the one-to-one correspondence relationship between the serial numbers of the dismounted module and the part of the robot model and the empty number is realized;
and 5, setting the moving speed of the disassembled module and the parts: then on the basis of the disassembly sequence and the movement direction of the disassembled module and the parts, the movement distance and the movement time of the disassembled module and the parts are set, so that the setting of the movement speed of the disassembled module and the parts is realized; the program execution statement for realizing the setting of the moving speed of the disassembled module and the component is obj [ i ]. transform.DOMoveX (distanceX,2), wherein obj [ i ] refers to the ith disassembled module and the component, transform.DOMoveX refers to the component code number in the Unity3D engine, (distanceX,2) refers to the moving distance X and the time 2 of the ith disassembled module and the component, and the disassembling sequence, the moving direction and the moving speed setting of the module and the component in the planning sequence information are completed;
step 6, reading in a sort text document by the Unity3D engine: constructing a Unity3D engine and a sort. The program execution statement for constructing the link between the Unity3D engine and the child text document is path ═ application.
Step 7, creating an unpacking and assembling execution button: creating a disassembled execution button and an assembled execution button in the Unity3D engine, compiling a program for the buttons, and realizing the functions of disassembling and assembling the buttons;
step 8, visualization and termination judgment of the robot model according to the planned sequence: judging whether the robot model is disassembled to traverse all parts or not, and if the robot model is disassembled to traverse all parts and the flow continues to be executed downwards, executing visualization of the robot model; if the robot model is disassembled without traversing all parts, the Unity3D engine displays the visualization process of the robot model which is disassembled according to the planning sequence; the Unity3D engine displays that a program execution statement of a visualization process of the robot model which is disassembled according to a planning sequence is for (int i ═ 0; i < obj.length; i + +), wherein for represents a loop statement, int integer type variables are set, obj.length represents the total number of the disassembled modules and parts, (int i ═ 0; i < obj.length; i + +) represents a loop condition;
step 9, visualization and termination judgment of the robot model according to the planning sequence: judging whether the robot model is assembled to traverse all parts or not, and if the robot model is assembled to traverse all parts, terminating the visual assembling and disassembling process of the robot model according to the planning sequence; if the robot model is not filled with all parts, the Unity3D engine displays the visualization process of the robot model according to the planning sequence; the Unity3D engine displays that a program execution statement of a visualization process of a robot model packed in a planning sequence is for (int i is obj. length-1; i > is 0; i-), wherein for represents a loop statement, int integer variable setting, obj. length represents the total number of disassembled modules and parts, (int i is obj. length-1; i > is0; i-) represents a loop condition.
The method has the advantages that the visualization method of disassembling and assembling the robot according to the planning sequence in the virtual reality is adopted, and the visualization platform of the robot capable of being repeatedly used is established, so that the problems that the robot entity is directly disassembled by being familiar with the mutual assembly relation and the structural characteristics of all modules and parts of the robot at present, the cost for purchasing the robot entity is high on one hand, the robot entity is difficult to restore and assemble after being disassembled on the other hand, the large waste caused by the low repeated use rate of the robot entity is reduced, and the like are solved. The method has the advantages of simple concept, convenient realization and good visual immersion, and is suitable for the structural innovation and improvement research of the robot and the actual requirements of the robot production and manufacturing industry.
Drawings
FIG. 1 is a flow chart of a visualization method for disassembling and assembling a robot according to a planning sequence in virtual reality according to the present invention;
fig. 2 is a visual effect diagram of the robot disassembling process of the visual method for disassembling and assembling the robot according to the planning sequence in the virtual reality.
In the figure 201, an execution button is disassembled, 202, an execution button is assembled, 203, a factory building in a visual virtual scene, 204, a workbench in the visual virtual scene, 205, and the effect of assembling and disassembling the robot in the virtual scene according to a planning sequence is visualized.
Detailed Description
The invention is further described with reference to the following figures and examples:
the visualization method for disassembling and assembling the robot according to the planning sequence in the virtual reality comprises a robot model, modules and parts, a disassembling sequence, a moving direction, a sort text document, a Unity3D engine, a moving speed, the disassembling visualization of the robot model, the assembling visualization of the robot model, an disassembling execution button 201, an assembling execution button 202, a plant 203 in a visual virtual scene, a workbench 204 in the visual virtual scene, and the disassembling and assembling effect visualization 205 of the robot in the virtual scene according to the planning sequence. The modules and parts mean that the robot model is decomposed into different modules, and each module consists of different parts; the planning sequence information comprises the disassembly sequence, the moving direction and the moving speed of the modules and the parts; the text document of the text comprises the disassembly sequence and the movement direction of the modules and the parts in the planning sequence information; the Unity3D engine is visual open source software for realizing robot disassembly and assembly according to a planning sequence based on a virtual reality technology.
