WO2025055151A1 - 一种各向异项软体切削的仿真方法及装置 - Google Patents

一种各向异项软体切削的仿真方法及装置 Download PDF

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WO2025055151A1
WO2025055151A1 PCT/CN2023/136592 CN2023136592W WO2025055151A1 WO 2025055151 A1 WO2025055151 A1 WO 2025055151A1 CN 2023136592 W CN2023136592 W CN 2023136592W WO 2025055151 A1 WO2025055151 A1 WO 2025055151A1
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elastic energy
simulation
particle
target
physical quantity
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钱银玲
廖祥云
孙寅紫
王琼
王平安
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G06F30/25—Design optimisation, verification or simulation using particle-based methods
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces

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  • the present invention relates to the field of simulation technology, and in particular to a simulation method and device for anisotropic soft body cutting.
  • shear simulation algorithms can be divided into three categories: grid method using grid structure as simulation nodes, meshless method using particle point elements as simulation nodes, and hybrid method.
  • MPM material point method
  • MPM is a representative and highly generalized method.
  • MPM is a particle-mesh hybrid method, in which the soft body is discretized into particle nodes with position, mass, and velocity information, called material points.
  • MPM also has background Euler grids that surround all material points. The background Euler grid can solve physical equations more accurately like the mesh method, and the material points can more easily handle structural change problems including shear fracture like the meshless method.
  • the embodiment of the present invention provides a simulation method and device for anisotropic soft body cutting, so as to at least solve the technical problem that the simulation of the shearing target soft body lacks realism.
  • a simulation method for anisotropic soft body cutting comprising the following steps:
  • a cutting simulation environment for the target software is constructed based on the material point method, wherein the cutting simulation environment includes representing the target software as discretized particles carrying physical quantity information, the physical quantity information including position, velocity and mass; a background Euler grid is constructed in the simulation space where the target software is located, which can transmit physical quantity information to and from the particles;
  • the background Euler grid obtains the physical quantity information
  • the elastic energy of the particles is calculated at the grid nodes of the background Euler grid
  • the particles update their positions based on the physical quantity.
  • the method when the elastic energy exceeds the elastic energy limit of the target software and the target software is sheared and fractured, before the particle updates its position based on the physical quantity, the method further includes:
  • the particles receive elastic energy
  • calculating the elastic energy of the particle on the grid nodes of the background Euler grid includes:
  • Orthotropic anisotropy is used to calculate the elastic energy of the target soft body
  • the elastic density function of elastic energy is divided into isotropic term and anisotropic term.
  • the physical quantity information is transmitted between the background Euler grid and the particles using quadratic B-spline interpolation as an interpolation function;
  • the interpolation function is:
  • N(x) is the interpolation function and x is the interpolation value.
  • the particle updates its position based on the physical quantity as follows:
  • total free energy is generated, which includes elastic energy and loss energy released by the fracture of the target soft body;
  • the total free energy is:
  • the degree of damage to particles during shearing is measured by metric method
  • the region of the particle corresponding to the target soft body is discontinuous, and the target soft body is sheared and fractured.
  • the background Euler mesh region where the particle corresponds to the target software is discontinuous, and the shear fracture of the target software occurs specifically as follows:
  • the marking values are set for the particles and mesh nodes on both sides of the shearing tool; the marking value on one side is positive, and the marking value on the other side is negative;
  • a simulation device for anisotropic soft body cutting comprising:
  • An environment construction module is used to construct a cutting simulation environment for the target software, wherein the cutting simulation environment includes representing the target software as discrete particles carrying physical quantity information, the physical quantity information including position, speed and mass; constructing a background Euler grid in the simulation space where the target software is located, which can transmit physical quantity information to the particles;
  • An information acquisition module is used to obtain physical quantity information based on the background Euler mesh by simulating and cutting the target software
  • Energy calculation module used to calculate the elastic energy of particles on the grid nodes of the background Euler grid based on physical quantities
  • the position update module is used to update the position of particles based on physical quantities when the elastic energy exceeds the elastic energy limit of the target software and the target software is sheared and fractured.
  • the simulation device further comprises:
  • An energy receiving module used for particles to receive elastic energy
  • the judgment module is used to judge whether the elastic energy exceeds the elastic energy of the target software endurance limit.
  • a computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the simulation method of anisotropic soft cutting as described in any one of the above items.
  • a terminal device comprises: a processor, a memory and a communication bus; the memory stores a computer-readable program executable by the processor;
  • the communication bus realizes the connection and communication between the processor and the memory
  • the processor executes the computer-readable program, the processor implements the steps in any one of the above-mentioned simulation methods for anisotropic soft cutting.
  • the simulation method and device for anisotropic software cutting in the embodiment of the present invention adopts a method of combining particles with background Euler meshes to construct a cutting simulation environment for target software. Based on the simulated shearing of the target software, the background Euler mesh obtains physical The particle updates its position based on the physical quantity.
  • the anisotropic elastic energy term is introduced into MPM to realize the shear fracture simulation of anisotropic target soft body, so that the shear simulation of target soft body has higher sense of reality.
  • FIG1 is a flow chart of a simulation method for anisotropic soft cutting according to the present invention.
  • FIG2 is a schematic diagram of the material point method of the present invention.
  • FIG3 is an interpolation diagram between particle grids of the present invention.
  • FIG4 is a schematic diagram of particle health values of the present invention.
  • FIG5 is a schematic diagram of calculation of discontinuity between particles of the present invention.
  • FIG6 is a schematic diagram showing a comparison of simulation results of the present invention and a method based on geometric judgment
  • FIG7 is a schematic diagram of a simulation of stretching a target software in different directions according to the present invention.
  • FIG8 is a schematic diagram of simulation of shear anisotropic soft bodies in different directions according to the present invention.
