CN112182763A - Assembly simulation method based on VR technology and motion capture technology - Google Patents
Assembly simulation method based on VR technology and motion capture technology Download PDFInfo
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Abstract
The invention relates to an assembly simulation method based on a VR (virtual reality) technology and an action capture technology, which comprises the steps of building a data acquisition system, building a virtual model of a scene, acquiring assembly data, acquiring a process flow package and the like. The data acquisition system is used for acquiring the limb actions and positions of workers. In the step of collecting assembly data, a worker collects assembly process data when all the part models can be assembled without interference by using the VR head display and the data collection system. In the step of obtaining the process flow package, the system generates an optimal process flow package. The invention applies VR technology and motion capture technology to fuse a real product digital model and a virtual reality environment, builds a virtual assembly simulation environment and provides a convenient visual assembly guidance method.
Description
Technical Field
The invention relates to the field of virtual assembly manufacturing, in particular to an assembly simulation method based on VR technology and motion capture technology.
Background
The assembly process of industrial products has the following characteristics: the product has the characteristics of complex assembly process, high precision requirement and the like, so that the assembly coordination is difficult and the assembly period is long. The assembly process is an important link in the product design and research and development processes, and workers must assemble according to a reasonable assembly sequence. The traditional process file is described by only adopting characters and partial drawings, so that the traditional process file has the defects of poor intuitiveness and difficult direct on-site reference. The existing process files have strong understanding and experience requirements for workers. Workers are prone to errors in assembly work, and therefore assembly efficiency is low.
The human body is an important component and an influencing factor in the assembly process, and designers need to analyze the human body posture and the labor intensity, analyze operability, and analyze visibility and accessibility of the human body in the assembly process, find and optimize the defects of products in design, process planning, tool design and manufacture and tool use in time, and work out the optimal process flow and the corresponding standard according to the defects, so that the workers can carry out assembly work in a more comfortable and safe environment, the quality problem caused by fatigue is reduced, and the assembly efficiency and the assembly quality are improved.
In conventional assembly simulation systems (e.g., assembly simulation in the DELMIA environment), the user is an external observer who views the composite environment within the computer through a small window of limited extent on the display screen. Because the existing assembly simulation system does not have vivid and visual assembly environment for guiding assembly, the assembly simulation system is inconvenient for assembly personnel to understand, the reliability of an analysis result is not high, errors exist in theory and practice, and problems are easy to occur in field assembly, so that the manufacturing period of a product is prolonged, and the production cost is increased.
Therefore, it is necessary to develop an assembly simulation method that can be applied to the manufacturing process of industrial products and has high visualization degree.
Disclosure of Invention
In view of the above-mentioned current situation of the assembly simulation system and method, an object of the present invention is to provide an assembly simulation method based on VR technology and motion capture technology, which is capable of performing an assembly simulation test with high convenience and high visualization degree.
This object is achieved by the following form of the method of the invention. The assembly simulation method comprises the following steps:
building a data acquisition system, wherein the data acquisition system is used for acquiring the limb actions and positions of workers;
building a virtual model of a scene, wherein the virtual model comprises an airplane cabin and a part model lapped in the airplane cabin;
collecting assembly data, wherein a worker wears a VR head display to observe and assemble the part models in a virtual reality environment, and the data collection system collects assembly process data when all the part models can be assembled without interference, wherein the assembly process data at least comprises the installation sequence and the moving mode of all the part models;
and acquiring a process flow package, and generating an installation sequence and a moving mode which can assemble all the part models in the shortest time to generate the process flow package based on the acquired assembly process data.
According to a preferred embodiment of the invention, the step of building the virtual model of the scene comprises pre-editing the names, the numbers and the assembly sequence of all the part models to be assembled.
According to a preferred embodiment of the present invention, in the step of collecting the assembly data, the number of the component model that can be assembled to the desired position and the assembly start time and the assembly finish time are recorded.
