WO2010024631A2 - Système de simulation d'assemblage virtuel - Google Patents

Système de simulation d'assemblage virtuel Download PDF

Info

Publication number
WO2010024631A2
WO2010024631A2 PCT/KR2009/004856 KR2009004856W WO2010024631A2 WO 2010024631 A2 WO2010024631 A2 WO 2010024631A2 KR 2009004856 W KR2009004856 W KR 2009004856W WO 2010024631 A2 WO2010024631 A2 WO 2010024631A2
Authority
WO
WIPO (PCT)
Prior art keywords
assembly
information
path
virtual
user
Prior art date
Application number
PCT/KR2009/004856
Other languages
English (en)
Korean (ko)
Other versions
WO2010024631A3 (fr
Inventor
윤정원
크리스티앤드크리스티앤드
Original Assignee
경상대학교산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 경상대학교산학협력단 filed Critical 경상대학교산학협력단
Publication of WO2010024631A2 publication Critical patent/WO2010024631A2/fr
Publication of WO2010024631A3 publication Critical patent/WO2010024631A3/fr

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/24—Indexing scheme for image data processing or generation, in general involving graphical user interfaces [GUIs]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/21—Collision detection, intersection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/28—Force feedback
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
    • G06T2219/20—Indexing scheme for editing of 3D models
    • G06T2219/2008—Assembling, disassembling