  • FIG9 is an overall flow chart of the simulation method for anisotropic soft cutting of the present invention.
  • FIG10 is a block diagram of a simulation device for anisotropic soft cutting according to the present invention.
  • FIG. 11 is a diagram of a terminal device according to the present invention.
  • a simulation method for anisotropic soft body cutting is provided, referring to FIG. 1 and FIG. 9 , comprising the following steps:
  • S100 constructing a cutting simulation environment of the target software based on a material point method, wherein the cutting simulation environment includes representing the target software as discretized particles carrying physical quantity information, the physical quantity information including position, velocity and mass; constructing a background Euler grid in a simulation space where the target software is located, in which the particles can mutually transmit physical quantity information;
  • the present application introduces anisotropic elastic energy terms in MPM to realize shear fracture simulation of anisotropic target soft bodies, so that the shear simulation of the target soft bodies has higher realism.
  • the present application adopts the MPM based on the Neo-Hookean elastic constitutive model as the deformation model, into which anisotropic elastic energy terms are introduced to realize the deformation simulation of anisotropic soft bodies.
  • Step S100 is specifically as follows:
  • the material point method uses a combination of particles and background Euler grids to model the target software.
  • the target software is discretized using Lagrangian particles. These particles carry the physical quantity information required for simulation calculations, such as position, velocity, mass, etc. These particles are called material points.
  • the simulation space where the target software is located is divided into several "nodes" to construct a background Euler grid.
  • the particle-to-grid process is called P2G (Particle to Grid).
  • P2G Particle to Grid
  • G2P G2P
  • the transmission of physical quantity information between the background Euler grid and the particles uses quadratic B-spline interpolation as the interpolation function N(x), as shown in FIG3 .
  • the interpolation function N(x) is:
  • N(x) is the interpolation function and x is the interpolation value.
  • step S400 includes:
  • Orthotropic anisotropy is used to calculate the elastic energy of the target soft body
  • the elastic density function of elastic energy is divided into isotropic term and anisotropic term.
  • the elastic deformation of an object is a key component of shear simulation.
  • anisotropy needs to be taken into account.
  • it since it involves physical properties in different directions, it is very difficult to physically construct a complete anisotropic constitutive model. Therefore, in current shear simulation algorithms, it is usually specialized as orthogonal anisotropy for research.
  • Orthotropic anisotropy is widely used in soft bodies, which often have different elasticity in three orthogonal directions.
  • the elastic energy density function is often divided into isotropic terms and anisotropic terms.
  • ⁇ iso (F) is the isotropic term and ⁇ ortho (F) is the anisotropic term.
  • the isotropic part can be calculated by the Neo-Hookean model:
  • b is the left Cauchy-Green tensor
  • ⁇ and ⁇ are the Lame coefficients, which are related to the Young's modulus E and Poisson's ratio v of the target soft material.
  • ⁇ is the directional parameter related to the orthogonal material, which controls the influence of each orthogonal material direction on the deformation energy.
  • step S400 the following steps are also included:
  • the particles receive elastic energy
  • the physical quantity information is first transferred to the background Euler grid, and then the elastic energy of the particle is calculated on the background Euler grid based on the physical quantity information.
  • the soft body is sheared, the work done by the shearing tool is converted into elastic energy.
  • the elastic energy exceeds the limit that the target soft body can withstand, the target soft body will be sheared and fractured.
  • Step S400 is specifically as follows:
  • the work done by the shearing tool will be converted into elastic energy.
  • the elastic energy exceeds the tolerance limit of the target software, the target software will be sheared and fractured.
  • part of the energy will be released due to the generation of the cut surface.
  • the loss energy released during the fracture is related to the size of the fracture surface.
  • the loss energy can be calculated by integrating the fracture surface, and the rest still exists in the form of elastic energy.
  • the shearing process involves the evolution of energy and fracture. In this embodiment, Griffith's energy theory is used to simulate this process.
  • total free energy is generated when the target soft body is sheared.
  • the total free energy includes elastic energy and loss energy released when the target soft body is fractured.
  • the total free energy of the software can be expressed as:
  • the elastic energy can be equivalently replaced by the particle elastic energy obtained in the MPM calculation.
  • the second term on the right side is the energy released by fracture.
  • the integral of the fracture surface ⁇ 0 can be obtained by integrating the volume of the particle.
  • the shear fracture evolution is simplified to the evolution of simulated particle fracture damage.
  • the change in the properties of the particle at the degree of damage is measured by measurement.
  • the phase field value is used to approximate the damage of the soft material, which is called the particle health value hp. Its value ranges from 0 to 1, which represents the phase change of the particle from healthy to damaged. If a particle is in a damaged state, the area of the particle corresponding to the target soft body is discontinuous, and the target soft body undergoes shear fracture. As shown in Figure 4, the damaged particle (red) represents the fracture surface ⁇ 0 of the soft body.
  • the surface integral can be approximated by the phase field, and the calculation of the loss energy can be replaced by:
  • Wr is the energy loss on the fracture surface.
  • the strategy in this embodiment is to evolve h into an estimated hnew, determine the soft body continuity state at the next moment based on the calculated hnew at the current moment, and calculate the health value of the particle by constructing a forward Euler equation, where ⁇ (h) is the inhibition function that inhibits the particle from converting from a damaged state to a healthy state, and t is a pseudo parameter of time evolution.
  • this embodiment adopts the same method as that for updating the particle kinematic information in MPM.
  • the particle transfers its health value at time t to the corresponding background Euler grid.
