Assembly sequence planning method and device for assembly based on CAD file

Abstract

The application relates to the technical field of part assembly sequence planning, in particular to an assembly body assembly sequence planning method and device based on a CAD file, wherein the method comprises the following steps: generating an occupancy grid of a functional part based on a point cloud file of the functional part in a target assembly body and a CAD model of the target assembly body; detecting interference information and contact information of the functional part based on the occupancy grid, and generating an initial part interference matrix and an initial part contact matrix; identifying interlocking relationships and static interference among the functional parts; correcting the initial part interference matrix and the initial part contact matrix; determining an assembly sequence of the functional parts and connecting parts based on a final part interference matrix and a final part contact matrix; and planning an assembly body assembly sequence of the target assembly body. Therefore, the problems in the prior art that assembly constraints cannot be automatically identified based on CAD files, assembly efficiency is low, assembly cost is high, and the requirements of modern industry for rapid response and high precision cannot be met are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of part assembly sequence planning, and particularly relates to an assembly body assembly sequence planning method and device based on a CAD file. BACKGROUND

[0002] The types and quantities of parts of modern complex products are numerous, and assembly sequence planning has high complexity. Traditional assembly processes often rely on manual experience to identify assembly constraints, and a large amount of time is required to find a feasible and optimal assembly sequence. This process is not only time-consuming and low in production efficiency, but also prone to improper assembly due to human error, thereby affecting the safety and reliability of the product. In addition, with the increasing complexity of complex product design and the acceleration of its update iteration speed, the traditional method has been difficult to meet the new assembly requirements.

[0003] In related technologies, part support information, part contact information and part interference information can be extracted from a three-dimensional assembly model according to assembly sequence planning requirements, and expressed as a part support matrix, a part contact matrix and a part interference matrix, respectively. Then, in combination with fastener assembly priority rules and assembly process knowledge, an assembly sequence planning is generated. Alternatively, the constraint relationships between parts of an assembly in a three-dimensional CAD (Computer Aided Design) assembly drawing can be extracted to obtain a contact-connection matrix and an extended interference matrix, and a hierarchical assembly sequence planning is generated, and then a hierarchical exploded view is automatically generated.

[0004] However, in related technologies, assembly constraints cannot be automatically identified based on CAD files, and a feasible assembly sequence cannot be accurately generated, which is low in assembly efficiency and high in assembly cost, and cannot meet the requirements of modern industry for rapid response and high precision, and needs to be improved. SUMMARY

[0005] The present application provides an assembly body assembly sequence planning method and device based on a CAD file, to solve the problems in related technologies that assembly constraints cannot be automatically identified based on CAD files, a feasible assembly sequence cannot be accurately generated, the assembly efficiency is low, the assembly cost is high, and the requirements of modern industry for rapid response and high precision cannot be met.

[0006] The first aspect embodiment of the application provides a CAD file-based assembly sequence planning method of an assembly, comprising the following steps: determining three-dimensional space information and grid resolution information of functional part of a target assembly based on point cloud files of the functional part and a CAD model of the target assembly, to generate an occupancy grid of the functional part based on the three-dimensional space information and the grid resolution information; detecting interference information and contact information of the functional part in at least one target positive direction based on the occupancy grid, and generating an initial part interference matrix and an initial part contact matrix between the functional parts based on the interference information and the contact information; identifying interlocking relationship and static interference between the functional parts, to obtain interlocking relationship identification results and static interference identification results between the functional parts according to the interlocking relationship and the static interference; correcting the initial part interference matrix and the initial part contact matrix by using the interlocking relationship identification results and the static interference identification results, to obtain a final part interference matrix and a final part contact matrix between the functional parts; determining a functional part assembly sequence of the functional part based on the final part interference matrix and the final part contact matrix, and supplementing to obtain a connecting part assembly sequence of connecting parts in the target assembly based on the functional part state sequence; and planning an assembly assembly sequence of the target assembly based on the functional part assembly sequence and the connecting part assembly sequence.

[0007] Optionally, in one embodiment of the application, before the step of determining three-dimensional space information and grid resolution information of functional part of a target assembly based on point cloud files of the functional part and a CAD model of the target assembly, the method further comprises: obtaining a CAD file of the target assembly; obtaining a CAD model of the target assembly based on the CAD file, and obtaining point cloud files of each part in the target assembly by using the CAD file; and identifying connecting parts and functional parts in the target assembly based on the point cloud files.

[0008] Optionally, in one embodiment of the application, the step of identifying interlocking relationship and static interference between the functional parts, to obtain interlocking relationship identification results and static interference identification results between the functional parts according to the interlocking relationship and the static interference, comprises: determining a target assembly position of the functional part according to the CAD model; detecting interference depth of the target assembly part in the target assembly position; and identifying the interlocking relationship and the static interference based on the interference depth, to obtain the interlocking relationship identification results and the static interference identification results.

[0009] Optionally, in one embodiment of the application, the expression of the occupancy grid can be, but is not limited to:

[0010]

[0011] wherein OG represents the occupancy grid three-dimensional array of the assembly, m represents the size of the grid, i.e. the length of the array, OGYZ i represents the grid of the i-th cross section of the assembly in the X-axis direction.

[0012] Optionally, in an embodiment of the present application, wherein,

[0013] The expression of the initial part interference matrix can be, but is not limited to, as follows:

[0014]

[0015] wherein PIM k represents the part interference matrix in the direction k, n represents the number of functional part of the assembly, a ij represents the contact relationship between part P i and part P j i,j∈[1,n];

[0016] The expression of the initial part contact matrix can be, but is not limited to, as follows:

[0017]

[0018] wherein PIM represents the part interference matrix, n represents the number of functional part of the assembly, b ij represents the contact relationship between part P i and part P j b ij ∈{0,1,2},i,j∈[1,n].

