CN110807239B - Rapid assembly simulation method, device and system based on assembly semantics - Google Patents

Rapid assembly simulation method, device and system based on assembly semantics Download PDF

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CN110807239B
CN110807239B CN201910870160.4A CN201910870160A CN110807239B CN 110807239 B CN110807239 B CN 110807239B CN 201910870160 A CN201910870160 A CN 201910870160A CN 110807239 B CN110807239 B CN 110807239B
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parameter information
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刘检华
武林林
刘少丽
夏焕雄
杜增辉
马江涛
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Beijing Institute of Technology BIT
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Abstract

The invention provides a rapid assembly simulation method, a rapid assembly simulation device and a rapid assembly simulation system based on assembly semantics, which relate to the technical field of mechanical engineering, wherein the method comprises the following steps: obtaining semantic element information in an assembly process statement; determining parameter information of the semantic element information in a simulation environment; and according to the parameter information, carrying out assembly process simulation in the simulation environment. The scheme of the invention reduces the man-machine interaction in the simulation process, simplifies the definition process of the assembly action and realizes the high-efficiency and quick assembly simulation.

Description

Rapid assembly simulation method, device and system based on assembly semantics
Technical Field
The invention relates to the technical field of mechanical engineering, in particular to a rapid assembly simulation method, device and system based on assembly semantics.
Background
The virtual assembly technology can dynamically simulate, plan and optimize the assembly process under the condition of no physical sample, thereby effectively improving the assembly efficiency and the assembly quality of the product. Currently, virtual assembly process simulation is mainly completed by means of interactive definition, namely: related personnel define the mutual constraint relation and the assembly path between the part models, the parts and the tooling in a man-machine interaction mode, and the traditional assembly simulation method has the following outstanding problems: on one hand, the assembly action definition process is complicated, and for example, in the simulation definition of bolt connection, the bolt, the nut and the to-be-connected piece need to be selected for many times, and corresponding parameters such as an assembly mode, an assembly direction and an assembly path need to be defined; on the other hand, the assembly simulation process is difficult to reuse, for example, bolt connection is a typical connection mode, the assembly mode is fixed, and the fixed mode is not utilized in the actual simulation definition, so that a lot of unnecessary repeated labor is caused.
Disclosure of Invention
The invention aims to provide a rapid assembly simulation method, a rapid assembly simulation device and a rapid assembly simulation system based on assembly semantics, so that the problems of frequent man-machine interaction, complex assembly action definition process and difficult reuse of assembly simulation flow in the assembly simulation process in the prior art, which causes unnecessary repeated labor, are solved.
In order to achieve the above object, the present invention provides a rapid assembly simulation method based on assembly semantics, comprising:
obtaining semantic element information in an assembly process statement;
determining parameter information of the semantic element information in a simulation environment;
and according to the parameter information, carrying out assembly process simulation in the simulation environment.
The method for acquiring the semantic element information in the assembly process statement comprises the following steps:
preprocessing an assembly process, and storing the assembly process in a preset format;
extracting feature words in the assembling process sentences in the pre-processed assembling process by adopting a text similarity matching algorithm;
and determining the semantic element information according to the feature words.
After the step of obtaining semantic element information in the assembly process statement, the method further comprises:
and updating and assembling the semantic element corpus according to the semantic element information.
Wherein, when the semantic element information is the assembly object and/or the assembly resource, the step of determining the parameter information of the semantic element information in the simulation environment comprises:
importing the assembly object and the assembly resource into a virtual assembly system;
and acquiring first parameter information of the assembly object in the simulation environment and second parameter information of the assembly resource in the simulation environment by adopting an assembly element and simulation environment association algorithm.
Wherein, when the semantic element information is an assembly operation, the step of determining the parameter information of the semantic element information in the simulation environment comprises:
acquiring assembly characteristics of the assembly operation according to the first parameter information, the second parameter information and the assembly operation;
determining a target assembly characteristic list by traversing a pre-stored assembly characteristic parameter list of typical assembly operation;
acquiring a geometric primitive set of the assembly object and a geometric primitive set of the assembly resource according to the first parameter information and the second parameter information; wherein the assembly object includes: an active assembly object and a passive assembly object;
and determining target assembling feature parameter information of the assembling operation from the target assembling feature list according to the geometric primitive set of the assembling object and the geometric primitive set of the assembling resource.
Wherein the list of assembly characteristic parameters for the typical assembly operation comprises:
list of assembly characteristic parameters of the threaded connection type assembly operation:
Figure GDA0003046925220000021
assembly characteristic parameter list of pin key cooperation type assembly operation:
Figure GDA0003046925220000022
assembly characteristic parameter list for transmission type assembly operation:
Figure GDA0003046925220000023
assembly characteristic parameters of transmission assembly operation:
Figure GDA0003046925220000031
wherein, Tym、Tyn、Tyj、TyiFor type of assembly operation, Apm、Apn、ApiFor axial positioning parameters, Lpm、Lpn、LpiCircumferential positioning parameters; dpm、DpnReference line and surface parameters; sc (Sc)mA parameter that is the presence or absence of a thread and the characteristics of the thread; fknWhether parameters of key slot characteristics and pin hole characteristics exist or not; cd [ Cd ]jPositioning parameters for the center distance; fc (Fc)jIs a meshing clearance parameter; cr (chromium) componentjIs a meshing area contact area parameter; ryiMatching types of the check rings in the assembly characteristics; gcm、Gcn、Gcj、GciA set of parameters for a geometric primitive that is an assembly object or assembly resource.
Wherein the step of obtaining the set of geometric primitives of the assembly object and the set of geometric primitives of the assembly resource comprises:
according to the formula: gc ═ Gci|Gci＝{Aoi,Aci,Adi},i＝1～NaoAcquiring a geometric primitive set of the assembly object and a geometric primitive set of the assembly resource respectively;
wherein Gc isiGeometric constraint elements of basic primitives of the three-dimensional model of the assembly object/assembly resource; aoiFor assembling objects/assembliesThe geometric primitive type corresponding to the resource; ac ofi: constraint types among the geometric primitives participating in assembly operation; ad (Ad-based Ad)i: parameterized representation of geometric primitives involved in assembly operations.