  • the health value of the particle at time t is:
  • the health value is transmitted back to the particle, and its health value at time t+1 is updated as follows:
  • p represents the particle
  • t represents the current time
  • i represents the grid
  • N is the interpolation function
  • the background Euler mesh region where the particle corresponds to the target software is discontinuous, and the shear fracture of the target software occurs specifically as follows:
  • the marking values are set for the particles and mesh nodes on both sides of the shearing tool; the marking value on one side is positive, and the marking value on the other side is negative;
  • the present application sets marking values for the particles and grid nodes on both sides of the shearing tool (setting the marking value on one side to be positive and the other side to be negative), and combines the particle fracture situation to deal with the discontinuity caused by shearing.
  • the gray area grid nodes and gray particles are on the left side of the tool, and their marking values are positive.
  • the white area grid nodes and white particles are on the right side of the tool, and their marking values are negative. (The grid nodes are marked first, and then the particles are marked during the execution process).
  • particles marked as xp and grid nodes marked as xi if the product of the two marking values is greater than 0, they are on the same side of the tool, otherwise they are on opposite sides. Combined with the particle health value, the particle is damaged and on the opposite side of the grid node, and there is discontinuity between the two. Near the shear tool, the particle will only transfer its mass and momentum to the node that is continuous with it. Similarly, after the grid node is calculated, its updated velocity information is only transferred to the particle that is continuous with it.
  • This application adopts the MPM based on the Neo-Hookean elastic constitutive model as the deformation model, and introduces the anisotropic elastic energy term into it to realize the deformation simulation of anisotropic soft bodies.
  • a particle fracture evolution method is proposed, a health value is constructed on the simulated particles, and the particle health value is evolved through Griffith energy minimization.
  • the particle health value phase change is used to characterize the local continuity change of the simulated software to determine when and where the software should break.
  • this application also proposes a discontinuity calculation method, which determines whether the background Euler grid and the simulated particles are continuous by calculating the mark value of the tool relative to the tool and the particle health value. The physical quantity information is only transmitted between the continuous particles and the grid, thereby achieving a good simulation of the discontinuity caused by cutting.
  • the left pictures show the process of simulating the shearing of the target software by the method of this application
  • the right pictures show the process of simulating the shearing of the target software by the MPM method of geometric judgment.
  • the left side is a stretching simulation perpendicular to the fiber direction
  • the right side is a stretching simulation along the fiber direction.
  • Figure 7 shows the simulation results of stretching the target soft body with different anisotropies under the same unilateral tension.
  • the target soft body has different elasticities in different directions. In reality, stretching muscle tissue along its fiber direction is more difficult to deform.
  • the stretching direction is consistent with the fiber direction of the target soft body
  • the target soft body is also more difficult to deform and the stretching rate is smaller, which is consistent with reality and has a certain sense of reality.
  • the left side is the simulation process of the shearing tool shearing along the muscle texture
  • the right side is the simulation process of the shearing tool shearing perpendicular to the muscle texture.
  • Figure 8 shows the simulation effect of the method of the present application shearing anisotropic target software in different directions.
  • the shearing tool cuts the meat perpendicular to the muscle texture fibers, it is often more difficult than cutting along the texture fibers.
  • the simulation results of the method of the present application when the shearing direction is in the same direction as the fiber direction, the target software is easily cut; otherwise, it is relatively difficult to shear the target software.
  • the simulation results show that the method of the present application can realize the simulation of anisotropic shear fracture and can provide simulation results that are closer to real phenomena.
  • the anisotropic elastic energy term proposed in this application can realize the deformation simulation of anisotropic soft bodies.
  • the proposed fracture evolution is determined by material parameters, which can realize the shear simulation effect of anisotropic soft bodies.
  • the present application is more realistic.
  • the cutting tool is regarded as infinitely sharp. Once it intersects with the model, cutting fracture will occur, which is different from the actual cutting experience; while the present application method can better restore the effect of the tool on the soft body force before the fracture occurs, and has a higher sense of reality.
  • a simulation device for anisotropic soft body cutting is provided, referring to FIG. 9 and FIG. 10 , comprising:
  • the environment construction module 100 is used to construct a cutting simulation environment of the target software, wherein the cutting simulation environment includes representing the target software as discretized particles carrying physical quantity information, the physical quantity information including position, speed and mass; constructing a background Euler grid in the simulation space where the target software is located, which can transmit physical quantity information to the particles;
  • the information acquisition module 200 is used to obtain physical quantity information based on the background Euler grid by simulating and cutting the target software;
  • An energy calculation module 300 is used to calculate the elastic energy of particles on the grid nodes of the background Euler grid based on the physical quantity
  • the position updating module 400 is used for updating the position of the particle based on the physical quantity when the elastic energy exceeds the elastic energy limit of the target software and the target software is sheared and fractured.
  • the present application introduces anisotropic elastic energy terms in MPM to realize shear fracture simulation of anisotropic target soft bodies, so that the shear simulation of the target soft bodies has higher realism.
  • the simulation device for anisotropic soft cutting further includes:
  • An energy receiving module used for particles to receive elastic energy
  • the judgment module is used to judge whether the elastic energy exceeds the elastic energy of the target software endurance limit.
  • the physical quantity information is first transferred to the background Euler grid, and then the elastic energy of the particle is calculated on the background Euler grid based on the physical quantity information.
  • the soft body is sheared, the work done by the shearing tool is converted into elastic energy.
  • the elastic energy exceeds the limit that the target soft body can withstand, the target soft body will be sheared and fractured.
  • the anisotropic elastic energy term proposed in this application can realize the deformation simulation of anisotropic soft bodies.
  • the fracture evolution proposed in this application is determined by material parameters, which can achieve the shear simulation effect of anisotropic soft bodies.
  • this embodiment provides a computer-readable storage medium, which stores one or more programs.
  • the one or more programs can be executed by one or more processors to implement the steps in the simulation method of anisotropic soft body cutting as in the above-mentioned embodiment.