[0019] Optionally, in an embodiment of the present application, the determining the functional assembly sequence of the functional part based on the final part interference matrix and the final part contact matrix comprises: obtaining at least one of assembly direction transformation frequency information, part assembly stability information, and part assembly continuity information of the target assembly; determining the functional assembly sequence based on the final part interference matrix, the final part contact matrix, and at least one of the assembly direction transformation frequency information, the part assembly stability information, and the part assembly continuity information.

[0020] The second aspect embodiment of the application provides a CAD file-based assembly body assembly sequence planning device, comprising: a first generation module configured to determine three-dimensional space information and grid resolution information of functional part based on point cloud files of the functional part in a target assembly body and a CAD model of the target assembly body, and generate an occupancy grid of the functional part based on the three-dimensional space information and the grid resolution information; a second generation module configured to detect interference information and contact information of the functional part in at least one target positive direction based on the occupancy grid, and generate an initial part interference matrix and an initial part contact matrix between the functional parts based on the interference information and the contact information; a first identification module configured to identify interlocking relationships and static interference between the functional parts, and obtain interlocking relationship identification results and static interference identification results between the functional parts according to the interlocking relationships and the static interference; a correction module configured to correct the initial part interference matrix and the initial part contact matrix by using the interlocking relationship identification results and the static interference identification results, so as to obtain a final part interference matrix and a final part contact matrix between the functional parts; a determination module configured to determine a functional part assembly sequence of the functional parts based on the final part interference matrix and the final part contact matrix, and obtain a connecting part assembly sequence of connecting parts in the target assembly body based on the functional part assembly sequence; and a planning module configured to plan an assembly body assembly sequence of the target assembly body based on the functional part assembly sequence and the connecting part assembly sequence.

[0021] Optionally, in an embodiment of the application, the device further comprises: a first acquisition module configured to acquire a CAD file of the target assembly body before acquiring the point cloud files of the functional parts in the target assembly body and the CAD model of the target assembly body; a second acquisition module configured to obtain the CAD model of the target assembly body based on the CAD file, and acquire the point cloud files of each part in the target assembly body by using the CAD file; and a second identification module configured to identify connecting parts and functional parts in the target assembly body based on the point cloud files.

[0022] Optionally, in an embodiment of the application, the first identification module comprises: a first determination unit configured to determine a target assembly position of the functional part according to the CAD model; a detection unit configured to detect an interference depth of the target assembly part at the target assembly position; and a generation unit configured to identify the interlocking relationships and the static interference based on the interference depth, so as to obtain the interlocking relationship identification results and the static interference identification results.

[0023] Optionally, in an embodiment of the application, the expression of the occupancy grid can be, but is not limited to, as follows:

[0024]

[0025] wherein OG represents the occupancy grid three-dimensional array of the assembly, m represents the size of the grid, i.e. the length of the array, OGYZ i represents the grid of the i-th cross section of the assembly in the X-axis direction.

[0026] Optionally, in an embodiment of the present application, wherein,

[0027] The expression of the initial part interference matrix can be, but is not limited to:

[0028]

[0029] wherein PIM k represents the part interference matrix in the direction k, n represents the number of functional part of the assembly, a ij represents the contact relationship between the part P i and the part P j i,j∈[1,n];

[0030] The expression of the initial part contact matrix can be, but is not limited to:

[0031]

[0032] wherein PIM represents the part interference matrix, n represents the number of functional part of the assembly, b ij represents the contact relationship between the part P i and the part P j b ij ∈{0,1,2},i,j∈[1,n].

[0033] Optionally, in an embodiment of the present application, the determining module comprises: an obtaining unit, configured to obtain at least one of the assembly direction transformation number information, the part assembly stability information and the part assembly continuity information of the target assembly; and a second determining unit, configured to determine the functional assembly sequence based on the final part interference matrix, the final part contact matrix and at least one of the assembly direction transformation number information, the part assembly stability information and the part assembly continuity information.

[0034] The third aspect embodiment of the present application provides an electronic device, comprising: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the assembly sequence planning method based on the CAD file as described in the above embodiments.

[0035] The fourth aspect of the present application provides a computer readable storage medium storing a computer program, which, when executed by a processor, implements the CAD file based assembly sequence planning method for an assembly as above.

[0036] The fifth aspect of the present application provides a computer program product comprising a computer program, which, when executed, implements the CAD file based assembly sequence planning method for an assembly as above.

[0037] The embodiments of the present application can determine the three-dimensional spatial information and the grid resolution information of the functional part based on the point cloud file of the functional part in the target assembly and the CAD model of the target assembly, and further generate the occupancy grid of the functional part, and then detect the interference information and the contact information of the functional part in at least one target positive direction based on the occupancy grid, and identify the interlocking relationship and the static interference between the functional parts, to obtain the final part interference matrix and the final part contact matrix between the functional parts, and then determine the functional assembly sequence of the functional parts, and further obtain the connector assembly sequence of the connector parts in the target assembly, so as to plan the assembly assembly sequence of the target assembly, to obtain the related constraints directly from the CAD file of the target assembly, the constraint form is simple, the processing is efficient, the static interference caused by design errors can be identified, the optimization design information is provided, the assembly accuracy and the feasibility are improved, the assembly sequence of the target assembly is automatically generated, the assembly efficiency is improved, the effective basis for assembly planning of complex assemblies is provided, and the digital processing flow of automatic manufacturing and high-precision assembly of complex products is suitable. Therefore, the problems in the related art that the assembly constraints cannot be automatically identified based on the CAD file, the feasible assembly sequence cannot be accurately generated, the assembly efficiency is low, the assembly cost is high, and the modern industry requirements for rapid response and high precision cannot be met are solved.