Definitions

  • the present invention minimizes the assembly time and moving distance through the haptic path guidance and assembly sequence guide in the virtual assembly environment using the optimized assembly movement path and assembly order information virtual assembly simulation that can maximize the efficiency of the assembly It's about the system.
  • Virtual design technology which combines virtual reality technology with DMU (Digital Mock-Up) function, which is used in the development of applied machine systems such as aircraft, automobiles, shipbuilding, etc. Detects defects and errors in advance in design, assembly, and usability, resulting in significant savings in development time and costs.
  • DMU Digital Mock-Up
  • VR-based mock-up technology can replace real prototypes by representing digital data and allowing operators to intuitively manipulate it through the VR interface.
  • a simulation technology such as a physics engine and develop a hand interface device through direct user interaction.
  • Haptic Interface technology uses human-computer interaction to increase productivity and efficiency, and allows you to create, manipulate, and transform objects on your computer just as you use your hands to create real objects in a natural way. do.
  • a system that can verify the assembly of parts by making virtual machine models with life-size virtual digital models with realistic sensory information and performing virtual assembly with a realistic sense can realistically simulate assembly of parts. Therefore, it is an effective way to apply human intelligence to the optimization of assembly.
  • a system combining a virtual machine and a hand interface including a haptic has been proposed, but a killing assembly system and a haptic interworking related system have not been proposed yet.
  • the assembly sequence is numerically optimized depending on the shape data and the grippers required for the assembly.
  • the numerical complexity increases, and there is a problem that a difference occurs from the numerically calculated simulation in actual application.
  • the assembly algorithm can be quickly evaluated and security verified. Accordingly, there is a demand for the development of a virtual assembly simulation system using an optimal assembly algorithm in which path planning that can reduce assembly time and moving distance by optimal path movement is combined with an assembly sequence.
  • the present invention has been made to improve the prior art as described above, by minimizing the assembly time and moving distance through the haptic path guidance and assembly sequence guide in the virtual assembly environment using the optimized assembly movement path and assembly order information
  • the objective is to provide a virtual assembly simulation system that can maximize the efficiency of assembly implementation.
  • the present invention uses the VR-based optimal assembly system including the haptic to evaluate the performance of the assembly algorithm in a virtual environment similar to the actual case, and to follow the path to minimize the distance traveled during the assembly
  • An object of the present invention is to provide a virtual assembly simulation system that enables optimal assembly through haptic guidance.
  • the present invention is added to the assembly sequence optimization algorithm for minimizing the number of gripper replacement and the number of parts rotation, the algorithm to minimize the movement distance of the path trajectory, virtual assembly to enable the assembly simulation in which the parts assembly order and the path is optimized at the same time It is an object to provide a simulation system.
  • the present invention includes a path planning algorithm capable of haptic guidance in the numerical assembly order optimization method depending on the shape data, providing the user with the optimized assembly sequence guide and assembly path guide, so that the user can achieve the shortest distance and It is an object of the present invention to provide a virtual assembly simulation system that can find assembly conditions that can be assembled as quickly as possible with low energy consumption.
  • the virtual assembly simulation system to generate the assembly order information and assembly path information through the optimal assembly algorithm from the predetermined parts information and gripper information Assembly information generation unit;
  • An assembly interface unit providing a user with a virtual assembly environment for assembly simulation of each component according to the assembly sequence information and the assembly path information;
  • An assembly simulation unit configured to provide an assembly order guide and an assembly path guide optimized through the assembly order information and the assembly path information, and to control performance of the assembly simulation of each component by the user;
  • a haptic driver that provides haptic feedback to the user when the collision of each component or the collision between the component and the obstacle is detected when the assembly simulation is performed.
  • the assembly information generation unit of the virtual assembly simulation system the input unit for receiving the part information and the gripper information from the user; And an optimum assembly algorithm controller configured to generate the assembly sequence information and the assembly path information in which the correlation between the assembly sequence and the assembly path of each component is optimized by applying the inputted parts information and the gripper information to the optimum assembly algorithm. Characterized in that it comprises a.
  • the optimum assembly algorithm control unit of the virtual assembly simulation system according to the present invention, the number of times of replacement of the tool device used for assembling each component according to the part information and the gripper information and rotation of the respective parts during the assembly of each component
  • the assembly sequence information and the assembly path condition are generated through a rule that combines a path condition for minimizing the collision distance and minimizing the movement distance between the parts to an optimal assembly order to minimize the number.
  • the optimum assembly algorithm control unit of the virtual assembly simulation system combines the path condition to the assembly order through a first rule, a second rule, and a third rule, the first rule is the final assembly position
  • the parts arriving at are rules that become obstacles for the next parts
  • the second rule is a rule that selects possible assembly directions to prevent interference and collision between the components and is combined in the assembly direction during assembly
  • the third rule Is a rule that eliminates the repulsive force generated in the existing part when the assembly direction and the part surface become vertical during the optimum path search.
  • the optimal assembly algorithm control unit of the virtual assembly simulation system expresses the assembly sequence and the path for the combination of the path conditions through the electrometer method, the repulsive force in conjunction with the assembly sequence optimization the assembly sequence Information and the assembly path information is generated.
  • the assembly interface of the virtual assembly simulation system for providing information of the current assembly, and the various information generated during the assembly process to update and display;
  • a final part shape providing a criterion on which the current part should be located in the total assembled state and an assembly position of the current part with respect to the final part shape;
  • Assembly rotation indicator for guiding the direction of rotation when assembling parts and the possible direction of the assembly operation; obstacle; part;
  • An initial position gripper indicating the position of the gripper required to operate the component;
  • An instruction panel for guiding information of a task to the user;
  • a haptic interaction point for generating haptic interaction between the user and the virtual object.
  • the assembly simulation unit of the virtual assembly simulation system generates a path object having a cross section of a circle, semi-circle, or square shape around the path obtained through the assembly path information, the haptic interaction in the path object
  • the assembly path guidance, the recommended gripper, and the assembly rotation time to guide the working direction of the assembly parts, including the haptic path guide that conditions the assembly operation so that the motion occurs only within the path object through the parts and sequentially