  • a terminal device comprises: a processor, a memory and a communication bus; the memory stores a computer-readable program that can be executed by the processor; the communication bus realizes the connection and communication between the processor and the memory; when the processor executes the computer-readable program, the steps in the simulation method of anisotropic soft cutting are realized.
  • logic instructions in the memory 22 can be implemented in the form of software functional units and used as independent products. When the product is sold or used, it can be stored in a computer-readable storage medium.
  • the memory 22, as a computer-readable storage medium, can be configured to store software programs, computer executable programs, such as program instructions or modules corresponding to the methods in the embodiments of the present disclosure.
  • the processor 20 executes functional applications and data processing by running the software programs, instructions or modules stored in the memory 22, that is, implementing the methods in the above embodiments.
  • the memory 22 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal device, etc.
  • the memory 22 may include a high-speed random access memory and may also include a non-volatile memory.
  • a variety of media that can store program codes such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, may also be a transient storage medium.

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Abstract

本发明涉及一种各向异性软体切削的仿真方法及装置。该方法及装置包括：采用粒子与背景欧拉网格结合的方式构建目标软件的切削仿真环境，基于对目标软件进行模拟剪切，背景欧拉网格获取物理量信息；基于物理量，在背景欧拉网格的网格节点上计算粒子的弹性能量；当弹性能量超过目标软体承受极限的弹性能量目标软体发生剪切断裂时，粒子基于物理量更新自身位置。本申请为了实现对各向异性软体的形变仿真，在MPM中引入各向异性的弹性能量项实现对各向异性目标软体进行剪切断裂模拟，使得对目标软体的剪切模拟具有更高的真实感。

Description

一种各向异项软体切削的仿真方法及装置 技术领域
本发明涉及仿真技术领域，具体而言，涉及一种各向异项软体切削的仿真方法及装置。
背景技术
作为虚拟外科训练系统的核心模块，对软体目标的剪切仿真一直是一项重要的研究课题。目前根据离散化形式的不同，剪切仿真算法可以被分为三类：采用网格结构为模拟节点的网格法、采用粒子点元为模拟节点的无网格法、以及混合法。
近年来，研究人员开始尝试结合网格法与无网格法各自的优点，使用混合法来处理软体剪切问题。其中物质点法(MPM)是一种有代表性且泛化程度高的方法。MPM是一种粒子网格混合的方法，软体被离散为带有位置、质量、速度信息的粒子节点，称作物质点。与纯无网格法不同，MPM中还存在背景欧拉网格，这些网格将所有物质点包围在内，通过背景欧拉网格可以像网格法一样更加精确地求解物理方程，同时通过物质点可以像无网格法一样能更容易处理剪切断裂在内的结构变化问题。
但现有的剪切仿真方法大多数方法都遵循“相交即断裂”模式，即只要切削刃具与物体相交就会发生切削断裂，而真实软体一般具有一定的抗断裂能力，当刀具按压到软组织上之后，通常会先产生压痕，当按压能量积累到一定程度是，才会发生组织断裂。所以现有剪切仿真结果与真实软体剪切现象差距甚大。且在现实中，肌肉、皮肤等生物组织是具有各向异性的软体，其在不同方向上具有不同的弹性与抗断裂能力，而现有方法始终将软体视作均匀的各向同性材质，这就使得模拟的剪切方法缺乏真实感。
因此，现有技术还存在不足，有待改进。
发明内容
本发明实施例提供了一种各向异性软体切削的仿真方法及装置，以至少解决剪切目标软体的模拟缺乏真实感的技术问题。
根据本发明的一实施例，提供了一种各向异性软体切削的仿真方法，包括以下步骤：