Determining target assembly characteristic parameter information of the assembly operation from the target assembly characteristic list according to the geometric primitive set of the assembly object and the geometric primitive set of the assembly resource, wherein the step of determining the target assembly characteristic parameter information of the assembly operation from the target assembly characteristic list comprises the following steps:
calculating the average position vector of the center of the sphere surrounded by the respective geometric primitives relative to the origin of the local coordinate system corresponding to the assembly operation according to the geometric primitive set of the assembly object and the geometric primitive set of the assembly resource;
acquiring a position transformation matrix of the local coordinate system relative to the world coordinate system origin;
respectively calculating the position vectors of the average positions of the local coordinate systems of the geometric primitives of the assembly objects and the assembly resources under the world coordinate system according to the position transformation matrix and the average position vector;
respectively calculating the area of a triangle formed by the average positions of the assembly resources and the assembly objects in the world coordinate system according to the position vector and the Helen formula in the world coordinate system;
and selecting the assembly characteristic with the minimum area calculated in the target assembly list as the parameter information of the target assembly characteristic.
Wherein, according to the parameter information, the step of performing the assembly process simulation in the simulation environment comprises the following steps:
acquiring a geometric constraint relation between the assembly object and the assembly resource by analyzing the target assembly characteristic parameter information;
determining a space pose transformation matrix between the assembly object and the assembly resource according to the geometric constraint relation;
and simulating the assembly process in the simulation environment according to the space pose transformation matrix and a prestored typical assembly operation simulation packaging flow.
The embodiment of the invention also provides a rapid assembly simulation device based on assembly semantics, which comprises:
the acquisition module is used for acquiring semantic element information in the assembly process statement;
the determining module is used for determining the parameter information of the semantic element information in the simulation environment;
and the simulation module is used for carrying out assembly process simulation in the simulation environment according to the parameter information.
Wherein the acquisition module comprises:
the processing submodule is used for preprocessing an assembly process, so that the assembly process is stored in a preset format;
the extraction submodule is used for extracting the feature words in the assembling process sentences in the assembling process after the preprocessing by adopting a text similarity matching algorithm;
and the first determining submodule is used for determining the semantic element information according to the feature words.
Wherein, the rapid assembly simulation device based on assembly semantics further comprises:
and the updating module is used for updating and assembling the semantic element corpus according to the semantic element information.
Wherein the determining module comprises:
the import submodule is used for importing the assembly object and the assembly resource into a virtual assembly system when the semantic element information is the assembly object and/or the assembly resource;
and the first obtaining submodule is used for obtaining first parameter information of the assembly object in the simulation environment and second parameter information of the assembly resource in the simulation environment by adopting an assembly element and simulation environment association algorithm.
Wherein the determining module comprises:
the second obtaining submodule is used for obtaining the assembly characteristics of the assembly operation according to the first parameter information, the second parameter information and the assembly operation when the semantic element information is the assembly operation;
the first determining submodule is used for determining a target assembling characteristic list by traversing a pre-stored assembling characteristic parameter list of typical assembling operation;
a third obtaining submodule, configured to obtain a geometric primitive set of the assembly object and a geometric primitive set of the assembly resource according to the first parameter information and the second parameter information; wherein the assembly object includes: an active assembly object and a passive assembly object;
and the second determining submodule is used for determining target assembling characteristic parameter information of the assembling operation from the target assembling characteristic list according to the geometric primitive set of the assembling object and the geometric primitive set of the assembling resource.
Wherein the list of assembly characteristic parameters for the typical assembly operation comprises:
list of assembly characteristic parameters of the threaded connection type assembly operation:
Figure GDA0003046925220000051
assembly characteristic parameter list of pin key cooperation type assembly operation:
Figure GDA0003046925220000052
assembly characteristic parameter list for transmission type assembly operation:
Figure GDA0003046925220000053
assembly characteristic parameters of transmission assembly operation:
Figure GDA0003046925220000054
wherein, Tym、Tyn、Tyj、TyiFor type of assembly operation, Apm、Apn、ApiFor axial positioning parameters, Lpm、Lpn、LpiCircumferential positioning parameters; dpm、DpnReference line and surface parameters; sc (Sc)mA parameter that is the presence or absence of a thread and the characteristics of the thread; fknWhether parameters of key slot characteristics and pin hole characteristics exist or not; cd [ Cd ]jPositioning parameters for the center distance; fc (Fc)jIs a meshing clearance parameter; cr (chromium) componentjIs a meshing area contact area parameter; ryiMatching types of the check rings in the assembly characteristics; gcm、Gcn、Gcj、GciA set of parameters for a geometric primitive that is an assembly object or assembly resource.
Wherein the first obtaining sub-module includes:
a first obtaining unit configured to: gc ═ Gci|Gci＝{Aoi,Aci,Adi},i＝1～NaoAcquiring a geometric primitive set of the assembly object and a geometric primitive set of the assembly resource respectively;
wherein Gc isiGeometric constraint elements of basic primitives of the three-dimensional model of the assembly object/assembly resource; aoiThe type of the geometric primitive corresponding to the assembly object/assembly resource is shown; ac ofi: constraint types among the geometric primitives participating in assembly operation; ad (Ad-based Ad)i: parameterized representation of geometric primitives involved in assembly operations.
Wherein the second determination submodule includes:
the first calculation unit is used for calculating the average position vector of the center of the sphere surrounded by each geometric primitive relative to the origin of the local coordinate system corresponding to the assembly operation according to the geometric primitive set of the assembly object and the geometric primitive set of the assembly resource;
the second acquisition unit is used for acquiring a position transformation matrix of the local coordinate system relative to the world coordinate system origin;
a third calculating unit, configured to calculate, according to the position transformation matrix and the average position vector, position vectors of the average positions of the local coordinate systems of the geometric primitives of the assembly object and the assembly resource in the world coordinate system, respectively;
the fourth calculation unit is used for respectively calculating the area of a triangle formed by the assembly resources and the assembly objects at the average position in the world coordinate system according to the position vector and the Helen formula in the world coordinate system;
and the selecting unit is used for selecting the assembly characteristic with the minimum area calculated in the target assembly list as the parameter information of the target assembly characteristic.
Wherein the simulation module comprises:
the obtaining submodule is used for obtaining the geometric constraint relation between the assembly object and the assembly resource by analyzing the target assembly characteristic parameter information;
the second determining submodule is used for determining a space pose transformation matrix between the assembly object and the assembly resource according to the geometric constraint relation;
and the simulation submodule is used for simulating an encapsulation process according to the space pose transformation matrix and a pre-stored typical assembly operation and carrying out assembly process simulation in the simulation environment.
The embodiment of the invention also provides a rapid assembly simulation system based on assembly semantics, which comprises: the rapid assembly simulation device based on the assembly semantics is described above.
The embodiment of the invention also provides a rapid assembly simulation system based on assembly semantics, which comprises: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the assembly semantics based rapid assembly simulation method as described above.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the rapid assembly simulation method based on assembly semantics as described above are implemented.