[0038] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the accompanying drawings, wherein:

[0040] Figure 1 A flowchart of a CAD file based assembly sequence planning method for an assembly according to an embodiment of the present application is provided.

[0041] Figure 2 A block diagram of a three-dimensional occupancy grid of an assembly according to an embodiment of the present application is provided.

[0042] Figure 3A block diagram of an explosion view of a target assembly structure containing 5 parts and part numbers according to an embodiment of the present application;

[0043] Figure 4 A flow chart of working principle of an assembly sequence planning method of an assembly based on a CAD file according to an embodiment of the present application;

[0044] Figure 5 A block diagram of an assembly sequence planning device of an assembly based on a CAD file according to an embodiment of the present application;

[0045] Figure 6 A structural diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] Embodiments of the present application are described in detail below with reference to the attached drawings.

[0047] A CAD file-based assembly sequence planning method and device of an assembly body according to an embodiment of the present application are described below with reference to the accompanying drawings. In view of the problems mentioned in the background art that the assembly constraints cannot be automatically identified based on the CAD file, the feasible assembly sequence cannot be accurately generated, the assembly efficiency is relatively low, the assembly cost is relatively high, and the requirements of modern industry for rapid response and high precision cannot be met, the present application provides a CAD file-based assembly sequence planning method of an assembly body. In this method, the three-dimensional spatial information and the grid resolution information of the functional part can be determined based on the point cloud file of the functional part in the target assembly body and the CAD model of the target assembly body, and the occupancy grid of the functional part can be generated based on the three-dimensional spatial information and the grid resolution information. Then, the interference information and the contact information of the functional part in at least one target positive direction are detected based on the occupancy grid, and the interlocking relationship and the static interference between the functional parts are identified to obtain the final part interference matrix and the final part contact matrix between the functional parts. Then, the functional part assembly sequence of the functional part is determined, the connector part assembly sequence in the target assembly body is supplemented, and the assembly body assembly sequence of the target assembly body is planned. By directly obtaining the relevant constraints from the CAD file of the target assembly body, the constraint form is simple, the processing is efficient, the static interference caused by design errors can be identified, the optimization design information is provided, the assembly precision and feasibility are improved, the assembly body assembly sequence of the target assembly body is automatically generated, the assembly efficiency is improved, effective basis is provided for the assembly planning of complex assemblies, and the digital processing flow of automatic manufacturing and high-precision assembly of complex products is suitable. Thus, the problems in the related art that the assembly constraints cannot be automatically identified based on the CAD file, the feasible assembly sequence cannot be accurately generated, the assembly efficiency is relatively low, the assembly cost is relatively high, and the requirements of modern industry for rapid response and high precision cannot be met are solved.

[0048] Specifically, Figure 1 A flowchart of a CAD file-based assembly sequence planning method of an assembly body according to an embodiment of the present application is provided.

[0049] As Figure 1 shown, the CAD file-based assembly sequence planning method of an assembly body includes the following steps:

[0050] In step S101, based on the point cloud file of the functional part in the target assembly body and the CAD model of the target assembly body, the three-dimensional spatial information and the grid resolution information of the functional part are determined, and the occupancy grid of the functional part is generated based on the three-dimensional spatial information and the grid resolution information. The expression of the occupancy grid can be but is not limited to:

[0051]

[0052] wherein OG represents the occupancy grid three-dimensional array of the assembly body, m represents the size of the grid, i.e., the length of the array, OGYZ iThis represents the grid of the i-th cross-section of the assembly along the X-axis.

[0053] It is understood that, in the embodiments of this application, the target assembly may include, but is not limited to, sub-assemblies and multiple parts, wherein the sub-assemblies are composed of multiple parts that have static interference; the assembly order of the parts within the sub-assemblies is not considered, and the sub-assemblies are treated as a single part. The parts can be further divided into functional parts and connecting parts.

[0054] Additionally, it should be noted that the point cloud files in this application are generally in .ply format, and each point cloud file stores the shape and position information of a part; the size of the cube envelope of the CAD model can be obtained from the maximum value of the length, width, and height of the target assembly, and this application does not impose specific limitations; the occupying grid can be represented by a three-dimensional array, wherein the length of each dimension of each three-dimensional array is the same, and is obtained by conversion from the point cloud file, which can be represented, but is not limited to, as follows:

[0055]

[0056] Where OG represents the three-dimensional array of the assembly's grid, with the three dimensions representing the grid along the X, Y, and Z directions of the assembly; m represents the size of the grid, i.e., the length of the array; OGYZ i This represents the grid representing the i-th cross-section of the assembly along the X-axis, which displays a cross-section of the assembly in the YZ plane; OGZ ij ={c k} k＝m =[c1,c2,…,c m [] represents a grid column along the Z direction obtained from the i-th cross-section in the X-axis direction and the j-th cross-section in the Y-axis direction of the assembly, where i,j∈[1,n], n represents the number of functional parts of the assembly, and c k c represents one of the grid cells. k ∈[0,n]: If the grid is empty and not occupied by any parts, then c k =0; if the grid is occupied by part numbered e, then c k =e, e∈{1,2,…,n}.