基于物质点法构建目标软件的切削仿真环境，其中，切削仿真环境包括将目标软体表示为携带有物理量信息的离散化的粒子，物理量信息包括位置、速度及质量；在目标软体所在的模拟空间构建与粒子可相互传递物理量信息的背景欧拉网格；
基于对目标软件进行模拟剪切，背景欧拉网格获取物理量信息；
基于物理量，在背景欧拉网格的网格节点上计算粒子的弹性能量；
当弹性能量超过目标软体承受极限的弹性能量目标软体发生剪切断裂时，粒子基于物理量更新自身位置。
在一实施方式中，在当弹性能量超过目标软体承受极限的弹性能量目标软体发生剪切断裂时，粒子基于物理量更新自身位置之前还包括：
粒子接收弹性能量；
判断弹性能量是否超过目标软体承受极限的弹性能量。
在一实施方式中，基于物理量，在背景欧拉网格的网格节点上计算粒子的弹性能量包括：
采用正交各向异性计算目标软体的弹性能量；
将弹性能量的弹性密度函数划分为各向同性项与各向异性项。
在一实施方式中，物理量信息在背景欧拉网格与粒子之间采用二次B样条插值作为插值函数的方式传递；
插值函数为：
其中，N(x)为插值函数，x为插值。
在一实施方式中，当弹性能量超过目标软体承受极限的弹性能量目标软体发生剪切断裂时，粒子基于物理量更新自身位置具体为：
在对目标软体进行剪切时产生总自由能，总自由能包括弹性能量及目标软体断裂释放的损耗能量；
总自由能为：
其中，为目标软体的弹性能量，Ω0为粒子域，Ψ为弹性能量密度函数，损耗能量，Γ0为目标软体的断裂面，k为断裂面释放的能量；
通过度量的方式衡量粒子在剪切过程中的损伤程度；
若粒子为损伤状态，则粒子对应目标软体的区域不连续，目标软体发生剪切断裂。
在一实施方式中，若粒子为损伤状态，则粒子对应目标软体所在的背景欧拉网格区域不连续，目标软体发生剪切断裂具体为：
在模拟剪切过程中，对剪切刀具两侧的粒子、网格节点设置标记值；其中，一侧的标记值为正，另一侧的标记值为负；
若两个标记值的积大于零，则两个标记值位于同一侧，否则两个标记值位于异侧；
当粒子发生损伤且与网格节点异侧时，则粒子与网格节点之间不连续。
一种各向异性软体切削的仿真装置，包括：
环境构建模块，用于构建目标软件的切削仿真环境，其中，切削仿真环境包括将目标软体表示为携带有物理量信息的离散化的粒子，物理量信息包括位置、速度及质量；在目标软体所在的模拟空间构建与粒子可相互传递物理量信息的背景欧拉网格；
信息获取模块，用于基于对目标软件进行模拟剪切，背景欧拉网格获取物理量信息；
能量计算模块，用于基于物理量，在背景欧拉网格的网格节点上计算粒子的弹性能量；
位置更新模块，用于当弹性能量超过目标软体承受极限的弹性能量目标软体发生剪切断裂时，粒子基于物理量更新自身位置。
在一实施方式中，仿真装置还包括：
能量接收模块，用于粒子接收弹性能量；
判断模块，用于判断弹性能量是否超过目标软体承受极限的弹性能量。
一种计算机可读介质，计算机可读存储介质存储有一个或者多个程序，一个或者多个程序可被一个或者多个处理器执行，以实现如上述任意一项的各向异性软体切削的仿真方法中的步骤。
一种终端设备，包括：处理器、存储器及通信总线；存储器上存储有可被处理器执行的计算机可读程序；
通信总线实现处理器和存储器之间的连接通信；
处理器执行计算机可读程序时实现如上述任意一项的各向异性软体切削的仿真方法中的步骤。
本发明实施例中的各向异性软体切削的仿真方法及装置，采用粒子与背景欧拉网格结合的方式构建目标软件的切削仿真环境，基于对目标软件进行模拟剪切，背景欧拉网格获取物理 量信息；基于物理量，在背景欧拉网格的网格节点上计算粒子的弹性能量；当弹性能量超过目标软体承受极限的弹性能量目标软体发生剪切断裂时，粒子基于物理量更新自身位置。本申请为了实现对各向异性软体的形变仿真，在MPM中引入各向异性的弹性能量项实现对各向异性目标软体进行剪切断裂模拟，使得对目标软体的剪切模拟具有更高的真实感。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为本发明各向异性软体切削的仿真方法的流程图；
图2为本发明物质点法示意图；
图3为本发明粒子网格之间插值图；
图4为本发明粒子健康值示意图；
图5为本发明粒子间的不连续性计算示意图；
图6为本发明与基于几何判断方法的仿真结果对比示意图；
图7为本发明不同方向拉伸目标软体的模拟示意图；
图8为本发明不同方向上剪切各向异性软体的模拟示意图；
图9为本发明各向异性软体切削的仿真方法整体流程图；
图10为本发明各向异性软体切削的仿真装置的模块图；
图11为本发明终端设备图。
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的 其它步骤或单元。
实施例1
根据本发明一实施例，提供了一种各向异性软体切削的仿真方法，参见图1及图9，包括以下步骤：
S100：基于物质点法构建目标软件的切削仿真环境，其中，切削仿真环境包括将目标软体表示为携带有物理量信息的离散化的粒子，物理量信息包括位置、速度及质量；在目标软体所在的模拟空间构建与粒子可相互传递物理量信息的背景欧拉网格；
S200：基于对目标软件进行模拟剪切，背景欧拉网格获取物理量信息；
S300：基于物理量，在背景欧拉网格的网格节点上计算粒子的弹性能量；
S400：当弹性能量超过目标软体承受极限的弹性能量目标软体发生剪切断裂时，粒子基于物理量更新自身位置。
本申请为了实现对各向异性软体的形变仿真，在MPM中引入各向异性的弹性能量项实现对各向异性目标软体进行剪切断裂模拟，使得对目标软体的剪切模拟具有更高的真实感。
具体地，本申请采用基于Neo-Hookean弹性本构模型的MPM作为形变模型，在其中引入各向异性弹性能量项，实现对各向异性软体的形变仿真。
步骤S100具体为：