The technical scheme of the invention at least has the following beneficial effects:
according to the rapid assembly simulation method based on the assembly semantics, firstly, semantic element information in an assembly process statement is obtained, then, parameter information of the semantic element information in a simulation environment is determined, and finally, assembly process simulation is carried out in the simulation environment according to the parameter information, so that automatic assembly simulation is realized, the tedious process of defining assembly actions through human-computer interaction is reduced, and rapid and funny assembly simulation is realized.
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FIG. 1 is a diagram illustrating the basic steps of a rapid assembly simulation method based on assembly semantics according to an embodiment of the present invention;
fig. 2 is a schematic diagram of basic components of a rapid assembly simulation apparatus based on assembly semantics according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Aiming at the problems that the assembly action definition process is complicated and the typical connection mode is difficult to reuse in the prior art, which causes a lot of unnecessary repeated labor, the invention provides a rapid assembly simulation method and a rapid assembly simulation device based on assembly semantics, which realize rapid and effective virtual assembly simulation, improve the simulation efficiency and save the simulation cost.
As shown in fig. 1, an embodiment of the present invention provides a rapid assembly simulation method based on assembly semantics, including:
and step S101, obtaining semantic element information in the assembly process statement.
The semantic element information in this step includes: assembly objects, assembly resources, assembly operations, assembly positions, and assembly paths.
The semantic elements of the assembly object mainly refer to product entities which need to specifically execute an assembly process, and the semantic elements comprise parts and components of the product. In technical sentences, an assembly object is generally composed of a noun describing the name of a product part and a number describing the code of the product. Such as hydraulic cylinders Ax19, horizontal landing gear, M19 bolts, manifold block 4, etc.
The semantic elements of the assembly resources mainly refer to the resources such as tools and tools which play a role in auxiliary operation in the assembly process, and the semantic elements of the assembly resources are generally matched with the assembly objects. Similar to the description method of the assembly object, the assembly resource is generally composed of a noun describing the name of the tool/tool and a number describing its code in a technical sentence. Such as a torque wrench, a 10t crown block, a cradle 4, etc.
The assembly operation semantic elements mainly refer to words for describing assembly actions in the assembly process and are motion instructions for driving assembly objects and resources. The assembly operation semantic elements are combined together to describe the assembly movement process of the product and the resource.
The assembly path semantic elements mainly refer to semantic words for describing the movement direction of products/resources in the assembly process, and mainly comprise direction semantic words and sequence semantic words. The assembly operation semantic element and the assembly position semantic element are commonly appeared together in a process statement, and specify the motion track of a product in the assembly process. E.g. along the right side of the cylinder wall, along the axial direction of the connecting rod, etc.
The assembly position semantic elements mainly refer to semantic vocabularies for describing position information of products and resources in the assembly process, and the semantic vocabularies comprise position reference semantic vocabularies and orientation semantic vocabularies. It describes the initial and final position information of assembly object and assembly resource, and provides reference for assembly path. In the process sentence, the assembly position semantic element usually co-appears with the product part/resource information, such as the left side of the cab, above the reference plane a, etc.
Through the definition of the assembly semantic elements, the same assembly information expressed by the assembly process files with different expression specifications can be defined, and the analysis of the historical data of the assembly process is facilitated.
Step S102, determining parameter information of the semantic element information in the simulation environment.
Because the assembly process statement is a literal description of the assembly process, and the simulation process is model simulation performed in the simulation system under the condition of no physical sample, the embodiment of the invention needs to convert the semantic element information into parameter information in the simulation environment, and find the object and the resource to be assembled in the simulation environment according to the parameters.
And S103, performing assembly process simulation in the simulation environment according to the parameter information.
According to the rapid assembly simulation method based on the assembly semantics, the semantic element information in the assembly process statement is obtained by adopting the text similarity matching algorithm, the semantic element information is converted into the parameter information in the simulation environment, and finally the assembly process simulation is carried out in the simulation environment according to the parameter information, so that the automatic assembly simulation is realized, the human-computer interaction process is reduced, the repeated labor process is avoided, and the rapid and efficient simulation is realized.
Specifically, step S11, acquiring semantic element information in the assembly process statement, includes:
firstly, preprocessing an assembly process, converting the assembly process into a preset format and storing the preset format, dividing a process document into a plurality of process sentences as sources of the semantic element information by taking periods as separators for characters in the assembly process. Secondly, extracting feature words in the assembly process sentences in the assembly process after preprocessing by adopting a text similarity matching algorithm, and finally determining the semantic element information according to the feature words.
The specific process of extracting the feature words by adopting a text similarity matching algorithm is as follows:
defining the characteristics of the words or phrases to be extracted, matching the words or phrases in the documents, and if the word frequency of a certain word or phrase in the document in the article is similar to the characteristic words and the word frequency of the certain word or phrase in the document in the article is less than the characteristic words, considering that the word or phrase and the characteristic words have the same weight (importance degree), wherein the calculation formula is as follows: mi,j＝TFi,j×IDFj；
Wherein M isi,jFor documents TiJ (feature word w)j) The weight of (2) is used for processing the correlation degree of the vocabulary and the characteristic vocabulary;
TF is the word frequency, which refers to the frequency of occurrence of a certain characteristic word or phrase in an article, and the number is usually normalized to prevent the length of the article from affecting the weight distribution (the importance degree to the article) of the characteristic word, and the calculation formula is:
Figure GDA0003046925220000091
wherein: n isi,jIs a characteristic word wjIn a document TiThe number of times of occurrence of (a),
Figure GDA0003046925220000092
denotes wjThe sum of the number of occurrences in all documents.
The IDF is the inverse file frequency and refers to the measurement of the universal importance of words or phrases, and is used for processing the condition that the word frequency of the characteristic words for a specific text is high and the word frequency of the whole text document is low, and extracting the important words in the text by properly expanding the weight of the characteristic words in the condition. The calculation formula is as follows:
IDFi,j＝log(K/DFj+α)
wherein: k represents the length of all the documents in the document set; DF (Decode-feed)jRepresenting the inclusion of a feature word w in a document setjThe space, DF, of the documentjHigher, the feature word wjThe lower the effect in weighing similar pairs; alpha is an empirical constant, typically taken to be 0.01.
Further, after the step of acquiring semantic element information in the assembly process statement, the method further comprises: and updating and assembling the semantic element corpus according to the semantic element information.
Firstly, before performing assembly simulation, a certain amount of assembly semantic element corpus needs to be established according to a preset rule, and elements with fixed assembly modes are sorted and stored.
In the step, the semantic element corpus is updated according to the semantic element information, so that the semantic element information can be directly called in subsequent assembly simulation, the reutilization of a typical connection mode is realized, and unnecessary repeated labor in the assembly simulation process is reduced.
In one aspect, when the semantic element information is the assembly object and/or the assembly resource, the step of determining parameter information of the semantic element information in a simulation environment includes:
firstly, the assembly object and the assembly resource are imported into a virtual assembly system.