  • the assembly sequence to display the order of the guide is characterized in that to provide to the user.
  • the assembly simulation unit of the virtual assembly simulation system is characterized in that it provides the user by calculating the total assembly time and the total assembly moving distance for the assembly of each component.
  • the virtual assembly simulation system of the present invention by using the optimized assembly movement path and the assembly order information to minimize the assembly time and moving distance through the haptic path guidance and assembly sequence guide in the virtual assembly environment to achieve the efficiency of assembly of parts You can get the maximum effect.
  • the VR-based optimal assembly system including the haptic to evaluate the performance of the assembly algorithm in the virtual environment in a similar environment to the actual case, the distance that the parts moved during assembly By haptic guidance to follow the path to minimize the effect can be obtained to enable optimal assembly.
  • the assembly sequence optimization algorithm for minimizing the number of gripper replacement and the number of parts rotation is added to the algorithm that minimizes the movement distance of the path trajectory, the assembly assembly and the path is optimized at the same time The effect of enabling the simulation can be obtained.
  • the virtual assembly simulation system of the present invention by including a path planning algorithm capable of haptic guidance in the numerical assembly order optimization method depending on the shape data, by providing the user with the optimized assembly sequence guide and assembly path guidance, The effect is to allow the user to find the assembly conditions for the fastest possible assembly with the shortest distance and low energy consumption during assembly.
  • the virtual assembly simulation system of the present invention through the repeated training of the optimal assembly simulation given the haptic path guidance and assembly sequence guide can be obtained the effect that enables more effective user assembly training.
  • FIG. 1 is a block diagram showing the configuration of a virtual assembly simulation system according to an embodiment of the present invention.
  • FIG 2 illustrates an example of an assembly interface in accordance with one embodiment of the present invention.
  • FIG. 3 is a diagram illustrating a virtual assembly simulation algorithm including a haptic path and assembly sequence guide of a virtual assembly simulation system according to an embodiment of the present invention.
  • FIG. 4 is a diagram illustrating an example of a path planning method for generating a haptic path according to an embodiment of the present invention.
  • FIG. 5 is a view showing an assembly order for assembly sequence and assembly path interworking according to an embodiment of the present invention.
  • FIG. 6 illustrates an example of an optimal assembly algorithm including a haptic path and an assembly sequence according to an embodiment of the present invention.
  • FIG. 7 illustrates an example of an assembly interface of a virtual assembly simulation system in which a haptic path and an assembly sequence guide are implemented according to an embodiment of the present invention.
  • FIG. 1 is a block diagram showing the configuration of a virtual assembly simulation system according to an embodiment of the present invention.
  • the virtual assembly simulation system 100 includes an assembly information generation unit 110, an assembly interface unit 120, an assembly simulation unit 130, and a haptic driver 140.
  • the virtual assembly simulation system 100 may be implemented as a part of a PC, a notebook computer, a server capable of continuous processing, or implemented as an independent device or a terminal that performs only the virtual assembly simulation of the present invention. May be
  • the assembly information generation unit 110 generates assembly sequence information and assembly path information from the pre-terminated part information and gripper information through an optimal assembly algorithm.
  • the assembly information generation unit 110 an input unit for receiving the part information and the gripper information from the user, and the assembly order and assembly of the respective parts by applying the received part information and the gripper information to the optimum assembly algorithm.
  • an optimal assembly algorithm controller configured to generate the assembly sequence information and the assembly path information optimized for the mutual relationship between paths.
  • the optimum assembly algorithm controller controls the angles of the tool assembly used for assembling the parts according to the part information and the gripper information, and the optimum assembly algorithm in order to minimize the number of rotations of the parts during assembly of the parts.
  • the assembly sequence information and the assembly path condition are generated through a rule that combines a path condition for minimizing collision and minimizing movement distance between components.
  • the optimal assembly algorithm control unit may combine the path condition with the assembly order through a first rule, a second rule, and a third rule.
  • the first rule is a rule that the parts arriving at the final assembly position is an obstacle for the next part
  • the second rule is to select the possible assembly direction in order to prevent interference and collision between each component and to combine in the assembly direction during assembly
  • the third rule may be implemented as a rule that eliminates the repulsive force generated in the existing component when the assembly direction and the surface of the component become vertical during the optimum path search.
  • the optimal assembly algorithm control unit may express a path for combining the assembly order and the path condition through an electrometer method, and generate the assembly order information and the assembly path information by interlocking a repulsive force radius with the assembly order optimization. .
  • the assembly interface unit 120 provides a user with a virtual assembly environment for assembly simulation of each component according to the assembly sequence information and the assembly path information.
  • the assembly interface unit 120 includes information on an assembly sequence, grippers, assembly rotations, and information on a part currently being assembled, and an information panel for updating and displaying various pieces of information generated during the assembling process.
  • the final part shape which provides the criterion to be located and the assembly position of the current part with respect to the final part shape, the assembly rotation instruction, the obstacle, the part, which guides the direction of rotation when assembling the part and guides the possible direction of the assembly work.
  • the virtual assembly environment includes an initial position gripper indicating the position of the gripper required to operate the component, an instruction panel for guiding information of a task to the user, and a haptic interaction point for generating a haptic interaction between the user and the virtual object. can do.
  • the assembly simulation unit 130 provides the user with the assembly order guide and the assembly path guide optimized through the assembly order information and the assembly path information, and controls the performance of the assembly simulation of each part by the user.
  • the assembly simulation unit 130 generates a path object having a circle, a semicircle, or a square cross section around the path obtained through the assembly path information, and moves only within the path object through haptic interaction in the path object.
  • the assembling sequence for guiding the work direction of the assembled parts by the assembly route guide, the recommended gripper, and the assembly rotation time, including the haptic path guides that condition the assembly operation so as to occur, and sequentially displaying the order of each component. Provide guidance to the user.
  • the assembly simulation unit 130 may calculate the total assembly time and the total assembly moving distance for the assembly of each component and provide the same to the user.
  • the haptic driver 140 provides the user with haptic feedback corresponding to the collision when a collision of each component or a collision between the component and an obstacle is detected when the assembly simulation is performed.
  • FIG. 2 is a view showing an example of an assembly interface according to an embodiment of the present invention.