参考图2及图9，物质点法采用粒子与背景欧拉网格结合的方式来对目标软体进行建模。首先将目标软体用拉格朗日粒子来离散化表示，这些粒子携带着仿真计算所需要的物理量信息，如位置、速度、质量等，这些粒子称作物质点。同时将目标软体所在的模拟空间分割为若干“节点”，构建一套背景欧拉网格。
当需要对物质点状态进行更新时，首先将其信息传递到一定范围内的背景欧拉网格中，粒子到网格过程被称作P2G(Particle to Grid)。背景欧拉网格汇聚物理量信息后，在其网格节点上求解运动方程。网格节点计算完毕后再将物理量信息回传至影响范围内的物质点，背景欧拉网格到粒子信息过程被称作G2P(Grid to Particle)。物质点得到物理量信息后根据速度更新自身位置。
实施例中，物理量信息在背景欧拉网格与粒子之间的传递采用二次B样条插值来作为插值函数N(x)，如图3所示。插值函数N(x)为：
其中，N(x)为插值函数，x为插值。
参考图1、图3及图9步骤S400包括：
采用正交各向异性计算目标软体的弹性能量；
将弹性能量的弹性密度函数划分为各向同性项与各向异性项。
具体地，物体的弹性形变是剪切仿真的一个关键组成部分。为了真实地模拟各向异性软体，需要将各向异性纳入考虑，但由于涉及不同方向的物理属性，在物理上构建完全的各向异性本构模型十分困难，因此在目前的剪切仿真算法中，通常将其特殊化为正交各向异性开展研究。
正交各向异性广泛应用于软体之中，往往会在三个正交的方向上具有不同的弹性。对于正交各向异性材料，其弹性能量密度函数往往被划分为各向同性项与各向异性项。弹性能量密度函数如下：
Ψ(F)＝Ψiso(F)+Ψortho(F)
其中，Ψiso(F)为各向同性项，Ψortho(F)为各向异性项。
各向同性项部分可由Neo-Hookean模型计算得出：
其中b为左柯西-格林张量，μ，及λ为拉梅系数，与目标软体材料的杨氏模量E和泊松比v相关。
各向异性项部分则由三个彼此独立存在的能量项构成，其可被看作是目标软体在该方向上由于各向异性所产生的额外能量：

diri＝||Fai||2
其中，α为与正交材料相关的方向参数，控制各正交材料方向对形变能量的影响，通过对方向参数进行调整，可以实现定义不同性质的材料。
步骤S400之前还包括：
粒子接收弹性能量；
判断弹性能量是否超过目标软体承受极限的弹性能量。
具体地，当需要对物质点状态进行更新时，首先将物理量信息传递到背景欧拉网格，然后根据物理量信息在背景欧拉网格上计算粒子的弹性能量。当对软体进行剪切时，剪切工具所做的功会转化为弹性能量，当弹性能量超过目标软体承受的极限后，则目标软体发生剪切断裂。
步骤S400具体为：
在对目标软体进行剪切时，剪切工具所做的功会转化为弹性能量。当弹性能量超过目标软体承受极限后，目标软体则发生剪切断裂。在剪切过程中，有部分能量将由于切面的产生被释放。断裂中释放的损耗能量与断裂面的大小有关，可通过采用对断裂面的积分来计算损耗能量，其余部分仍以弹性能的形式存在。剪切过程涉及到能量和断裂的演化，本实施例中采用格里菲斯的能量理论来模拟这个过程。
参考图4，在对目标软体进行剪切时产生总自由能，总自由能包括弹性能量及目标软体断裂释放的损耗能量。
软体的总自由能可以表示为：
其中，为目标软体弹性能量，Ω0为粒子域，Ψ为弹性能量密度函数，损耗能量，Γ0为目标软体的断裂面，k为断裂面释放的能量：
上式中，弹性能量可以由MPM计算中求得的粒子弹性能量进行等价替换。而右侧第二项为断裂释放的能量。在MPM的离散结构中，对断裂面Γ0的积分可以由对粒子的体积分所 替代。在本实施例中剪切断裂演化被简化为对模拟粒子断裂损伤的演化。
本实施例中通过度量的方式来衡量粒子在损伤程度的性质变化。通过相场值用来近似软体材料的损伤情况，称为粒子健康值hp，其值从0到1到表示了粒子从健康到损伤的相变。若某粒子为损伤状态，则粒子对应目标软体的区域不连续，目标软体发生剪切断裂。如图4所示，损伤的粒子(红色)表示了软体的断裂面Γ0，可以通过相场来近似曲面积分，对于损耗能量的计算可被替换为：


其中，Wr为断裂面损耗能量。
本实施例中的策略是将h演化为预估的hnew，在当前时刻根据计算得出的hnew来确定下一时刻中的软体连续性状态，通过构造一个前向欧拉方程来计算粒子的健康值，其中，δ(h)为抑制粒子从损伤状态转换为健康状态的抑制函数，t为时间演化的伪参数。
由于MPM中模拟粒子的数量是比较庞大的，直接在粒子上进行粒子健康值的演化会带来巨大的计算代价。因此本实施例中采用与MPM中对于粒子运动学信息更新同样的方式。
首先粒子将其t时刻的健康值传递到对应的背景欧拉网格中，粒子t时刻的健康值为：
由背景欧拉网格计算求解前向欧拉方程后，再将健康值回传至粒子中,更新其t+1时刻健康值为：
其中，p表示粒子，t表示当前时刻，i表示网格，N为插值函数。
在一实施方式中，若粒子为损伤状态，则粒子对应目标软体所在的背景欧拉网格区域不连续，目标软体发生剪切断裂具体为：
在模拟剪切过程中，对剪切刀具两侧的粒子、网格节点设置标记值；其中，一侧的标记值为正，另一侧的标记值为负；
若两个标记值的积大于零，则两个标记值位于同一侧，否则两个标记值位于异侧；
当粒子发生损伤且与网格节点异侧时，则粒子与网格节点之间不连续。
具体地，根据MPM的必要计算过程，剪切刀具两侧的粒子相对运动将在两次插值期间被平滑掉。因为无法模拟粒子的急剧分离现象，传统的MPM实际上无法模拟切割这一物理现象的。
为解决这一问题，本申请通过为剪切刀具两侧的粒子、网格节点设置标记值(设置规定一侧标记值为正、另一侧为负)，结合粒子断裂情况来对剪切带来的不可连续性进行处理。参考图5，例如，灰色区域网格节点、灰色粒子在刀具左侧，其标记值为正。白色区域网格节点、白色粒子在刀具右侧，其标记值相负。(执行过程中先给网格节点标记、再给粒子标记)。