In the assembly process, the assembly object and the assembly resource are described through characters, and the assembly simulation method is used for carrying out dynamic simulation under the condition of no physical sample. Therefore, the assembly object and the assembly resource expressed in the text are required to be imported into the virtual assembly system.
Secondly, acquiring first parameter information of the assembly object in the simulation environment and second parameter information of the assembly resource in the simulation environment by adopting an assembly element and simulation environment association algorithm.
Through the first parameter information and the second parameter information obtained in the step, workers can conveniently find the assembly objects and the assembly resources described in the process statements in the virtual assembly system.
On the other hand, when the semantic element information is an assembly operation, the step of determining parameter information of the semantic element information in a simulation environment includes:
firstly, acquiring assembly characteristics of the assembly operation according to the first parameter information, the second parameter information and the assembly operation;
since the assembly operation describes the assembly relationship among the assembly resource, the active assembly object and the passive assembly object, in this step, the assembly characteristics of the assembly operation need to be obtained through the first parameter information and the second parameter information.
Secondly, determining a target assembly characteristic list by traversing a pre-stored assembly characteristic parameter list of typical assembly operation;
in the step, the assembling characteristics of the assembling semantics to be processed are compared with the related parameters of the assembling characteristic list of the typical assembling semantics, and the target assembling characteristics which are consistent with the assembling operation description are selected. Through the step, the assembly feature list which is the same as the assembly feature basic information of the assembly semantics in the assembly process statement can be selected, so that the basic parameter information of the assembly semantic type, the positioning mode, the check ring matching type, the screw thread and the like contained in the assembly feature of the assembly semantics to be processed can be determined.
Thirdly, acquiring a geometric primitive set of the assembly object and a geometric primitive set of the assembly resource according to the first parameter information and the second parameter information; wherein the assembly object includes: an active assembly object and a passive assembly object;
since each assembly process statement involves three execution objects, namely: assembly resources, active assembly objects and passive assembly objects, so that the geometric primitive information of the three execution objects is required to be involved in the assembly characteristic matching.
Fourthly, determining target assembling feature parameter information of the assembling operation from the target assembling feature list according to the geometric primitive set of the assembling object and the geometric primitive set of the assembling resource.
Because the set primitive set of the assembly object and the geometric primitive set of the assembly resource supplement the set primitive parameter information of the execution object and several constraint information among the execution objects in each assembly semantic, the step can determine the target assembly characteristic parameter information according to the geometric primitive set of the assembly object and the geometric primitive set of the assembly resource.
The rapid assembly simulation method based on the assembly semantics can extract the assembly semantics of typical assembly operation in the assembly design process by analyzing and sorting a large number of complex product assembly process files in advance, namely: typical assembly operation semantics. Wherein, according to the difference of assembly connection and cooperation mode, can be divided into four main categories with typical assembly operation: the method comprises the following steps of threaded connection type assembling operation, pin key matching type assembling operation, transmission type assembling operation and shaft hole fixing type assembling operation.
The assembly characteristics for each typical assembly operation are listed below:
list of assembly characteristic parameters of the threaded connection type assembly operation:
Figure GDA0003046925220000111
assembly characteristic parameter list of pin key cooperation type assembly operation:
Figure GDA0003046925220000112
assembly characteristic parameter list for transmission type assembly operation:
Figure GDA0003046925220000113
assembly characteristic parameters of transmission assembly operation:
Figure GDA0003046925220000114
wherein, Tym、Tyn、Tyj、TyiFor type of assembly operation, Apm、Apn、ApiFor axial positioning parameters, Lpm、Lpn、LpiCircumferential positioning parameters; dpm、DpnReference line and surface parameters; sc (Sc)mA parameter that is the presence or absence of a thread and the characteristics of the thread; fknWhether keyway features and pin holes are presentParameters of the features; cd [ Cd ]jPositioning parameters for the center distance; fc (Fc)jIs a meshing clearance parameter; cr (chromium) componentjIs a meshing area contact area parameter; ryiMatching types of the check rings in the assembly characteristics; gcm、Gcn、Gcj、GciA set of parameters for a geometric primitive that is an assembly object or assembly resource.
More specifically, the assembly operation of the threaded connection type can be subdivided into stud connection, screw connection, nut connection, bolt connection and the like according to different connection objects and matching modes; the pin key matching type assembling operation mainly comprises the following steps: the two types can be divided into common flat key matching, semi-circular key matching, cylindrical pin hole matching, conical pin hole matching and the like according to different shapes of the pin and the key; the transmission assembly operation is divided into cylindrical gear transmission assembly, bevel gear transmission assembly, belt transmission assembly, worm and gear assembly, chain transmission assembly and the like according to different transmission modes; the shaft hole fixing type assembling operation can be subdivided into inter-shaft-elastic retainer ring fixing, inter-shaft-sleeve fixing, inter-shaft end retainer ring fixing, inter-shaft-locking retainer ring fixing, inter-shaft-round nut fixing and the like according to different axial fixing modes.
Wherein the step of obtaining the set of geometric primitives of the assembly object and the set of geometric primitives of the assembly resource comprises:
according to the formula: gc ═ Gci|Gci＝{Aoi,Aci,Adi},i＝1～NaoAcquiring a geometric primitive set of the assembly object and a geometric primitive set of the assembly resource respectively;
wherein Gc isiGeometric constraint elements of basic primitives of the three-dimensional model of the assembly object/assembly resource; aoiThe type of the geometric primitive corresponding to the assembly object/assembly resource is shown; ac ofi: constraint types among the geometric primitives participating in assembly operation; ad (Ad-based Ad)i: parameterized representation of geometric primitives involved in assembly operations.
Specifically, the types of geometric primitives corresponding to the assembly objects and the assembly resources participating in the assembly operation mainly include: points, lines, planes, local coordinate systems, world coordinate systems, and the like; the constraint types among the geometric primitives participating in the assembly operation mainly comprise: point-point coincidence, point-surface coincidence and line-surface coincidence.
Since each assembly semantic involves three execution objects, namely: assembly resources, active assembly objects and passive assembly objects, so that the geometric primitive information of the three execution objects is required to be involved in the assembly characteristic matching. Therefore, the step of determining target assembly characteristic parameter information of the assembly operation from the target assembly characteristic list according to the geometric primitive set of the assembly object and the geometric primitive set of the assembly resource comprises:
firstly, calculating an average position vector of the center of a sphere surrounded by each geometric primitive relative to the origin of a local coordinate system corresponding to assembly operation according to the geometric primitive set of the assembly object and the geometric primitive set of the assembly resource; wherein the average position vector of the assembly resource
Figure GDA0003046925220000131
The average position vector of the actively assembled object is
Figure GDA0003046925220000132
The average position vector of the passively assembled object is
Figure GDA0003046925220000133
Secondly, acquiring a position transformation matrix M of the local coordinate system relative to the world coordinate system originl-w。
Thirdly, according to the position transformation matrix and the average position vector, calculating the position vectors of the average positions of the local coordinate systems of the geometric primitives of the assembly objects and the assembly resources under the world coordinate system respectively.