[0057] As one possible implementation, embodiments of this application can read the point cloud file of a functional component, find the cube envelope of the CAD model, obtain three-dimensional spatial information, such as the size of the three-dimensional space (this application does not impose specific limitations) and the resolution information of the grid, and then obtain the voxelized grid occupied by the functional component. For example, Figure 2 As shown, this application provides a schematic diagram of a three-dimensional occupying grid.

[0058] Optionally, in an embodiment of the present application, before the point cloud file of the functional part based on the target assembly and the CAD model of the target assembly, it further comprises: obtaining the CAD file of the target assembly; obtaining the CAD model of the target assembly based on the CAD file, and obtaining the point cloud file of each part in the target assembly by using the CAD file; identifying the connecting part and the functional part in the target assembly based on the point cloud file.

[0059] It can be understood that in the embodiments of the present application, the CAD file is generally in STP format or STEP format, which can be specifically set by those skilled in the art according to actual conditions, and the present application does not make specific limitations.

[0060] In addition, the identification of the connecting part and the functional part in the embodiments of the present application can be understood as paying more attention to the assembly sequence of the functional part in the actual assembly process, and according to the assembly sequence of the functional part, the assembly sequence of the connecting part can be supplemented and obtained in combination with process knowledge, thereby reducing the calculation burden.

[0061] In addition, it should be noted that the connecting part in the embodiments of the present application can be understood as mainly used for mutual connection between metal structural members or parts, such as screws, bolts, rivets, locking pins, etc., which are not specifically limited by the present application. The connecting part is generally a standard part with a unified naming format and a relatively small size, so that the connecting part can be screened and identified by the name format or volume information of the part name, such as a preset volume threshold, in the embodiments of the present application, and then the functional part not meeting the above standard is obtained. The preset volume threshold can be set by those skilled in the art according to actual conditions, and the present application does not make specific limitations.

[0062] In some embodiments, the embodiments of the present application can obtain the CAD model of the target assembly by obtaining the CAD file of the target assembly, and convert the CAD file into the point cloud file of each part of the target assembly, and identify the part name and volume information of each part in the target assembly, and then identify the connecting part and the functional part in the target assembly according to the part name and volume information.

[0063] For example, the embodiments of the present application can identify the part name of each part by obtaining the CAD file of the target assembly, and number the parts, which are numbered as 1, 2, …, m+n in reading order, m is the number of connecting parts of the assembly, and n is the number of functional parts of the assembly. At the same time, record the relationship between the name and the number, so as to correspond the planned assembly sequence to the actual part; and identify the volume information of each part, and correspond to the part number, respectively recorded as V={V1, V2, …, V m+n}。 For example, as shown in FIG. 2, the CAD file of the target assembly is obtained, and the CAD model of the target assembly is obtained based on the CAD file, and the point cloud file of each part in the target assembly is obtained by using the CAD file. The connecting part and the functional part in the target assembly are identified based on the point cloud file. Figure 3As shown, the embodiment of the present application provides a target assembly structure explosion and part numbering.

[0064] Further, the embodiment of the present application sets a volume threshold V threshold For part numbered i, if V i ≤ V threshold , it is determined that the part is a connecting part, otherwise it is a functional part, wherein the embodiment of the present application can obtain n functional parts in the target assembly, which can be denoted as Parts = {P1, P2, …, Pn}. n}.

[0065] In step S102, based on the occupancy grid, interference information and contact information of the functional parts in at least one target positive direction are detected, and an initial part interference matrix and an initial part contact matrix between the functional parts are generated based on the interference information and the contact information. Wherein, the expression of the initial part interference matrix can be but not limited to:

[0066]

[0067] Wherein, PIM k represents the part interference matrix along the direction k, n represents the number of functional parts of the assembly, a ij represents whether the part P i will interfere with the part P j when moving to the destination position along the +k direction, i.e. collision occurs, i, j ∈ [1, n].

[0068] The expression of the initial part contact matrix can be but not limited to:

[0069]

[0070] Wherein, PIM represents the part contact matrix, n represents the number of functional parts of the assembly, b ij represents the contact relationship between the part P i and the part P j , b ij ∈ {0, 1, 2}, i, j ∈ [1, n].

[0071] In some embodiments, the embodiment of the present application can call a grid detection algorithm to detect the interference information and the contact information of the functional parts in at least one target positive direction (such as X, Y, Z, etc. Three positive directions, the present application does not make specific limitations) based on the occupancy grid, and then obtain the initial part interference matrix PIM k and the initial part contact matrix PIM between the functional parts.

[0072] In this embodiment, a grid detection algorithm is used to traverse the grid pillars in the three positive directions of the target (X, Y, and Z) respectively. The interference information between functional components is obtained by the overlap relationship of the component projections of the grid pillars, and the initial component interference matrix (PIM) is obtained based on the contact information between the functional components. k And the initial part contact matrix PIM. Specifically, in the embodiments of this application, if part P is on a grid post in the k direction... i and parts P j If the projections overlap, it indicates that part P i and parts P j Interference exists in the k-direction. If there is a component P... i A grid c, and a part P exists. j Given a grid d, where c is located in the negative direction of the k direction compared to d, then in the PIM... k ={a ij In}, there is a ij =1; if part P exists i A grid c, and a part P exists. j Given a grid d, where d is located in the positive direction of k compared to c, then in PIM... k ={a ij In}, there is a ji =0.