A visualization method for disassembling and assembling a robot according to a planning sequence in virtual reality comprises the following specific flow steps:
step 1, planning the disassembling sequence of a robot model: analyzing the assembling sequence of the robot model, determining the disassembling sequence of different modules of the robot model and the disassembling sequence of different parts of the same module, and obtaining the disassembling sequence of the detachable modules and the parts of the robot model;
step 2, planning the moving direction of the disassembled module and the parts: according to the method, collision and interference do not occur between the modules and parts in the detaching process of the robot model, and the moving directions of the detached modules and the parts are regulated and laid out by considering the browsing angle of the detached parts in space;
and 3, constructing a sort text document with the disassembly sequence and the movement direction: numbering the modules and parts disassembled from the robot model, constructing two lines of sort.txt text document database information, wherein the first line is the disassembling sequence information of the disassembled modules and the parts, and sequencing the disassembled modules and the part numbers; the second column is the moving direction information of the removed module and the component, and is defined by X, Y, Z of space coordinates; directly copying and pasting the sort text document into a Project engineering scheme of a Unity3D engine to realize that the sort text document is imported into the Unity3D engine;
step 4, establishing a one-to-one corresponding relation between the disassembled modules of the robot model and the part numbers and the empty numbers: firstly, importing a robot model into a Unity3D engine; creating a null number in Tag of the Unity3D engine; according to the fact that the first column in the sort text document is the dismounting sequence information of the dismounted module and the part, the same empty number serial number is attached to the corresponding dismounted module and the part, and the one-to-one correspondence relationship between the serial numbers of the dismounted module and the part of the robot model and the empty number is realized;
and 5, setting the moving speed of the disassembled module and the parts: then on the basis of the disassembly sequence and the movement direction of the disassembled module and the parts, the movement distance and the movement time of the disassembled module and the parts are set, so that the setting of the movement speed of the disassembled module and the parts is realized; the program execution statement for realizing the setting of the moving speed of the disassembled module and the component is obj [ i ]. transform.DOMoveX (distanceX,2), wherein obj [ i ] refers to the ith disassembled module and the component, transform.DOMoveX refers to the component code number in the Unity3D engine, (distanceX,2) refers to the moving distance X and the time 2 of the ith disassembled module and the component, and the disassembling sequence, the moving direction and the moving speed setting of the module and the component in the planning sequence information are completed;
step 6, reading in a sort text document by the Unity3D engine: constructing a Unity3D engine and a sort. The program execution statement for constructing the link between the Unity3D engine and the child text document is path ═ application.
Step 7, creating an unpacking and assembling execution button: creating a disassembled execution button 201 and an assembled execution button 202 in a Unity3D engine, compiling a program for the buttons, and realizing the functions of disassembling and assembling the buttons;
step 8, visualization and termination judgment of the robot model according to the plan sequence: judging whether the robot model is disassembled to traverse all parts or not, and if the robot model is disassembled to traverse all parts and the flow continues to be executed downwards, executing visualization of the robot model; if the robot model is disassembled without traversing all parts, the Unity3D engine displays the visualization process of the robot model which is disassembled according to the planning sequence; the Unity3D engine displays that a program execution statement of a visualization process of the robot model which is disassembled according to a planning sequence is for (int i ═ 0; i < obj.length; i + +), wherein for represents a loop statement, int integer type variables are set, obj.length represents the total number of the disassembled modules and parts, (int i ═ 0; i < obj.length; i + +) represents a loop condition;
step 9, visualization and termination judgment of the robot model according to the planning sequence: judging whether the robot model is assembled to traverse all parts or not, and if the robot model is assembled to traverse all parts, terminating the visual assembling and disassembling process of the robot model according to the planning sequence; if the robot model is not installed in a traversing manner, the Unity3D engine displays the visualization process of the robot model according to the planning sequence; the Unity3D engine displays that a program execution statement of a visualization process of a robot model packed in a planning sequence is for (int i is obj. length-1; i > is 0; i-), wherein for represents a loop statement, int integer variable setting, obj. length represents the total number of disassembled modules and parts, (int i is obj. length-1; i > is0; i-) represents a loop condition.
When the robot needs to be disassembled and assembled according to the planning sequence in the visual virtual reality, the robot model is placed on a workbench 204 in the visual virtual scene of a plant 203 in the visual virtual scene, the disassembled execution button 201 and the assembled execution button 202 are respectively clicked, and the visualization 205 of the disassembling and assembling effect of the robot according to the disassembly visualization and termination judgment of the robot model and the assembly visualization and termination judgment of the robot model in the virtual scene is obtained, as shown in fig. 2.