对于粒子标记为xp，网格节标记为xi，若两者标记值之积大于0，则两者位于刀具的同一侧，反之则为异侧。结合粒子健康值，粒子发生损伤且与网格节点异侧，二者之间不连续。在剪切刀具附近粒子只会将其质量、动量传递给与其相连续的节点。同样网格节点在进行计算后，其更新的速度信息仅传递给与其相连续的粒子。
本申请采用基于Neo-Hookean弹性本构模型的MPM作为形变模型，在其中引入各向异性弹性能量项，实现对各向异性软体的形变仿真。提出了粒子断裂演化方法，在模拟粒子上构建健康值，通过格里菲斯能量最小化对粒子健康值进行演化。借助粒子健康值相变来表征模拟软体局部的连续性变化，确定软体何时何处应当发生断裂。另外，本申请还提出了不连续性计算方法，通过计算背景欧拉网格与模拟粒子相对刀具的标记值以及粒子健康值来判断二者是否连续，物理量信息仅在相连续的粒子与网格之间传递，从而实现了对切割带来的不连续性的良好模拟。
参考图6，左侧几张图为本申请方法模拟剪切目标软体的过程，右侧几张图为几何判断的MPM方法模拟剪切目标软体过程。通过对比可以发现，二者差异性主要体现在刀具刚接触模型时，几何判断的MPM方法中，模型在与减去刀具接触后立刻产生断裂现象。而对于本申请方法，模型与剪切刀具接触后，先在剪切刀具按压作用下产生形变。随着其不断地深入，模 型才发生断裂。几何判断的MPM方法对这一过程的模拟结果与现实场景不符合，相较于与本申请方法模拟结果的真实感更低。
参考图7，左侧为与纤维方向垂直的拉伸模拟，右侧为顺着纤维方向的拉伸模拟。图7展示了相同大小的单侧拉力具有不同各向异性的拉伸目标软体时的模拟结果。目标软体在不同方向上具有不同的弹性。现实中拉伸肌肉组织，沿着其纤维方向拉伸，更难产生形变。本申请方法模拟结果中，当拉伸方向与目标软体的纤维方向一致时，目标软体也更难产生形变，拉伸率更小，这与现实一致，有一定的真实感。
参考图8，左侧为剪切刀具顺着肌肉纹理剪切的模拟过程，右侧为剪切刀具垂直肌肉纹理的剪切模拟过程。图8中展示了本申请方法在不同方向上剪切各向异性目标软体的模拟效果。在实际使用中，当剪切刀具垂直于肌肉纹理纤维切割肉块时，往往比顺着纹理纤维切割更困难。在本申请方法的模拟结果中，当剪切方向与纤维方向同向时，目标软体则很轻易的被切开；反之剪切目标软体则相对困难。模拟结果表明，本申请方法能实现对各向异性剪切断裂的模拟，能提供与现实现象较为接近的模拟结果。
本申请方案提出的各向异性弹性能量项，可以实现对各向异性软体的形变模拟。提出的断裂演化由材料参数决定，可以实现对各向异性软体的剪切模拟效果。本申请方案与基于几何判断的MPM相比更为真实，基于几何判断的MPM方法中切割刀具被视作无限锋利，一旦其与模型相交就会发生切割断裂，这与实际的切割经验不同；而本申请方法能更好地还原刀具在断裂发生前对于软体力的作用，具有更高的真实感。
实施例2
根据本发明的另一实施例，提供了一种各向异性软体切削的仿真装置，参见图9及图10，包括：
环境构建模块100，用于构建目标软件的切削仿真环境，其中，切削仿真环境包括将目标软体表示为携带有物理量信息的离散化的粒子，物理量信息包括位置、速度及质量；在目标软体所在的模拟空间构建与粒子可相互传递物理量信息的背景欧拉网格；
信息获取模块200，用于基于对目标软件进行模拟剪切，背景欧拉网格获取物理量信息；
能量计算模块300，用于基于物理量，在背景欧拉网格的网格节点上计算粒子的弹性能量；
位置更新模块400，用于当弹性能量超过目标软体承受极限的弹性能量目标软体发生剪切断裂时，粒子基于物理量更新自身位置。
本申请为了实现对各向异性软体的形变仿真，在MPM中引入各向异性的弹性能量项实现对各向异性目标软体进行剪切断裂模拟，使得对目标软体的剪切模拟具有更高的真实感。
实施例中，各向异性软体切削的仿真装置还包括：
能量接收模块，用于粒子接收弹性能量；
判断模块，用于判断弹性能量是否超过目标软体承受极限的弹性能量。
具体地，当需要对物质点状态进行更新时，首先将物理量信息传递到背景欧拉网格，然后根据物理量信息在背景欧拉网格上计算粒子的弹性能量。当对软体进行剪切时，剪切工具所做的功会转化为弹性能量，当弹性能量超过目标软体承受的极限后，则目标软体发生剪切断裂。
本发明技术方案的主要技术优势及创新点为：
1、本申请提出的各向异性弹性能量项，可以实现对各向异性软体的形变模拟。
2、本申请提出的断裂演化由材料参数决定，可以实现对各向异性软体的剪切模拟效果。
3、本申请与基于几何判断的MPM相比，更为真实。基于几何判断的MPM方法中切割刀片被视作无限锋利，一旦其与模型相交就会发生切割断裂，这与实际的切割经验不同。而本申请方法能更好地还原刀具在断裂发生前对于软体力的作用，具有更高的真实感。
实施例3
基于上述各向异性软体切削的仿真方法，本实施例提供了一种计算机可读存储介质，计算机可读存储介质存储有一个或者多个程序，一个或者多个程序可被一个或者多个处理器执行，以实现如上述实施例的各向异性软体切削的仿真方法中的步骤。
实施例4
一种终端设备，包括：处理器、存储器及通信总线；存储器上存储有可被处理器执行的计算机可读程序；通信总线实现处理器和存储器之间的连接通信；处理器执行计算机可读程序时实现上述的各向异性软体切削的仿真方法中的步骤。
基于上述各向异性软体切削的仿真方法，本申请提供了一种终端设备，如图11所示，其包括至少一个处理器(processor)20；显示屏21；以及存储器(memory)22，还可以包括通信接口(Communications Interface)23和总线24。其中，处理器20、显示屏21、存储器22和通信接口23可以通过总线24完成相互间的通信。显示屏21设置为显示初始设置模式中预设的用户引导界面。通信接口23可以传输信息。处理器20可以调用存储器22中的逻辑指令，以执行上述实施例中的方法。
此外，上述的存储器22中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产 品销售或使用时，可以存储在一个计算机可读取存储介质中。