Specifically, the assembly resource is a position vector under a world coordinate system
Figure GDA0003046925220000134
Position vector of the active assembly object under the world coordinate system
Figure GDA0003046925220000135
Position vector of the passive assembly object under the world coordinate system
Figure GDA0003046925220000136
Fourthly, according to the position vector and the Helen formula under the world coordinate system, the area of a triangle formed by the assembly resources and the average positions of the assembly objects under the world coordinate system is calculated respectively.
Specifically, the Helen formula is
Figure GDA0003046925220000137
Wherein,
Figure GDA0003046925220000138
Figure GDA0003046925220000139
fifthly, selecting the assembly characteristic with the minimum area calculated in the target assembly list as the parameter information of the target assembly characteristic.
Specifically, step S13, performing assembly process simulation in the simulation environment according to the parameter information, includes:
firstly, the geometric constraint relation between the assembly object and the assembly resource is obtained by analyzing the target assembly characteristic parameter information.
Specifically, the basic geometric primitive parameters in the assembly features of the selected assembly semantics are obtained, and the parameters mainly comprise geometric primitive sets of three execution objects, namely an assembly resource geometric primitive set GcresoActive assembly object geometric figure element set GcacpaPassive assembly object geometric figure element set GcpasaExtracting parameter information sets of three geometric primitives, such as: center line, reference plane, local coordinate system position, world coordinate system, etc.
Obtaining a center line vector Cl of a passive assembly object in a world coordinate systempcAnd a reference plane position vector DapcCalculating the angle theta between the two vectorspc. Calculated as thetapc＝arccos<Clpc,Dapc>
Traversing the geometric parameter information set of the active assembly object to obtain a line parameter vector list of the active assembly object
Figure GDA0003046925220000141
List of dough parameters
Figure GDA0003046925220000142
Selecting one vector from the two tables respectively, calculating the included angle between the two vectors to obtain a list of included angles
Figure GDA0003046925220000143
Wherein
Figure GDA0003046925220000144
Traversing angle lists of actively assembled objects
Figure GDA0003046925220000145
Selecting the included angle theta between the object and the passive assembly objectpcEqual included angle
Figure GDA0003046925220000146
The line quantity corresponding to the included angle
Figure GDA0003046925220000147
Sum plane vector
Figure GDA0003046925220000148
I.e. the center line vector Cl of the passive assembly objectpcAnd the reference plane vector DapcThe matched objects form a pair by the parameter information thereof, and the line constraint of the active assembly object and the passive assembly object can be obtained
Figure GDA0003046925220000149
Restriction of dough kneading and kneading
Figure GDA00030469252200001410
Traversing the geometric parameter information set of the assembly resources (tools) to obtain a line parameter vector list of the assembly resources (tools)
Figure GDA00030469252200001411
List of dough parameters
Figure GDA00030469252200001412
Selecting one vector from the two tables, calculating the included angle between the two vectors to obtain a list of included angles
Figure GDA00030469252200001413
Wherein
Figure GDA00030469252200001414
Included angle list for traversing assembly resources (tools)
Figure GDA00030469252200001415
Selecting an angle with the target
Figure GDA00030469252200001416
Equal included angle
Figure GDA00030469252200001417
The line quantity corresponding to the included angle
Figure GDA00030469252200001418
Sum plane vector
Figure GDA00030469252200001419
I.e. measured with respect to the active assembly object line
Figure GDA00030469252200001420
And reference plane vector
Figure GDA00030469252200001421
The matched objects form a pair of parameter information,the line constraint of the active assembly object and the passive assembly object can be obtained
Figure GDA00030469252200001422
Restriction of dough kneading and kneading
Figure GDA00030469252200001423
Secondly, according to the geometric constraint relation, a space pose transformation matrix between the assembly object and the assembly resource is determined.
Specifically, the spatial pose transformation matrix Ma＝Cons-e[Vs,Ve](ii) a Wherein, VsThe method comprises the steps that an initial position matrix of a geometric primitive relative to a world coordinate system is obtained by reading position information of a three-dimensional model where the geometric primitive is located in a virtual assembly environment; veThe target position matrix of the geometric primitive relative to the world coordinate system can be obtained through the position information of the target geometric primitive matched with the geometric primitive; cons-eIs the geometric constraint information that specifies the movement of the geometric primitive from an initial position to an end position, which defines the order of movement and the path of movement of the geometric primitive. Wherein the spatial pose transformation matrix represents a geometric primitive from VsStarting according to Cons-eTo Ve。
And then, according to the space pose transformation matrix and a prestored typical assembly operation simulation packaging flow, carrying out assembly process simulation in the simulation environment.
Specifically, the driving of assembly simulation in the virtual environment is to integrate relevant information of assembly operation and drive an assembly object execution model to complete an assembly simulation task on the basis of analyzing the motion pose information of the parts.
On the basis of the spatial pose of a geometric primitive, firstly matching semantic description information of assembly operation with information of an assembly entity library, determining internal constraint information between two parts to be assembled, and forming a corresponding assembly characteristic pair; then matching assembly external constraint information contained in the assembly operation semantics from an assembly constraint library, wherein the information and the assembly characteristic pair form combined assembly operation constraint information which determines the final assembly position and the assembly direction of the product; according to the assembling direction, automatic packaging of assembling operation is carried out according to the assembling path in the assembling path library.
The rapid assembly simulation method based on assembly semantics of the embodiment of the invention obtains semantic element information in assembly process statements by adopting a text similarity matching algorithm, obtains first parameter information of an assembly object in a simulation environment by adopting an assembly element and simulation environment association algorithm, obtains second parameter information of the assembly object in the simulation environment, obtains assembly characteristics of assembly operation by comparing with the assembly characteristics of typical assembly operation, then obtains geometric constraint information between the assembly object and assembly resources according to the first parameter information, the second parameter information and the assembly characteristics, then generates a pose transformation matrix of an execution object according to the given direction and sequence of constraint, finally performs drive simulation in the simulation environment according to the pose transformation matrix, thereby realizing automatic simulation and reducing the process of man-machine interaction, unnecessary repeated labor is avoided, and rapid and efficient assembly simulation is realized.
The following describes in detail a rapid assembly simulation method based on assembly semantics according to an embodiment of the present invention.