[0073] In some embodiments, this application is based on assembling the target assembly along one of the three axial directions X, Y, and Z, and the initial part interference matrix PIM along direction k. k It can be expressed as, but is not limited to:

[0074]

[0075] Among them, PIM k Let a represent the interference matrix of parts along direction k, n represent the number of functional parts in the assembly, and a ij Indicates part P in the assembly i When moving along the +k direction to the target position, will it collide with part p? j Interference occurs, i.e., a collision occurs, where i,j∈[1,n]. If interference occurs, a ij =1; otherwise, a ij =0.

[0076] Furthermore, in the embodiments of this application, the initial part interference matrix PIM k It is an asymmetric matrix, and there is no need to distinguish between the +k and -k directions (k∈{X,Y,Z}). If part P i When moving along the +k direction to the target position, it will collide with part P. j If interference occurs, then aij = 1, at this time, it can also be explained that the part P j will interfere with the part P i when moving to the destination position along the -k direction, but it cannot be explained that the part P j will interfere with the part P i when moving to the destination position along the +k direction, that is, a ji does not necessarily equal 1. Therefore, the matrix of the asymmetric interference in the +k direction is sufficient to express the interference information of the +k and -k directions.

[0077] In some embodiments, the initial part contact matrix PIM obtained by the embodiments of the application can be, but is not limited to, expressed as:

[0078]

[0079] where PIM represents the part contact matrix, n represents the number of functional part of the assembly, b ij represents the contact relationship between the part P i and the part P j , b ij ∈ {0, 1, 2}, i, j ∈ [1, n]. If the part P i and the part P j surface contact, then b ij = 1; if the part P i and the part P j deeply contact, that is, static interference occurs, then b ij = 2; if the part P i and the part P j do not contact, then b ij = 0. The part contact matrix PLM is a symmetric matrix, b ij = b ji .

[0080] In step S103, the interlocking relationship and the static interference between the functional parts are identified to obtain an interlocking relationship identification result and a static interference identification result between the functional parts according to the interlocking relationship and the static interference.

[0081] It can be understood that there can be two reasons for the part interlocking caused by the embodiments of the application, one is the static interference caused by the design end error, and the other is the precision loss in the gridding process. The specific setting can be performed by a person skilled in the art according to the actual situation, and the application does not make specific limitations.

[0082] As a possible implementation manner, the embodiments of the application can identify the interlocking relationship and the static interference between the functional parts through a collision detection algorithm, and then obtain an interlocking relationship identification result and a static interference identification result between the functional parts.

[0083] Optionally, in an embodiment of the present application, the interlocking relationship and the static interference between the functional part components are identified to obtain interlocking relationship identification results and static interference identification results between the functional part components according to the interlocking relationship and the static interference, comprising: determining a target assembly position of the functional part components according to the CAD model; detecting an interference depth of the target assembly part at the target assembly position; and identifying the interlocking relationship and the static interference based on the interference depth to obtain the interlocking relationship identification results and the static interference identification results.

[0084] In actual implementation, the embodiment of the present application can determine a target assembly position of the functional part components according to the CAD model, detect an interference depth of the target assembly part at the target assembly position, and then identify the interlocking relationship and the static interference based on the interference depth to obtain the interlocking relationship identification results and the static interference identification results.

[0085] For example, the embodiment of the present application can obtain the interlocking relationship identification results and the static interference identification results between the functional part components based on the point cloud files of the two components by detecting the interference depth at the target assembly position of the functional part components, such as the original position in the CAD model.

[0086] Specifically, if the interference depth of the two components at the original position of the functional part components in the target assembly body is not 0, it indicates that there is static interference; if it is 0, it indicates that there is precision loss, and the actual interference situation needs to be judged by a collision detection algorithm to obtain the static interference identification results.

[0087] In step S104, the initial part interference matrix and the initial part contact matrix are corrected using the interlocking relationship identification results and the static interference identification results to obtain the final part interference matrix and the final part contact matrix between the functional part components.

[0088] As can be seen from the above analysis, the interlocking relationship identification results between the functional part components can be obtained by the initial part interference matrix in three directions, and for the part P i and the part P j If a X = 1 and a Y = 1 in PIM Z , PIM ij , and PIM ji , it can be indicated that whether the functional part component P i is assembled first and then the functional part component P j is assembled, or the functional part component P j is assembled first and then the functional part component P i is assembled, a collision will be caused.

[0089] As one possible implementation method, embodiments of this application can use the interlocking relationship identification results and static interference identification results to correct the initial part interference matrix and the initial part contact matrix, thereby obtaining the final part interference matrix and the final part contact matrix between functional parts.

[0090] Furthermore, in this embodiment of the application, after obtaining the interlocking relationship identification result and the static interference identification result, if there is static interference, the two statically interfering parts are treated as a sub-assembly, the initial part interference matrix and the initial part contact matrix are corrected, and the error is fed back to the design end; if it is due to accuracy loss, the actual interference relationship is detected by the collision detection algorithm, and the initial part interference matrix is ​​corrected.

[0091] In this embodiment, if static interference exists, the two parts with static interference are treated as a sub-assembly, and the initial part interference matrix and the initial part contact matrix are corrected respectively. Specifically, for the initial part contact matrix PLM, if part P... q and parts P r Static interference will cause part P to... q and parts P r The merger is viewed as a new part P. s At this point, the number of parts in the assembly changes from n to n-1. For another part P... t In the initial part contact matrix PLM = {b ij} n×n The contact term in the text is b. qt ,b tq ,b rt ,b tr In the final part contact matrix PLM′={b ij} (n-1)×(n-1) The contact term in the text is b. st ,b ts Then we have b st =b ts =max{b qt ,b tq ,b rt ,b tr Based on the above relationships, traverse all possible parts P. t This can correct the initial part contact matrix of the part. Additionally, in this embodiment, for the initial part interference matrix, a local grid detection algorithm needs to be invoked to traverse part P. q and parts P r The grid pillars are projected in the X, Y, and Z directions. The interference relationship between the parts is obtained by the overlapping relationship of the part projections of the grid pillars, and then the final part interference matrix is ​​obtained.