存储器22作为一种计算机可读存储介质，可设置为存储软件程序、计算机可执行程序，如本公开实施例中的方法对应的程序指令或模块。处理器20通过运行存储在存储器22中的软件程序、指令或模块，从而执行功能应用以及数据处理，即实现上述实施例中的方法。
存储器22可包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据终端设备的使用所创建的数据等。此外，存储器22可以包括高速随机存取存储器，还可以包括非易失性存储器。例如，U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等多种可以存储程序代码的介质，也可以是暂态存储介质。
此外，上述存储介质以及终端设备中的多条指令处理器加载并执行的具体过程在上述方法中已经详细说明，在这里就不再一一陈述。
以上仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (10)

  1. 一种各向异性软体切削的仿真方法，其特征在于，包括以下步骤：
    基于物质点法构建目标软件的切削仿真环境，其中，所述切削仿真环境包括将目标软体表示为携带有物理量信息的离散化的粒子，所述物理量信息包括位置、速度及质量；在所述目标软体所在的模拟空间构建与所述粒子可相互传递物理量信息的背景欧拉网格；
    基于对所述目标软件进行模拟剪切，所述背景欧拉网格获取所述物理量信息；
    基于所述物理量，在所述背景欧拉网格的网格节点上计算所述粒子的弹性能量；
    当所述弹性能量超过所述目标软体承受极限的弹性能量所述目标软体发生剪切断裂时，所述粒子基于所述物理量更新自身位置。
  2. 根据权利要求1所述的各向异性软体切削的仿真方法，其特征在于，在所述当所述弹性能量超过所述目标软体承受极限的弹性能量所述目标软体发生剪切断裂时，所述粒子基于所述物理量更新自身位置之前还包括：
    所述粒子接收所述弹性能量；
    判断所述弹性能量是否超过所述目标软体承受极限的弹性能量。
  3. 根据权利要求2所述的各向异性软体切削的仿真方法，其特征在于，基于所述物理量，在所述背景欧拉网格的网格节点上计算所述粒子的弹性能量包括：
    采用正交各向异性计算所述目标软体的弹性能量；
    将所述弹性能量的弹性密度函数划分为各向同性项与各向异性项。
  4. 根据权利要求3所述的各向异性软体切削的仿真方法，其特征在于，所述物理量信息在所述背景欧拉网格与所述粒子之间采用二次B样条插值作为插值函数的方式传递；
    所述插值函数为：
    其中，N(x)为插值函数，x为插值。
  5. 根据权利要求3所述的各向异性软体切削的仿真方法，其特征在于，所述当所述弹性能量超过所述目标软体承受极限的弹性能量所述目标软体发生剪切断裂时，所述粒子基于所述物理量更新自身位置具体为：
    在对所述目标软体进行剪切时产生总自由能，所述总自由能包括所述弹性能量及所述目标软体断裂释放的损耗能量；
    所述总自由能为：
    其中，为所述目标软体的弹性能量，Ω0为粒子域，Ψ为弹性能量密度函数，所述损耗能量，Γ0为所述目标软体的断裂面，k为断裂面释放的能量；
    通过度量的方式衡量所述粒子在剪切过程中的损伤程度；
    若所述粒子为损伤状态，则所述粒子对应所述目标软体的区域不连续，所述目标软体发生剪切断裂。
  6. 根据权利要求5所述的各向异性软体切削的仿真方法，其特征在于，若所述粒子为损伤状态，则所述粒子对应所述目标软体所在的所述背景欧拉网格区域不连续，所述目标软体发生剪切断裂具体为：
    在模拟剪切过程中，对剪切刀具两侧的所述粒子、所述网格节点设置标记值；其中，一侧的所述标记值为正，另一侧的所述标记值为负；
    若两个所述标记值的积大于零，则两个所述标记值位于同一侧，否则两个所述标记值位于异侧；
    当所述粒子发生损伤且与所述网格节点异侧时，则所述粒子与所述网格节点之间不连续。
  7. 一种各向异性软体切削的仿真装置，其特征在于，包括：
    环境构建模块，用于构建目标软件的切削仿真环境，其中，所述切削仿真环境包括将目标软体表示为携带有物理量信息的离散化的粒子，所述物理量信息包括位置、速度及质量；在所述目标软体所在的模拟空间构建与所述粒子可相互传递物理量信息的背景欧拉网格；
    信息获取模块，用于基于对所述目标软件进行模拟剪切，所述背景欧拉网格获取所述物理量信息；
    能量计算模块，用于基于所述物理量，在所述背景欧拉网格的网格节点上计算所述粒子的弹性能量；
    位置更新模块，用于当所述弹性能量超过所述目标软体承受极限的弹性能量所述目标软体发生剪切断裂时，所述粒子基于所述物理量更新自身位置。
  8. 根据权利要求7所述的各向异性软体切削的仿真装置，其特征在于，所述仿真装置还包括：
    能量接收模块，用于所述粒子接收所述弹性能量；
    判断模块，用于判断所述弹性能量是否超过所述目标软体承受极限的弹性能量。
  9. 一种计算机可读介质，其特征在于，所述计算机可读存储介质存储有一个或者多个程序，所述一个或者多个程序可被一个或者多个处理器执行，以实现如权利要求1-6任意一项所述的各向异性软体切削的仿真方法中的步骤。
  10. 一种终端设备，其特征在于，包括：处理器、存储器及通信总线；所述存储器上存储有可被所述处理器执行的计算机可读程序；
    所述通信总线实现处理器和存储器之间的连接通信；
    所述处理器执行所述计算机可读程序时实现如权利要求1-6任意一项所述的各向异性软体切削的仿真方法中的步骤。
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