The assembly process is as follows: the master gyro # TL-2 is mounted to the base # DZ-2 at the top left hole-32 along axis-4 with M4-12 screws.
First, the above process sentence is analyzed to extract semantic element information in the process sentence, and the specific contents thereof are shown in table 1.
Table 1: semantic element information
Figure GDA0003046925220000151
Secondly, importing an assembly object and an assembly resource model to be simulated into a virtual assembly system, converting process semantic information into parameter information in a simulation environment by using an assembly element and a simulation association algorithm, and finding a base, a gyroscope and a screw model described in a process statement.
Then, matching reasoning is carried out on the assembling operation information. The assembly operation described in the process statement is 'mounting' combined with assembly resource information such as screws, screw holes and the like, and a typical assembly operation corresponding to the assembly operation can be matched as thread connection-screw connection, the semantic parameter information of the assembly operation is shown as the following formula, and the inferred assembly operation parameters are shown as table 2.
Figure GDA0003046925220000161
TABLE 2 Assembly operating parameter information in the Assembly simulation Process
Numbering Semantic description (Code) Formula parameter
1 Base seat #Dizuo-32 Base
2 Main top #Tuoluo-2 Gyro
3 Screw nail #Luoding-M4-12 Screw
4 Center line of screw hole of base #Axis-32-4 Cl1
5 Central line of screw hole of main gyroscope #Axis-2-4 Cl2
6 Center line of screw #Axis-12-4 Cl3
7 Base hole upper datum plane #Face-top-32-4 F1
8 Upper reference surface of main top #Face-top-2-1 F2
9 Lower reference surface of main gyroscope #Face-bottom-12-1 F3
10 Lower reference surface of screw #Face-bottom-12-1 F4
Again, the geometric constraint information of the assembly operation in the process statement can be solved as shown in table 3 by combining the geometric parameter information of the assembly object/resource model and the engineering constraint information in the typical screw connection.
TABLE 3 Assembly operation geometric constraints
Numbering Geometric constraint Parameter information Constraint matrix
1 Line alignment (#Axis-32-4，#Axis-2-4) Conl-l＝{Cl1,Cl2}
2 Face-to-face joint (#Face-top-32-4，#Face-bottom-12-1) Conf-f＝{F1,F2}
3 Line alignment (#Axis-2-4，#Axis-12-4) Conl-l＝{Cl2,Cl3}
4 Face-to-face joint (#Face-top-2-1，#Face-bottom-12-1) Conf-f＝{F3,F4}
Then, by solving the geometric constraint, the assembly operation of the process statement can be resolved into four assembly actions, which are: activity 1: aligning the top with the axis of the base; activity 2: attaching the gyroscope to the reference surface of the base; activity 3: aligning the screw with the axis of the screw hole on the top; activity 4: and (5) attaching the screw ground to the screw hole reference surface. In the actual assembly simulation process, the sequence of the geometric constraints solved by the assembly operation is the assembly sequence, and the pose transformation process solved by the geometric constraints is the assembly path of the parts.
And finally, completing the assembly process simulation according to the parameter information, the simulation packaging flow and the driving algorithm.
As shown in fig. 2, an embodiment of the present invention further provides a rapid assembly simulation apparatus based on assembly semantics, including:
an obtaining module 201, configured to obtain semantic element information in an assembly process statement;
a determining module 202, configured to determine parameter information of the semantic element information in a simulation environment;
and the simulation module 203 is used for performing assembly process simulation in the simulation environment according to the parameter information.
In the assembly simulation apparatus based on assembly semantics according to the embodiment of the present invention, the obtaining module 201 includes:
the processing submodule is used for preprocessing an assembly process, so that the assembly process is stored in a preset format;
the extraction submodule is used for extracting the feature words in the assembling process sentences in the assembling process after the preprocessing by adopting a text similarity matching algorithm;
and the first determining submodule is used for determining the semantic element information according to the feature words.
The rapid assembly simulation device based on the assembly semantics of the embodiment of the invention also comprises:
and the updating module is used for updating and assembling the semantic element corpus according to the semantic element information.
In the rapid assembly simulation apparatus based on assembly semantics according to the embodiment of the present invention, the determining module 202 includes:
the import submodule is used for importing the assembly object and the assembly resource into a virtual assembly system when the semantic element information is the assembly object and/or the assembly resource;
and the first obtaining submodule is used for obtaining first parameter information of the assembly object in the simulation environment and second parameter information of the assembly resource in the simulation environment by adopting an assembly element and simulation environment association algorithm.
In the rapid assembly simulation apparatus based on assembly semantics according to the embodiment of the present invention, the determining module 202 includes:
the second obtaining submodule is used for obtaining the assembly characteristics of the assembly operation according to the first parameter information, the second parameter information and the assembly operation when the semantic element information is the assembly operation;
the first determining submodule is used for determining a target assembling characteristic list by traversing a pre-stored assembling characteristic parameter list of typical assembling operation;
a third obtaining submodule, configured to obtain a geometric primitive set of the assembly object and a geometric primitive set of the assembly resource according to the first parameter information and the second parameter information; wherein the assembly object includes: an active assembly object and a passive assembly object;
and the second determining submodule is used for determining target assembling characteristic parameter information of the assembling operation from the target assembling characteristic list according to the geometric primitive set of the assembling object and the geometric primitive set of the assembling resource.
In the rapid assembly simulation apparatus based on assembly semantics according to the embodiment of the present invention, the assembly characteristic parameter list of the typical assembly operation includes:
list of assembly characteristic parameters of the threaded connection type assembly operation:
Figure GDA0003046925220000181
assembly characteristic parameter list of pin key cooperation type assembly operation:
Figure GDA0003046925220000182
assembly characteristic parameter list for transmission type assembly operation:
Figure GDA0003046925220000183
assembly characteristic parameters of transmission assembly operation:
Figure GDA0003046925220000184
wherein, Tym、Tyn、Tyj、TyiFor type of assembly operation, Apm、Apn、ApiFor axial positioning parameters, Lpm、Lpn、LpiCircumferential positioning parameters; dpm、DpnReference line and surface parameters; sc (Sc)mA parameter that is the presence or absence of a thread and the characteristics of the thread; fknWhether parameters of key slot characteristics and pin hole characteristics exist or not; cd [ Cd ]jPositioning parameters for the center distance; fc (Fc)jIs a meshing clearance parameter; cr (chromium) componentjIs a meshing area contact area parameter;Ryimatching types of the check rings in the assembly characteristics; gcm、Gcn、Gcj、GciA set of parameters for a geometric primitive that is an assembly object or assembly resource.