[0092] If there is a loss of precision, the embodiments of this application can determine the actual interference through a collision detection algorithm, that is, keep one of the parts P. i Without moving the other part P from its original position... j The component moves along six directions: +X, -X, +Y, -Y, +Z, and -Z, and the change in interference depth during the movement is monitored. If the interference depth remains 0 during movement along the +k direction (k∈{X,Y,Z}) until the two components significantly separate, then the initial component interference matrix PIM is corrected. k , so that a ji =0; If the interference depth remains 0 throughout the movement along the -k (k∈{X,Y,Z}) direction until the two parts are significantly separated, it indicates that the opposite direction is a feasible assembly direction. In this case, the embodiment of this application can correct the initial part interference matrix PIM. k , so that a ij =0. If, during the movement along the six directions, the interference depth in each direction is not zero before the two parts significantly separate, then the maximum interference depth in each direction is recorded. The direction corresponding to the minimum value of the maximum interference depth is a feasible assembly direction. Specifically, in the embodiments of this application, the maximum interference depth in the six directions can be denoted as d. X+ d X- d Y+ d Y- d z+ d z- , and record d min =min{d X+ ,d X- ,d Y+ ,d Y- ,d z+ ,d Z- If d min The corresponding direction is +k (k∈{X,Y,Z}), then the initial part interference matrix PIM is corrected. k , so that a ji =0; if d min The corresponding direction is -k (k∈{X,Y,Z}), then the initial part interference matrix PIM is corrected. k , so that a ij =0.

[0093] For example, the final PIM obtained in the embodiments of this application X It can be expressed as, but is not limited to:

[0094]

[0095] Final PIM Y It can be expressed as, but is not limited to:

[0096]

[0097] Final PIM Z may but not limited to be expressed as:

[0098]

[0099] The final part contact matrix may but not limited to be expressed as:

[0100]

[0101] In step S105, the functional part assembly sequence of the functional part is determined based on the final part interference matrix and the final part contact matrix, and the connecting part assembly sequence of the connecting part in the target assembly is obtained based on the functional part state sequence.

[0102] As a possible implementation manner, the embodiment of the present application can use the final part interference matrix as constraint information, combine the final part contact matrix, use the genetic algorithm to determine the functional part assembly sequence of the functional part, and add the assembly process information to supplement the assembly sequence of the connecting part, so as to obtain the connecting part assembly sequence of the connecting part.

[0103] It should be noted that the genetic algorithm of the embodiment of the present application follows the framework of population initialization- fitness evaluation- selection of individuals- crossover and mutation- iteration, wherein the fitness function may but not limited to be expressed as Fitness Value = α1D + α2S + α3C, wherein α1, α2 and a3 are weight coefficients corresponding to the influence factors, and α1<0, α2>0, a3>0. In addition, based on experimental data and assembly experience, the value of α1 is small, so as to reduce the negative impact of the assembly direction transformation times on the efficiency; the value of α2 is large, so as to strengthen the effect of assembly stability on the optimization of the whole sequence; and α3 is used to ensure the continuity in the assembly process and emphasize the contact and connection between parts.

[0104] Optionally, in an embodiment of the present application, determining the functional part assembly sequence of the functional part based on the final part interference matrix and the final part contact matrix comprises: obtaining at least one of the assembly direction transformation times information, the part assembly stability information and the part assembly continuity information of the target assembly; and determining the functional part assembly sequence based on the final part interference matrix, the final part contact matrix, and at least one of the assembly direction transformation times information, the part assembly stability information and the part assembly continuity information.

[0105] In some embodiments, the embodiments of the present application can take the final part interference matrix as a physical constraint, combine the final part contact matrix, assembly direction transformation frequency information D, part assembly stability information S, and part assembly continuity information C to optimize the assembly efficiency under the premise of meeting the physical constraint, use a genetic algorithm to determine the functional part assembly sequence of the functional part, add assembly process information, supplement the assembly sequence of the connecting part, and obtain the connecting part assembly sequence of the connecting part.

[0106] Wherein, the assembly direction transformation frequency information can be understood as being judged and calculated through the feasible assembly direction in the final part interference matrix; the part assembly stability information is judged through whether the rule of preferentially assembling large-volume parts and then assembling small-volume parts is followed; and the part assembly continuity information is judged through whether the parts assembled before and after are adjacent. In addition, it should be noted that the assembly direction transformation frequency information, the part assembly stability information, and the part assembly continuity information are weighted to constitute the fitness function of the genetic algorithm.

[0107] Specifically, for a part assembly sequence of a first assembly part P i and a second assembly part P j , if the feasible assembly direction of the part P i and the feasible assembly direction of the part P j have no same direction, the assembly direction transformation frequency D is increased by 1, and vice versa; if the corresponding part volumes of the part P i and the part P j are V i and V j respectively, and V i ≥ V j , the part assembly stability S is increased by 1, and vice versa; if the parts P i and P j have no contact, and v ij = 1 in the final part contact matrix PLM = {b n×n} ij , the part assembly continuity C is increased by 1, and vice versa.

[0108] In step S106, the assembly body assembly sequence of the target assembly body is planned based on the functional part assembly sequence and the connecting part assembly sequence.