  • the assembly interface includes an information panel 211, a final part shape 212, an assembly rotation indicator 213, an obstacle 214, a part 215, an initial position gripper 216, a gripper shape 217, and an instruction panel 218. ), The haptic interaction point 219, and the assembly workspace 220.
  • the information panel 211 provides information on the assembly order, the gripper, the assembly rotation, the parts currently being assembled, and updates the information accordingly when new information is generated during the assembly process.
  • the final part shape 212 provides the user with a criterion on which the current part should be located in the assembled state, and instructs the assembly position by emphasizing the criterion with a different color in the final part shape.
  • the assembly rotation indicator 213 guides the rotation direction in the form of an arrow when assembling parts, and serves to indicate a possible direction of the assembly operation.
  • the obstacle 214 is represented as an obstacle in the workspace of the virtual assembly environment when an unwanted object exists in the actual workspace so that the user can consider the limitations of the actual environment.
  • the part 215 is a main object for assembly simulation, and is implemented in various shapes of mechanical parts, and simulation conditions may be determined according to the part shape.
  • the initial position gripper 216 indicates the position of the gripper required to operate the part and the user can select the gripper suitable for the part through the initial position gripper 216 before assembling the actual part.
  • the instruction panel 218 displays information of a particular task desired by the user. For example, it may be implemented as text with the phrases "grab gripper”, “perform assembly”, “select new parts” and so on.
  • the virtual assembly environment of the assembly interface and the user may be interfaced with each other through a haptic device.
  • the haptic interaction between the user and the virtual object may be generated through the haptic interaction point 219 in the assembly workspace 220.
  • a snapping mechanism of objects for connecting the part and the haptic interaction point is activated to connect the center of the object to the haptic interaction point 219.
  • the haptic rendering that can be used serves as collision detection, reflection of force in collision, and the assembly interface may provide an interface between the user and the virtual assembly environment.
  • the user may manipulate the virtual object including the virtual assembly method through the haptic device, and the haptic rendering may be updated to 1KHz.
  • FIG. 3 is a diagram illustrating a virtual assembly simulation algorithm including a haptic path and an assembly sequence guide of a virtual assembly simulation system according to an embodiment of the present invention.
  • the virtual assembly simulation system may be implemented by a real time processor and an offline processor.
  • the offline processor may be implemented by the assembly information generation unit 110, and the real time processor may be implemented by the assembly interface unit 120, the assembly simulation unit 130, and the haptic driver 140.
  • Steps 311 to 313 may be performed through the assembly information generation unit 110 which is an offline processor, and steps 314 to 317 may be performed by the haptic driver 140 which is a real time processor.
  • step 318 may be performed through the assembly interface unit 120 and steps 319 to 321 through the assembly simulation unit 130.
  • the assembly information generation unit 110 may receive the part information and the gripper information through a user or read the part information and the gripper information from a specific database according to a selected condition (step 311).
  • the assembly information generation unit 110 applies the part information and the gripper information through an optimal assembly algorithm (step 312).
  • the optimal assembly algorithm may be implemented as shown in FIG. 6. This will be described later in detail.
  • the assembly information generation unit 110 generates the assembly sequence information and the assembly path information optimized according to the optimum assembly algorithm (step 313).
  • the assembly interface unit 120 provides a virtual assembly environment to the user (step 318), and the haptic driver 140 positions each object during the assembly simulation of the user according to the assembly sequence information and the assembly path information. Are updated (step 314), and collisions between each object are detected (step 315). If the collision is detected (step 315), the haptic driver 140 provides haptic feedback to the user (step 317).
  • the assembly simulation unit 130 determines whether each object has arrived at the initial position according to the position update of each object (step 319), and if it is determined that each object has arrived at the initial position of the user, Perform the assembly operation according to the operation (step 320). According to the assembling work, it is determined whether each object has arrived at the final position (step 321), and the assembling work can be finished.
  • the haptic drive unit 140 provides haptic feedback during the assembly simulation so that the user can touch all the objects with the touch, and the assembly interface unit 120 has no interaction with the user for the assembly simulation. It provides a possible assembly work environment, the assembly simulation unit 130 may guide the assembly work by the user to be performed in the optimal assembly path and assembly order.
  • the user has to move each part from the initial position to the final position in an optimized assembly sequence according to the assembly sequence information during the virtual assembly operation.
  • the user may perform assembly of each of the components through an optimal path and haptic feedback according to the assembly path information.
  • the assembly sequence and assembly path are executed through the optimal assembly algorithm, and the given path becomes a fixed object with holes in circular, semicircle, and square cross-sectional areas along the path center.
  • the user should ensure that the interaction point of the component always moves only within the path boundary in order to avoid collisions with obstacles during assembly. Therefore, when the user's movement is about to move out of the path boundary, the user's movement can always stay at the predetermined path boundary through haptic feedback.
  • Haptic feedback can be initiated when a haptic interaction point encounters a collision between path boundaries. This may increase the efficiency of the assembly process by guiding the user to follow a given path with haptic feedback.
  • the haptic path generation algorithm is a potent field method (Mark WS, Seth H, Vidyasagar M. Robot modeling and control.USA: John Willey and Sons; 2006).
  • the path planning algorithm used can be implemented as an algorithm that can be expressed as a mathematical function with simple design variables and small computational capacity as possible in order to work with the optimization of assembly order.
  • genetic algorithms used to optimize nonlinear systems can be used.
  • the repulsive force and the attraction force provide a direction with respect to Equation (1).
  • F att is the repulsive force
  • F rep is the attractive force
  • S is the unit force vector applied to move the part
  • the path generation algorithm generated for guiding the assembly operator from the initial position to the final position of the part may be obtained as shown in FIG. 4.
  • the unit vector can be used directly to make the path guidance and the repulsive force is a design variable and the repulsive force radius, which is the center distance from the center of the part to the obstacle.
  • the value can determine the overall outcome of the route plan, including repulsion and attraction values. therefore, Through path optimization with values as variables The value can be determined in advance.
  • the assembly rules proposed in the route plan can control the movement, repulsion, and assembly direction of the components as they enter the final assembly position.
  • the assembly rule is as follows.
  • the first rule ensures that the arriving part does not collide with the previous part as it enters the final position. Since the path of each part is influenced by the accumulated repulsive forces based on other parts that have already arrived, the final path for the assembly sequence can vary depending on which part arrived first. 5 shows an example when a part comes into the final position. In Fig. 5, part 2 has reached the final position in advance and exhibits repulsive force, and part 3 is now attempting to enter the final position without collision. Since the shape of the total repulsive force in the final position depends on the parts that have already arrived, different parts assembly sequences may generate different paths for each part.