According to a preferred embodiment of the invention, the data acquisition system comprises a motion capture glove comprising inertial sensors arranged at the palm of the hand, respectively at the joints in each finger.
According to a preferred embodiment of the present invention, in the step of collecting the assembly data, the data collecting system collects the actions and positions of at least two workers at least for a partial period of time.
According to a preferred embodiment of the present invention, the assembly simulation method further includes a data optimization process in which a computer collects remaining space data of the aircraft cabin before and after assembly of each part model in the assembly process data, and analyzes a required total assembly time when an installation order of other part models is adopted based on shape and size data of each part model.
According to a preferred embodiment of the invention, the data acquisition system comprises a VR headset arranged in a field, a whole body motion capture device comprising an optical sensor and an inertial sensor.
In accordance with a preferred embodiment of the present invention the process flow package includes video data for assembling the part models and a flow chart characterizing the order in which the part models are assembled.
On the basis of the common general knowledge in the field, the preferred embodiments can be combined randomly to obtain the preferred examples of the invention. Other systems, methods, features and advantages of the invention will be or will become apparent to one with skill in the art upon examination of the following figures and detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description and this summary, be within the scope of the invention, and be protected by the accompanying claims.
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For a better understanding of the above and other objects, features, advantages and functions of the present invention, reference should be made to the preferred embodiments illustrated in the accompanying drawings. Like reference numerals in the drawings refer to like parts. It will be appreciated by persons skilled in the art that the drawings are intended to illustrate preferred embodiments of the invention without any limiting effect on the scope of the invention, and that the various components in the drawings are not drawn to scale.
Fig. 1 is a flowchart of an assembly simulation method based on VR technology and motion capture technology according to a preferred embodiment of the present invention.
Fig. 2 is a flowchart of the assembly simulation method recording the time required to assemble all of the part models.
Detailed Description
The inventive concept of the present invention will be described in detail below with reference to the accompanying drawings. What has been described herein is merely a preferred embodiment in accordance with the present invention and other ways of practicing the invention will occur to those skilled in the art and are within the scope of the invention. In the following detailed description, directional terms, such as "upper", "lower", "inner", "outer", "longitudinal", "lateral", and the like, are used with reference to the orientation depicted in the accompanying drawings. Components of embodiments of the present invention can be positioned in a number of different orientations and the directional terminology is used for purposes of illustration and is in no way limiting.
Referring to fig. 1, there is shown an assembly simulation method based on VR technology and motion capture technology according to the present invention. As shown in fig. 1, the assembly simulation method includes the steps of building a data acquisition system 11, building a virtual model 12 of a scene, acquiring assembly data 13, acquiring a process flow package 14, and the like.
In the set up data acquisition system step 11, the data acquisition system acquires the limb movements and positions of the staff. The adopted data acquisition system can be composed of an optical camera, VR head display equipment, whole body motion capture equipment and the like which are arranged in a field. The whole body motion capture device is composed of various optical sensors, inertial sensors, and the like. According to some embodiments of the present application, a motion capture glove of a whole body motion capture device is provided with both optical sensors and inertial sensors. The optical sensor can capture accurate positioning, and the inertial sensor can solve the problem that the optical sensor cannot act after light is shielded. For the hand, the motion capture glove is arranged with only inertial sensors, and the inertial sensors are arranged at the palm of the hand, joints in each finger, respectively. According to the present invention, the inertial sensor at the hand position includes components such as an accelerometer, a gyroscope, and a magnetometer, and is capable of measuring the motion and posture of the hand.
The sensors for capturing the position and movement of the trunk of the worker may be provided at the head, shoulders, upper arms, waist, thighs, knees, feet, wrists, etc., for example, 1 sensor may be provided at each of the wrists of the left and right hands, 1 sensor may be provided at each of the thighs, 1 sensor may be provided at each of the calves, and 1 sensor may be provided at the back. With a full body motion capture device, the data acquisition system may first determine the height of the worker and the subsequent actions to be taken, such as bending, bending knees, turning around, etc. The sensors that capture the torso position may consist of optical sensors and inertial sensors. In some embodiments, the sensor that captures torso position may be integrated into a garment with mark points (marker).