[0109] As a possible implementation manner, the embodiments of the present application can plan the assembly body assembly sequence of the target assembly body based on the functional part assembly sequence and the connecting part assembly sequence.

[0110] The working principle of the assembly body assembly sequence planning method based on CAD files proposed by the embodiments of the present application will be described in detail in combination with a specific embodiment.

[0111] Wherein, Figure 4A flow chart showing the working principle of the CAD file based assembly sequence planning method for an assembly according to an embodiment of the present application.

[0112] Step S401: Read the STP file or STEP file of the target assembly.

[0113] Step S402: Read the part name and volume information, number the parts, and identify the connector parts and functional parts.

[0114] Step S403: Convert the assembly file into a part point cloud PLY file.

[0115] Step S404: Convert the point cloud PLY file of the functional part into an occupancy grid.

[0116] Step S405: Obtain part interference information and contact information using a grid detection algorithm.

[0117] Step S406: Determine whether all grids have been traversed.

[0118] In the present embodiment, step S407 is executed when all grids have been traversed; otherwise, step S405 is executed.

[0119] Step S407: Generate an initial part interference matrix and an initial part contact matrix.

[0120] Step S408: Determine whether there is an interlocking relationship.

[0121] In the present embodiment, step S408 is executed when there is an interlocking relationship; otherwise, step S414 is executed.

[0122] Step S409: Call a collision detection algorithm.

[0123] Step S410: Determine whether there is static interference.

[0124] In the present embodiment, step S410 is executed when there is static interference; otherwise, step S412 is executed.

[0125] Step S411: Call a local grid detection algorithm to correct the initial part interference matrix and the initial part contact matrix.

[0126] Step S412: Determine whether there is precision loss.

[0127] In the present embodiment, step S413 is executed when there is precision loss; otherwise, step S414 is executed.

[0128] Step S413: Call a collision detection algorithm to correct the initial part interference matrix.

[0129] Step S414: functional part assembly sequence planning

[0130] Step S415: all part assembly sequence planning.

[0131] The assembly body assembly sequence planning method based on a CAD file according to the embodiment of the application can determine the three-dimensional spatial information and the grid resolution information of the functional part based on the point cloud file of the functional part in the target assembly body and the CAD model of the target assembly body, generate the occupancy grid of the functional part, detect the interference information and the contact information of the functional part in at least one target positive direction based on the occupancy grid, and identify the interlocking relationship and the static interference between the functional parts, to obtain the final part interference matrix and the final part contact matrix between the functional parts, and then determine the functional part assembly sequence of the functional parts, supplement the connector assembly sequence of the connector parts in the target assembly body, and thus plan the assembly body assembly sequence of the target assembly body. The related constraints are obtained directly from the CAD file of the target assembly body, the constraint form is simple, the processing is efficient, the static interference caused by design errors can be identified, the optimization design information is provided, the assembly accuracy and feasibility are improved, the assembly body assembly sequence of the target assembly body is automatically generated, the assembly efficiency is improved, effective basis for assembly planning of complex assembly bodies is provided, and the method is suitable for the digital processing flow of automatic manufacturing and high-precision assembly of complex products. Thus, the problems in the related art that the assembly constraints cannot be automatically identified based on the CAD file, the feasible assembly sequence cannot be accurately generated, the assembly efficiency is low, the assembly cost is high, and the modern industry requirements for rapid response and high precision cannot be met are solved.

[0132] Next, the assembly body assembly sequence planning device based on a CAD file according to the embodiment of the application is described with reference to the accompanying drawings.

[0133] Figure 5 The block schematic diagram of the assembly body assembly sequence planning device based on a CAD file according to the embodiment of the application is shown.

[0134] As shown in Figure 5 The assembly body assembly sequence planning device based on a CAD file 10 includes a first generation module 100, a second generation module 200, a first identification module 300, a correction module 400, a determination module 500, and a planning module 600.

[0135] The first generation module 100 is configured to determine the three-dimensional spatial information and the grid resolution information of the functional part based on the point cloud file of the functional part in the target assembly body and the CAD model of the target assembly body, and generate the occupancy grid of the functional part based on the three-dimensional spatial information and the grid resolution information.

[0136] The second generation module 200 is configured to detect interference information and contact information of the functional part in at least one target positive direction based on the occupied grid, and generate an initial part interference matrix and an initial part contact matrix between the functional parts based on the interference information and the contact information.

[0137] The first identification module 300 is configured to identify interlocking relationships and static interference between the functional parts, so as to obtain interlocking relationship identification results and static interference identification results between the functional parts according to the interlocking relationships and the static interference.

[0138] The correction module 400 is configured to correct the initial part interference matrix and the initial part contact matrix by using the interlocking relationship identification results and the static interference identification results, so as to obtain a final part interference matrix and a final part contact matrix between the functional parts.

[0139] The determination module 500 is configured to determine a functional assembly sequence of the functional parts based on the final part interference matrix and the final part contact matrix, and supplement a connecting assembly sequence of connecting parts in the target assembly based on the functional assembly sequence.

[0140] The planning module 600 is configured to plan an assembly assembly sequence of the target assembly based on the functional assembly sequence and the connecting assembly sequence.

[0141] Optionally, in an embodiment of the present application, the method further includes a first acquisition module, a second acquisition module and a second identification module.

[0142] The first acquisition module is configured to acquire a CAD file of the target assembly before acquiring a point cloud file of the functional parts in the target assembly and a CAD model of the target assembly.

[0143] The second acquisition module is configured to acquire the CAD model of the target assembly based on the CAD file, and acquire the point cloud file of each part in the target assembly by using the CAD file.