  • Second Rule "To avoid interference and collisions between components, select a possible assembly direction and join in that direction when assembled.”
  • each part In the assembly process, each part must have an assembly direction already planned to avoid collisions and interferences between the parts.
  • a connection matrix In order to define the possible direction between two components by observing the relationship of successive components, a connection matrix must be defined in consideration of the shape of the two components in advance.
  • the next part will not be able to enter that position. Therefore, the presence of the repulsive force in the final position must be adjusted to the third rule so that the next part can enter the final position.
  • each component for assembly by the user may reach the final position in consideration of the assembling order and path accordingly.
  • the optimization problem may result in finding the optimum assembly order and repulsion radius in order to perform effective assembly work.
  • the proposed optimization problem can be solved by using a genetic algorithm (John HH. Adaptation in natural and artificial Systems. Cambridge-USA: MIT Press; 1992) to obtain global optimization for complex nonlinear systems.
  • the input value for the calculation of the optimization cost function is composed of the actual moving distance (Dact) of each part, the number of revolutions of the part (O), and the gripper replacement frequency (G) as shown in Equation 2.
  • W 1 , W 2 , W 3 are weight variables, n is the number of parts.
  • the actual path distance Dact is the sum of the distances until the last position of one path point is moved.
  • Dref is the shortest distance from the initial position to the final position.
  • the comparison of Dact and Dref can be calculated based on the efficiency of the path, the number of parts rotated based on how many times the assembly rotation has changed in a given part assembly sequence, and the gripper change can be calculated based on how many grippers the assembler needs to change. . All optimization problems may be performed through an offline processor following the assembly sequence as shown in FIG.
  • the proposed genetic algorithm can be used as the optimal assembly algorithm in the virtual assembly algorithm including the haptic path.
  • the virtual assembly environment provided to the user through the assembly interface may be designed to perform a virtual assembly simulation in a state in which a haptic path and assembly guide are given at a given optimal design result value.
  • Basic assembly work can consist of moving parts from the initial position to the final position.
  • the user can perform four main assembly steps: a part selection step, a gripper selection step, a part reselection step before the gripper selection, and a corresponding part assembly step.
  • a part selection step In order to assemble one part, the user must select the gripper according to the predetermined part selection.
  • the assembly matrix-based constraint is followed. Based on the assembly sequence chosen, the user does not need to select a new gripper if the current gripper is available for the next part again.
  • the gripper can be implemented to be located at a fixed distance from the initial position of each component. Therefore, the effect of increasing the number of change of the gripper can be clearly investigated.
  • the initial haptic interaction point may be randomly selected at a predetermined position in order to prevent the user from selecting a part closest to the initial haptic interaction point.
  • the part must be implemented to avoid collisions with any objects that exist in the virtual environment, so haptic feedback can be given to the haptic interaction point when the obstacle collides to prevent the part from passing through the obstacle.
  • FIG. 7 illustrates an example of an assembly interface of a virtual assembly simulation system in which a haptic path and an assembly sequence guide are implemented according to an embodiment of the present invention.
  • the user can select a part and perform assembly based on the results of the optimization assembly sequence.
  • the user can provide a recommended gripper according to the assembly sequence guide and set the assembly sequence of the parts.
  • the user selects a gripper suitable for the part.
  • the user may select and use a recommended gripper having a high probability of using the same gripper for several parts.
  • an assembly rotation indicator 711 may be provided during the assembly operation with a visual indication for minimal rotation during assembly of the parts.
  • only one part may be sequentially displayed in the virtual assembly environment. When the assembly of the part is finished, the other part appears in the initial position, and the above operation is repeated until all the parts are assembled.
  • the proposed path may be presented.
  • the path may be set according to the assembly path information generated through the optimal assembly algorithm of the assembly information generation unit 110.
  • the path may be implemented in the form of a fixed object as shown in FIG. 7 in the virtual assembly environment, and the movement of the haptic interaction point may be limited within the boundary of the path.
  • the user When a component to be moved for assembly is outside the boundary of the path, the user can feel the haptic feedback between the haptic interaction point and the path boundary, so that the user's movement can be guided along the optimal assembly path.
  • the proposed manual haptic guidance for the optimal path result value is called the optimal haptic path 714. Therefore, for each part, the user touches the proposed gripper 713 to select it, and the user follows a given path during the assembly of the parts, and the assembly may be assembled in the direction guided by the assembly rotation indicator 711. After assembling one component, the user may move to the shortest distance using the haptic path 714 even when returning to the initial position for assembling the next component.
  • the performance of the assembly algorithm in the virtual assembly environment can be determined by measuring the total assembly time and total assembly travel distance.
  • the total assembly time refers to the time to finish the assembly work of all parts, including the process of moving to the initial position after the gripper selection and assembly of the parts.
  • the total assembly moving distance means a distance including all the distance moved from the initial position to the final position of all parts and the gripper for the selection of the grip, the movement distance at the time of selecting the next part after assembling the parts.
  • the assembly simulation unit 130 calculates the assembly time or the total assembly time and the assembly moving distance or the total assembly moving distance of each component according to the assembly of the component when the assembly of the component is performed, and provides it to the user. The user can evaluate the efficiency of the assembly operation through the assembly time and the assembly movement distance.
  • the virtual assembly simulation method of the virtual assembly simulation system may be implemented in the form of program instructions that can be executed by various computer means and recorded in a computer readable medium.
  • the computer readable medium may include program instructions, data files, data structures, etc. alone or in combination.
  • Program instructions recorded on the media may be those specially designed and constructed for the purposes of the present invention, or they may be of the kind well-known and available to those having skill in the computer software arts.
  • Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CD-ROMs, DVDs, and magnetic disks, such as floppy disks.
  • Magneto-optical media and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like.
  • the medium may be a transmission medium such as an optical or metal wire, a waveguide, or the like including a carrier wave for transmitting a signal specifying a program command, a data structure, or the like.
  • Examples of program instructions include machine code, such as produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.
  • the hardware device described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Computer Graphics (AREA)
  • Architecture (AREA)
  • Processing Or Creating Images (AREA)
  • User Interface Of Digital Computer (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