Optionally, sensors or the like are arranged at the human hands, feet, head (which may be integrated in the VR headset), back, etc. 7.
By means of the data acquisition system, a human body model which is in equal proportion to the part model to be assembled and the airplane cabin can be generated in the system, and the real actions of the workers are fed back to the virtual image of the VR head display.
In step 12 of building a virtual model of a scene, virtual models such as an airplane cabin and a part model overlapped in the airplane cabin may be built. The virtual model can be created and imported into a simulation platform by software such as CATIA. According to different assembly requirements, a worker can set corresponding part models of parts to be assembled for a specific cabin in advance before carrying out an assembly simulation test.
In step 13 of collecting assembly data, the worker wears a VR head display to view the part model. By means of the visual field of the VR headset, the operator grasps the previously set part model (virtual model) by the actual movement and installs it in the corresponding position in the aircraft cabin presented by the VR headset. In this process, the data acquisition system acquires the actions of the worker and the captured part model from time to time and presents the actions and the captured part model in the VR headset worn by the worker. The worker may use different order of component model installation, and different ways of moving the component models to confirm the use of the assembly process data that enables the assembly of all the component models without interference. The assembly process data optionally includes the time required to assemble all of the part models. With the help of the VR head display, a worker can assemble parts through real actions, and therefore, real assembly feeling can be provided for the worker.
According to the invention, a sound device and the like can be integrated in the VR head display, and in the step 13 of collecting the assembly data, if the moving parts of the staff collide the inner wall of the cabin or other parts, the VR head display can remind the staff in the form of sound alarm. In addition, the particular portion of the interior wall of the cabin or other component that is impacted may be color-coded and further displayed in the VR head.
In addition, after the model of the airplane cabin and the corresponding model of the component are selected, the optimized assembly process data can be further acquired through a data optimization processing step 15. Specifically, after the aircraft cabin space, the shape and size data of each part model, and the position of the desired assembly are confirmed in the assembly data collecting step 13, the computer can obtain the remaining space data of the aircraft cabin after each part model is in the target position. In addition, because the assembly process data capable of assembling all the part models is collected in the previous system, wherein the assembly process data comprises the moving mode of the part models, the system can adjust the installation sequence of each part model in the virtual environment space based on the moving mode information of the part models and the residual space data of the airplane cabin, confirm the assembly sequence of other feasible part models, and obtain the total assembly time required by adopting other assembled all the part models, thereby obtaining the optimal assembly process data.
It will be appreciated that, provided that the data optimization process step 15 is not provided, the assembly process data recorded in the system can only be determined according to the corresponding minimum installation time required by the assembly sequence and the moving manner of all the feasible part models which are actually operated by the operator. Obviously, under the condition of limited time and energy, the optimal installation mode of the part model can not be obtained easily. Through the data optimization processing step 15, the working personnel can obtain the optimal assembly process data without multiple trial and error links.
After obtaining the assembly process data (or the assembly process data after the optimization processing), the system may generate a process flow package based on the collected assembly process data in a moving manner and an installation order capable of assembling all the part models in a shortest time, thereby completing the step 14 of obtaining the process flow package. Preferably, the process flow package may integrate video data for assembling the part models and a flow chart representing an assembling sequence of the part models in order to provide a worker with a more convenient description in a subsequent operation. By combining the video description, a worker can more accurately and quickly install real parts in real operation.
In the process of building the virtual model 12 of the scene, the names, the numbers, the assembly sequence and the like of all the part models to be assembled can be pre-edited in advance, so that the workers can conveniently select the accurate part models before assembly simulation.