In the rapid assembly simulation apparatus based on assembly semantics according to the embodiment of the present invention, the first obtaining sub-module includes:
a first obtaining unit configured to: gc ═ Gci|Gci＝{Aoi,Aci,Adi},i＝1～NaoAcquiring a geometric primitive set of the assembly object and a geometric primitive set of the assembly resource respectively;
wherein Gc isiGeometric constraint elements of basic primitives of the three-dimensional model of the assembly object/assembly resource; aoiThe type of the geometric primitive corresponding to the assembly object/assembly resource is shown; ac ofi: constraint types among the geometric primitives participating in assembly operation; ad (Ad-based Ad)i: parameterized representation of geometric primitives involved in assembly operations.
In the rapid assembly simulation apparatus based on assembly semantics according to the embodiment of the present invention, the second determining submodule includes:
the first calculation unit is used for calculating the average position vector of the center of the sphere surrounded by each geometric primitive relative to the origin of the local coordinate system corresponding to the assembly operation according to the geometric primitive set of the assembly object and the geometric primitive set of the assembly resource;
the second acquisition unit is used for acquiring a position transformation matrix of the local coordinate system relative to the world coordinate system origin;
a third calculating unit, configured to calculate, according to the position transformation matrix and the average position vector, position vectors of the average positions of the local coordinate systems of the geometric primitives of the assembly object and the assembly resource in the world coordinate system, respectively;
the fourth calculation unit is used for respectively calculating the area of a triangle formed by the assembly resources and the assembly objects at the average position in the world coordinate system according to the position vector and the Helen formula in the world coordinate system;
and the selecting unit is used for selecting the assembly characteristic with the minimum area calculated in the target assembly list as the parameter information of the target assembly characteristic.
In the rapid assembly simulation device based on assembly semantics of the embodiment of the present invention, the simulation module includes:
the obtaining submodule is used for obtaining the geometric constraint relation between the assembly object and the assembly resource by analyzing the target assembly characteristic parameter information;
the second determining submodule is used for determining a space pose transformation matrix between the assembly object and the assembly resource according to the geometric constraint relation;
and the simulation submodule is used for simulating an encapsulation process according to the space pose transformation matrix and a pre-stored typical assembly operation and carrying out assembly process simulation in the simulation environment.
According to the rapid assembly simulation device based on assembly semantics, the acquisition module 201 is used for acquiring semantic element information in an assembly process statement, the determination module 202 is used for determining parameter information of the semantic element information in a simulation environment, and finally the simulation module 203 is used for carrying out assembly process simulation in the simulation environment according to the parameter information, so that automatic assembly simulation is realized, a complex assembly action definition process is avoided, a typical connection mode is reused, unnecessary repeated labor is reduced, the simulation efficiency is improved, and the simulation cost is reduced.
The embodiment of the invention also provides a rapid assembly simulation system based on assembly semantics, which comprises: the rapid assembly simulation device based on the assembly semantics is described above.
The embodiment of the invention also provides a rapid assembly simulation system based on assembly semantics, which comprises: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the assembly semantics based rapid assembly simulation method as described above.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the rapid assembly simulation method based on assembly semantics as described above are implemented.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (16)

1. A rapid assembly simulation method based on assembly semantics is characterized by comprising the following steps:
obtaining semantic element information in an assembly process statement;
determining parameter information of the semantic element information in a simulation environment; when the semantic element information is assembly operation, acquiring assembly characteristics of the assembly operation according to first parameter information of an assembly object in a simulation environment, second parameter information of assembly resources in the simulation environment and the assembly operation; determining a target assembly characteristic list by traversing a pre-stored assembly characteristic parameter list of typical assembly operation; acquiring a geometric primitive set of the assembly object and a geometric primitive set of the assembly resource according to the first parameter information and the second parameter information; the assembly object includes: an active assembly object and a passive assembly object; determining target assembling feature parameter information of the assembling operation from the target assembling feature list according to the geometric primitive set of the assembling object and the geometric primitive set of the assembling resource; calculating the average position vector of the center of the sphere surrounded by the respective geometric primitives relative to the origin of the local coordinate system corresponding to the assembly operation according to the geometric primitive set of the assembly object and the geometric primitive set of the assembly resource; acquiring a position transformation matrix of the local coordinate system relative to the world coordinate system origin; respectively calculating the position vectors of the average positions of the local coordinate systems of the geometric primitives of the assembly objects and the assembly resources under the world coordinate system according to the position transformation matrix and the average position vector; respectively calculating the area of a triangle formed by the average positions of the assembly resources and the assembly objects in the world coordinate system according to the position vector and the Helen formula in the world coordinate system; selecting the assembly characteristic with the minimum area calculated in the target assembly list as the parameter information of the target assembly characteristic;
and according to the parameter information, carrying out assembly process simulation in the simulation environment.
2. The assembly semantics-based rapid assembly simulation method according to claim 1, wherein the step of obtaining semantic element information in the assembly process statement comprises:
preprocessing an assembly process, and storing the assembly process in a preset format;
extracting feature words in the assembling process sentences in the pre-processed assembling process by adopting a text similarity matching algorithm;
and determining the semantic element information according to the feature words.
3. The assembly semantics based rapid assembly simulation method according to claim 2, wherein after the step of obtaining semantic element information in the assembly process statement, the method further comprises:
and updating and assembling the semantic element corpus according to the semantic element information.
4. The assembly semantics based rapid assembly simulation method according to claim 1, wherein when the semantic element information is an assembly object and/or an assembly resource, the step of determining parameter information of the semantic element information in a simulation environment comprises:
importing the assembly object and the assembly resource into a virtual assembly system;
and acquiring first parameter information of the assembly object in the simulation environment and second parameter information of the assembly resource in the simulation environment by adopting an assembly element and simulation environment association algorithm.
5. The assembly semantics based rapid assembly simulation method of claim 1, wherein the assembly feature parameter list of the typical assembly operation comprises:
list of assembly characteristic parameters of the threaded connection type assembly operation:
Figure FDA0003108507640000021
assembly characteristic parameter list of pin key cooperation type assembly operation:
Figure FDA0003108507640000022
assembly characteristic parameter list for transmission type assembly operation:
Figure FDA0003108507640000023
wherein, Tym、Tyn、TyjFor type of assembly operation, Apm、ApnFor axial positioning parameters, Lpm、LpnCircumferential positioning parameters; dpm、DpnReference line and surface parameters; sc (Sc)mA parameter that is the presence or absence of a thread and the characteristics of the thread; fknWhether parameters of key slot characteristics and pin hole characteristics exist or not; cd [ Cd ]jPositioning parameters for the center distance; fc (Fc)jIs a meshing clearance parameter; cr (chromium) componentjIs a meshing area contact area parameter; gcm、Gcn、GcjA set of parameters for a geometric primitive that is an assembly object or assembly resource.