L'invention concerne un système de simulation d'assemblage virtuel qui comprend: une unité de production de données d'assemblage qui produit des données de séquence d'assemblage et des données de trajet d'assemblage par le biais d'un algorithme d'assemblage optimal à partir de pièces, de données et de données de préhension préétablies; une unité d'interface d'assemblage offrant à l'utilisateur un environnement d'assemblage virtuel pour simuler l'assemblage de diverses pièces selon les données de séquence d'assemblage et les données de trajet d'assemblage; une unité de simulation d'assemblage offrant à l'utilisateur un guide de séquence d'assemblage et un guide de trajet d'assemblage que l'on optimise par le biais des données de séquence d'assemblage et des données de trajet d'assemblage, et permettant de contrôler l'exécution de la simulation de l'assemblage des diverses pièces par l'utilisateur; et une unité d'actionneur haptique donnant à l'utilisateur un retour haptique correspondant à des collisions lorsque des collisions entre les différentes pièces ou entre une pièce et un obstacle sont détectées pendant l'exécution de la simulation d'assemblage.
PCT/KR2009/004856 2008-08-28 2009-08-28 Système de simulation d'assemblage virtuel WO2010024631A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020080084765A KR20100025983A (ko) 2008-08-28 2008-08-28 가상조립 시뮬레이션 시스템
KR10-2008-0084765 2008-08-28