Claims (5)
1. A visualization method for disassembling and assembling a robot according to a planning sequence in virtual reality comprises a robot model, modules and parts, a disassembling sequence, a moving direction, a sort text document, a Unity3D engine, a moving speed, the disassembling visualization of the robot model, the assembling visualization of the robot model, an disassembling execution button (201), an assembling execution button (202), a factory building (203) in a visual virtual scene, a workbench (204) in the visual virtual scene, and the disassembling and assembling effect visualization (205) of the robot in the virtual scene according to the planning sequence, and is characterized in that the modules and the parts mean that the robot model is decomposed into different modules, and each module consists of different parts; the planning sequence information comprises the disassembly sequence, the moving direction and the moving speed of the modules and the parts; the text document of the text comprises the disassembly sequence and the movement direction of the modules and the parts in the planning sequence information; the Unity3D engine is visual open source software for realizing robot disassembly and assembly according to a planning sequence based on a virtual reality technology; a visualization method for disassembling and assembling a robot according to a planning sequence in virtual reality comprises the following specific flow steps:
step 1, planning the disassembly sequence of the robot model: analyzing the assembling sequence of the robot model, determining the disassembling sequence of different modules of the robot model and the disassembling sequence of different parts of the same module, and obtaining the disassembling sequence of the detachable modules and the parts of the robot model;
step 2, planning the moving direction of the disassembled module and the parts: according to the method, collision and interference do not occur between the modules and parts in the detaching process of the robot model, and the moving directions of the detached modules and the parts are regulated and laid out by considering the browsing angle of the detached parts in space;
and 3, constructing a sort text document with the disassembly sequence and the movement direction: numbering modules and parts disassembled from a robot model, constructing two lines of sort text document database information, wherein the first line is the disassembling sequence information of the disassembled modules and the parts, and sequencing the disassembled modules and the parts by using the numbers; the second column is the moving direction information of the removed module and the component, and is defined by X, Y, Z of space coordinates; directly copying and pasting the sort text document into a Project engineering scheme of a Unity3D engine to realize that the sort text document is imported into the Unity3D engine;
step 4, establishing a one-to-one corresponding relation between the disassembled modules of the robot model and the part numbers and the empty numbers: firstly, importing a robot model into a Unity3D engine; creating a null number in the Tag of the Unity3D engine; according to the fact that the first column in the sort text document is the dismounting sequence information of the dismounted module and the part, the same empty number serial number is attached to the corresponding dismounted module and the part, and the one-to-one correspondence relationship between the serial numbers of the dismounted module and the part of the robot model and the empty number is realized;
step 5, setting the moving speed of the disassembled module and parts: then on the basis of the disassembly sequence and the movement direction of the disassembled module and the parts, the movement distance and the movement time of the disassembled module and the parts are set, so that the setting of the movement speed of the disassembled module and the parts is realized;
step 6, reading in a sort text document by the Unity3D engine: constructing a Unity3D engine and a sort text document link;
step 7, creating an uninstalled and installed execution button: creating a disassembled execution button 201 and an assembled execution button 202 in a Unity3D engine, compiling a program for the buttons, and realizing the functions of disassembling and assembling the buttons;
step 8, visualization and termination judgment of the robot model according to the planned sequence: judging whether the robot model is disassembled to traverse all parts or not, and if the robot model is disassembled to traverse all parts and the flow continues to be executed downwards, executing visualization of the robot model; if the robot model is disassembled without traversing all parts, the Unity3D engine displays the visualization process of the robot model disassembled according to the planning sequence;
step 9, visualization and termination judgment of the robot model according to the planning sequence: judging whether the robot model is assembled to traverse all parts or not, and if the robot model is assembled to traverse all parts, terminating the visual assembling and disassembling process of the robot model according to the planning sequence; if the robot model is not loaded across all parts, the Unity3D engine displays a visualization process of the robot model loaded in a planned sequence.
2. The visualization method for disassembling and assembling the robot according to the planned sequence in the virtual reality according to claim 1, wherein the program execution statement for implementing the setting of the moving speed of the disassembled module and the component is obj [ i ] transform.DOMoveX (distanceX,2), where obj [ i ] is the ith disassembled module and component, transform.DOMoveX is the component code in the Unity3D engine, (distanceX,2) is the moving distance X and time 2 of the ith disassembled module and component, and the disassembling sequence, moving direction and moving speed setting of the module and the component in the planned sequence information are completed.
3. The method as claimed in claim 1, wherein the program execution statement for constructing the link between the Unity3D engine and the text document of sort is path ═ application.
4. The visualization method for disassembling and assembling the robot according to the planned sequence in the virtual reality according to claim 1, wherein the program execution statement of the visualization process of the Unity3D engine for displaying the robot model according to the planned sequence is for (int i ═ 0; i < obj.length; i + +), wherein for represents a loop statement, int integer variable setting, obj.length represents the total number of disassembled modules and parts, (int i ═ 0; i < obj.length; i + +) represents a loop condition.
5. The visualization method for disassembling and assembling the robot according to the planned sequence in the virtual reality according to claim 1, wherein the program execution statement of the visualization process of the Unity3D engine displaying the robot model according to the planned sequence is for (int i) obj.length-1; i > -0; i) -, where for represents a loop statement, int integer variable setting, obj.length represents the total number of disassembled modules and parts, (int i) obj.length-1; i > -0; i- -) represents a loop condition.
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