After the component model is pre-edited, in step 13 of collecting assembly data, the assembly time for assembling all components can be recorded by using the flow of fig. 2. Specifically, when each part model is assembled, the system records the start time when the corresponding part model is captured and the number of the part model. Recording the time when the component model (second component model) is assembled if the component model (second component model) is judged to be at the target position required to be assembled, thereby obtaining the required assembling time for assembling the second component model; if the second part model is not assembled in place, the wait continues. In the process of continuing the waiting, if the already-assembled component model (first component model) is moved out of the assembly position, which indicates that the second component model cannot be assembled, all the component models cannot be assembled in the current component model mounting order. The system then re-records the assembly start time of the first part model and determines cyclically in the above manner the order of installation of the other possible part models.
According to some preferred embodiments of the present invention, the assembly simulation system allows at least two workers to perform simulation tests together during part or all of the time period and to collect the actions and positions of these two workers in step 13 of collecting assembly data. Therefore, the assembly simulation method can also be applied to simulation tests which need multiple cooperative mounting parts.
The assembly simulation method provided by the invention utilizes a virtual reality technology and an action capturing technology, integrates a real product digital model with a virtual reality environment, builds a virtual assembly simulation environment, and can provide a convenient visual assembly guidance method for a user.
The scope of the invention is limited only by the claims. Persons of ordinary skill in the art, having benefit of the teachings of the present invention, will readily appreciate that alternative structures to the structures disclosed herein are possible alternative embodiments, and that combinations of the disclosed embodiments may be made to create new embodiments, which also fall within the scope of the appended claims.
Claims (8)
1. An assembly simulation method based on VR technology and motion capture technology, characterized in that the assembly simulation method comprises the following steps:
building a data acquisition system, wherein the data acquisition system is used for acquiring the limb actions and positions of workers;
building a virtual model of a scene, wherein the virtual model comprises an airplane cabin and a part model lapped in the airplane cabin;
collecting assembly data, wherein a worker wears a VR head display to observe and assemble the part models in a virtual reality environment, and the data collection system collects assembly process data when all the part models can be assembled without interference, wherein the assembly process data at least comprises the installation sequence and the moving mode of all the part models;
and acquiring a process flow package, and generating an installation sequence and a moving mode which can assemble all the part models in the shortest time based on the assembly process data to generate the process flow package.
2. The assembly simulation method according to claim 1, wherein the step of building a virtual model of a scene comprises pre-editing names, numbers and assembly sequences of all component models to be assembled.
3. The assembly simulation method according to claim 2, wherein in the step of collecting the assembly data, the number of the part models that can be assembled to the desired positions and the assembly start time and the assembly finish time are recorded.
4. The fitting simulation method according to claim 1, wherein the data acquisition system comprises a motion capture glove comprising inertial sensors arranged at joints in the palm, each finger, respectively.
5. The assembly simulation method according to any one of claims 1 to 4, wherein in the step of collecting assembly data, a data collection system collects the actions and positions of at least two workers at least for a part of a period of time.
6. The assembly simulation method according to claim 1, further comprising a data optimization process in which data of remaining space of the aircraft cabin before and after each part model is assembled in the assembly process data is collected by a computer, and a total assembly time required when an installation order of other part models is adopted is analyzed based on the shape and size data of each part model to obtain optimal assembly process data.
7. The assembly simulation method of claim 1, wherein the data acquisition system comprises a VR head-mounted device disposed in a field, a whole-body motion capture device, the whole-body motion capture device comprising an optical sensor and an inertial sensor.
8. The assembly simulation method of claim 1, wherein the process flow package comprises video data of the assembled part models and a flow chart characterizing the assembly sequence of the part models.
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| CN115673704A (en) * | 2022-10-10 | 2023-02-03 | 哈尔滨工业大学 | Multi-stage large-scale high-speed rotation equipment assembling system and method based on virtual reality guidance, computer equipment and storage medium |
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