6. The assembly semantics based rapid assembly simulation method of claim 1, wherein the step of obtaining the set of geometric primitives of the assembly object and the set of geometric primitives of the assembly resource comprises:
according to the formula: gc ═ Gci|Gci＝{Aoi,Aci,Adi},i＝1～NaoAcquiring a geometric primitive set of the assembly object and a geometric primitive set of the assembly resource respectively;
wherein Gc isiGeometric constraint elements of basic primitives of the three-dimensional model of the assembly object/assembly resource; aoiThe type of the geometric primitive corresponding to the assembly object/assembly resource is shown; ac ofi: constraint types among the geometric primitives participating in assembly operation; ad (Ad-based Ad)i: parameterized representation of geometric primitives involved in assembly operations.
7. The assembly semantics based rapid assembly simulation method of claim 1, wherein the step of performing assembly process simulation in the simulation environment according to the parameter information comprises:
acquiring a geometric constraint relation between the assembly object and the assembly resource by analyzing the target assembly characteristic parameter information;
determining a space pose transformation matrix between the assembly object and the assembly resource according to the geometric constraint relation;
and simulating the assembly process in the simulation environment according to the space pose transformation matrix and a prestored typical assembly operation simulation packaging flow.
8. A rapid assembly simulation device based on assembly semantics is characterized by comprising:
the acquisition module is used for acquiring semantic element information in the assembly process statement;
the determining module is used for determining the parameter information of the semantic element information in the simulation environment;
the simulation module is used for carrying out assembly process simulation in the simulation environment according to the parameter information;
the determining module comprises:
the import submodule is used for importing the assembly object and the assembly resource into a virtual assembly system when the semantic element information is the assembly object and/or the assembly resource;
the first obtaining submodule is used for obtaining first parameter information of the assembly object in the simulation environment and second parameter information of the assembly resource in the simulation environment by adopting an assembly element and simulation environment association algorithm;
the second obtaining submodule is used for obtaining the assembly characteristics of the assembly operation according to the first parameter information, the second parameter information and the assembly operation when the semantic element information is the assembly operation;
the first determining submodule is used for determining a target assembling characteristic list by traversing a pre-stored assembling characteristic parameter list of typical assembling operation;
a third obtaining submodule, configured to obtain a geometric primitive set of the assembly object and a geometric primitive set of the assembly resource according to the first parameter information and the second parameter information; the assembly object includes: an active assembly object and a passive assembly object;
a second determining submodule, configured to determine, according to the geometric primitive set of the assembly object and the geometric primitive set of the assembly resource, target assembly characteristic parameter information of the assembly operation from the target assembly characteristic list;
the second determination submodule includes:
the first calculation unit is used for calculating the average position vector of the center of the sphere surrounded by each geometric primitive relative to the origin of the local coordinate system corresponding to the assembly operation according to the geometric primitive set of the assembly object and the geometric primitive set of the assembly resource;
the second acquisition unit is used for acquiring a position transformation matrix of the local coordinate system relative to the world coordinate system origin;
a third calculating unit, configured to calculate, according to the position transformation matrix and the average position vector, position vectors of the average positions of the local coordinate systems of the geometric primitives of the assembly object and the assembly resource in the world coordinate system, respectively;
the fourth calculation unit is used for respectively calculating the area of a triangle formed by the assembly resources and the assembly objects at the average position in the world coordinate system according to the position vector and the Helen formula in the world coordinate system;
and the selecting unit is used for selecting the assembly characteristic with the minimum area calculated in the target assembly list as the parameter information of the target assembly characteristic.
9. The assembly semantics based rapid assembly simulation device of claim 8, wherein the obtaining module comprises:
the processing submodule is used for preprocessing an assembly process, so that the assembly process is stored in a preset format;
the extraction submodule is used for extracting the feature words in the assembling process sentences in the assembling process after the preprocessing by adopting a text similarity matching algorithm;
and the first determining submodule is used for determining the semantic element information according to the feature words.
10. The assembly semantics based rapid assembly simulation device of claim 9, further comprising:
and the updating module is used for updating and assembling the semantic element corpus according to the semantic element information.
11. The assembly semantics based rapid assembly simulation device of claim 8 wherein the assembly feature parameter list of typical assembly operations comprises:
list of assembly characteristic parameters of the threaded connection type assembly operation:
Figure FDA0003108507640000041
assembly characteristic parameter list of pin key cooperation type assembly operation:
Figure FDA0003108507640000042
assembly characteristic parameter list for transmission type assembly operation:
Figure FDA0003108507640000043
wherein, Tym、Tyn、TyjFor type of assembly operation, Apm、ApnFor axial positioning parameters, Lpm、LpnCircumferential positioning parameters; dpm、DpnReference line and surface parameters; sc (Sc)mA parameter that is the presence or absence of a thread and the characteristics of the thread; fknWhether parameters of key slot characteristics and pin hole characteristics exist or not; cd [ Cd ]jPositioning parameters for the center distance; fc (Fc)jIs a meshing clearance parameter; cr (chromium) componentjIs a meshing area contact area parameter; gcm、Gcn、GcjA set of parameters for a geometric primitive that is an assembly object or assembly resource.
12. The assembly semantics based rapid assembly simulation device of claim 8, wherein the first obtaining submodule comprises:
a first obtaining unit configured to: gc ═ Gci|Gci＝{Aoi,Aci,Adi},i＝1～NaoAcquiring a geometric primitive set of the assembly object and a geometric primitive set of the assembly resource respectively;
wherein Gc isiGeometric constraint elements of basic primitives of the three-dimensional model of the assembly object/assembly resource; aoiThe type of the geometric primitive corresponding to the assembly object/assembly resource is shown; ac ofi: constraint types among the geometric primitives participating in assembly operation; ad (Ad-based Ad)i: parameterized representation of geometric primitives involved in assembly operations.
13. The assembly semantics based rapid assembly simulation device of claim 8, wherein the simulation module comprises:
the obtaining submodule is used for obtaining the geometric constraint relation between the assembly object and the assembly resource by analyzing the target assembly characteristic parameter information;
the second determining submodule is used for determining a space pose transformation matrix between the assembly object and the assembly resource according to the geometric constraint relation;
and the simulation submodule is used for simulating an encapsulation process according to the space pose transformation matrix and a pre-stored typical assembly operation and carrying out assembly process simulation in the simulation environment.
14. A rapid assembly simulation system based on assembly semantics is characterized by comprising: the assembly semantics based rapid assembly simulation apparatus of any one of claims 8 to 13.
15. A rapid assembly simulation system based on assembly semantics is characterized by comprising: processor, memory and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the assembly semantics based rapid assembly simulation method of any one of claims 1 to 7.
16. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the assembly semantics based rapid assembly simulation method according to any one of claims 1 to 7.
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