Publications (2)

Publication Number Publication Date
WO2010024631A2 true WO2010024631A2 (fr) 2010-03-04
WO2010024631A3 WO2010024631A3 (fr) 2010-07-08

Family

ID=41722151

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2009/004856 WO2010024631A2 (fr) 2008-08-28 2009-08-28 Système de simulation d'assemblage virtuel

Country Status (2)

Country Link
KR (1) KR20100025983A (fr)
WO (1) WO2010024631A2 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104462662A (zh) * 2014-11-14 2015-03-25 中国海洋石油总公司 水下生产设施虚拟装配方法
CN109522613A (zh) * 2018-10-26 2019-03-26 北京理工大学 一种装配方法及装置
CN116127345A (zh) * 2022-12-23 2023-05-16 北京科技大学 基于深度聚类生成对抗网络的转炉炼钢工艺模式设计方法

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101603068B1 (ko) * 2014-11-03 2016-03-14 삼인정보시스템(주) 충돌 검사 결과의 디스플레이 방법
KR102034665B1 (ko) * 2018-08-24 2019-10-21 주식회사 라이브메이커스 가상 현실을 이용한 모형 키트의 조립 및 활용을 위한 방법
KR102103272B1 (ko) * 2018-09-17 2020-04-22 한국과학기술원 혼합현실 기술을 이용하여 자재의 최적조립을 지원하기 위한 장치 및 그 방법
KR102382749B1 (ko) * 2019-09-17 2022-04-06 한국전자기술연구원 조립 구조물 지원 장치와 방법
KR102398584B1 (ko) * 2019-11-12 2022-05-17 한국전자기술연구원 헤드 마운트 디스플레이 및 제어 방법
KR102367965B1 (ko) * 2019-11-22 2022-02-25 주식회사 코이노 인지인자를 이용한 증강현실 기반 원격 가이던스 시스템 및 그 방법

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09311883A (ja) * 1996-05-24 1997-12-02 Fujitsu Ltd 機械装置の設計／製造工程支援装置
JP2001034657A (ja) * 1999-05-20 2001-02-09 Olympus Optical Co Ltd 機構部品設計支援システム
JP2004171353A (ja) * 2002-11-21 2004-06-17 Mazda Motor Corp 組立生産のための生産支援プログラム、生産支援方法及び生産支援システム
JP2004185252A (ja) * 2002-12-03 2004-07-02 Mazda Motor Corp 組立生産のための生産支援プログラム、生産支援方法及び生産支援システム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09311883A (ja) * 1996-05-24 1997-12-02 Fujitsu Ltd 機械装置の設計／製造工程支援装置
JP2001034657A (ja) * 1999-05-20 2001-02-09 Olympus Optical Co Ltd 機構部品設計支援システム
JP2004171353A (ja) * 2002-11-21 2004-06-17 Mazda Motor Corp 組立生産のための生産支援プログラム、生産支援方法及び生産支援システム
JP2004185252A (ja) * 2002-12-03 2004-07-02 Mazda Motor Corp 組立生産のための生産支援プログラム、生産支援方法及び生産支援システム

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104462662A (zh) * 2014-11-14 2015-03-25 中国海洋石油总公司 水下生产设施虚拟装配方法
CN109522613A (zh) * 2018-10-26 2019-03-26 北京理工大学 一种装配方法及装置
CN109522613B (zh) * 2018-10-26 2022-08-12 北京理工大学 一种装配方法及装置
CN116127345A (zh) * 2022-12-23 2023-05-16 北京科技大学 基于深度聚类生成对抗网络的转炉炼钢工艺模式设计方法
CN116127345B (zh) * 2022-12-23 2023-11-14 北京科技大学 基于深度聚类生成对抗网络的转炉炼钢工艺模式设计方法

Also Published As

Publication number Publication date
WO2010024631A3 (fr) 2010-07-08
KR20100025983A (ko) 2010-03-10

Similar Documents

Publication Publication Date Title
WO2010024631A2 (fr) Système de simulation d'assemblage virtuel
WO2020180014A2 (fr) Procédé et système d'entraînement d'agent de conduite autonome sur la base d'un apprentissage de renforcement profond
CN104002296B (zh) 机器人模拟器、机器人示教装置以及机器人示教方法
WO2015167220A1 (fr) Dispositif pour planifier une trajectoire de robot mobile et procédé pour planifier une trajectoire de robot mobile
Zachmann et al. Natural and robust interaction in virtual assembly simulation
Ng et al. Designing cable harness assemblies in virtual environments
WO2010134649A1 (fr) Appareil mobile haptique à vibrations et procédé pour son utilisation
Taïx et al. Human interaction with motion planning algorithm
Xia et al. A review of virtual reality and haptics for product assembly (part 1): rigid parts
Okapuu-von Veh et al. Design and operation of a virtual reality operator-training system
EP3656513A1 (fr) Procédé et système de prédiction d'une trajectoire de mouvement d'un robot se déplaçant entre une paire donnée d'emplacements robotiques
CN111338287A (zh) 机器人运动控制方法、装置、系统、机器人及存储介质
Erdei et al. Cyber physical systems in mechatronic research centre
Park et al. Development of a virtual reality training system for live-line workers
Mower et al. ROS-PyBullet Interface: A framework for reliable contact simulation and human-robot interaction
Memmesheimer et al. homer@ unikoblenz: Winning team of the robocup@ home open platform league 2017
Kulakov et al. Information Technology for Interactive Robot Task Training Through Demonstration of Movement 1
JP7452619B2 (ja) 制御装置、制御方法及びプログラム
Bejczy et al. Toward integrated operator interface for advanced teleoperation under time-delay
US11534909B2 (en) Displaying method of robot simulator
Tsukahara et al. Computer graphics simulator for a power distribution line maintenance robot
Schlegl et al. A hybrid systems approach toward modeling and dynamical simulation of dextrous manipulation
Tzafestas Virtual and mixed reality in telerobotics: A survey
KR100895980B1 (ko) 군중 시뮬레이션을 위한 인터페이스의 처리 방법
WO2020096121A1 (fr) Procédé et système de retour de force à l'aide d'une densité

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09810236

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 09810236

Country of ref document: EP

Kind code of ref document: A2