[0144] The second identification module is configured to identify the connecting parts and the functional parts in the target assembly based on the point cloud file.

[0145] Optionally, in an embodiment of the present application, the first identification module 300 includes a first determination unit, a detection unit and a generation unit.

[0146] The first determination unit is configured to determine a target assembly position of the functional part according to the CAD model.

[0147] The detection unit is configured to detect an interference depth of the target assembly part in the target assembly position.

[0148] The generating unit is configured to identify the interlocking relationship and the static interference based on the interference depth, to obtain an interlocking relationship identification result and a static interference identification result.

[0149] Optionally, in an embodiment of the present application, the expression of the occupancy grid can be but is not limited to:

[0150]

[0151] wherein OG represents a three-dimensional array of the occupancy grid of the assembly, m represents the size of the grid, i.e., the length of the array, OGYZ i represents the grid of the i-th cross section of the assembly in the X-axis direction.

[0152] Optionally, in an embodiment of the present application, the expression of the initial part interference matrix can be but is not limited to:

[0153]

[0154] wherein PIM k represents the part interference matrix in the direction k, n represents the number of functional part of the assembly, a ij represents the part P i whether the part P j will interfere with the part P i,j∈[1,n] along the +k direction when moving to the destination position.

[0155] The expression of the initial part contact matrix can be but is not limited to:

[0156]

[0157] wherein PIM represents the part interference matrix, n represents the number of functional part of the assembly, b ij represents the contact relationship between the part P i and the part P j b ij ∈{0,1,2}, i,j∈[1,n].

[0158] Optionally, in an embodiment of the present application, the determining module 500 comprises an obtaining unit and a second determining unit.

[0159] The obtaining unit is configured to obtain at least one of the assembly direction transformation number information, the part assembly stability information, and the part assembly continuity information of the target assembly.

[0160] The second determining unit is configured to determine the functional part assembly sequence based on the final part interference matrix, the final part contact matrix, and at least one of the assembly direction transformation number information, the part assembly stability information, and the part assembly continuity information.

[0161] It should be noted that the foregoing explanation of the embodiment of the method for planning the assembly sequence of the assembly based on the CAD file also applies to the embodiment of the device for planning the assembly sequence of the assembly based on the CAD file, which will not be described here again.

[0162] The device for planning the assembly sequence of the assembly based on the CAD file according to the embodiment of the application can determine the three-dimensional spatial information and the grid resolution information of the functional part based on the point cloud file of the functional part in the target assembly and the CAD model of the target assembly, and further generate the occupancy grid of the functional part, and then detect the interference information and the contact information of the functional part in at least one target positive direction based on the occupancy grid, and identify the interlocking relationship and the static interference between the functional parts, to obtain the final part interference matrix and the final part contact matrix between the functional parts, and further determine the functional part assembly sequence of the functional parts, and supplement the connector assembly sequence of the connector parts in the target assembly to plan the assembly assembly sequence of the target assembly, so that the related constraints are obtained directly from the CAD file of the target assembly, the constraint form is simple, the processing is efficient, the static interference caused by design errors can be identified, the optimization design information is provided, the assembly accuracy and feasibility are improved, the assembly assembly sequence of the target assembly is automatically generated, the assembly efficiency is improved, effective basis is provided for the assembly planning of the complex assembly, and the digital processing flow of the automatic manufacturing and high-precision assembly of the complex product is suitable. Therefore, the problems in the related art that the assembly constraints cannot be automatically identified based on the CAD file, the feasible assembly sequence cannot be accurately generated, the assembly efficiency is low, the assembly cost is high, and the modern industry cannot meet the requirements of rapid response and high precision are solved.

[0163] Figure 6 The structure schematic diagram of the electronic device provided by the embodiment of the application is shown. The electronic device can include:

[0164] The memory 601, the processor 602, and the computer program stored in the memory 601 and executable on the processor 602.

[0165] The processor 602 implements the method for planning the assembly sequence of the assembly based on the CAD file provided in the above embodiments when executing the program.

[0166] Further, the electronic device further includes:

[0167] The communication interface 603 is used for communication between the memory 601 and the processor 602.

[0168] The memory 601 is used to store the computer program executable on the processor 602.

[0169] The memory 601 can include a high-speed RAM memory, and can also include a non-volatile memory, for example, at least one disk memory.

[0170] If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 can be connected to each other through a bus and complete communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, Figure 6 In the figure, only one thick line is used to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0171] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can complete communication between each other through an internal interface.

[0172] The processor 602 can be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0173] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the CAD file based assembly body assembly sequence planning method as above.

[0174] The embodiments of the present application also provide a computer program product, which includes a computer program, and the program is executed to implement the CAD file based assembly body assembly sequence planning method as above.

[0175] In the description of the application, reference to "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment or example. Furthermore, the described specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. In addition, the usage of "N" means at least two, for example, two, three or the like, unless explicitly stated otherwise.

[0176] Furthermore, the terms "first", "second", or the like, are used merely as a designation of certain elements or features, and do not imply or connote relative importance or a specific order of categorization thereof. Accordingly, features described as "first" or "second" can be explicitly or implicitly included in at least one of the features. In the description of the application, the meaning of "N" is at least two, for example, two, three, etc., unless explicitly specified otherwise.

[0177] Any process or method descriptions or blocks in flow charts or otherwise described herein represent embodiments which can be managed as one or more modules, segments, or portions of code which include one or more executable instructions for implementing specific logic functions or steps, and alternate implementations are possible. In some embodiments, the processes and methods described can be executed by one or more apparatuses or devices, either directly or after conversion to another language. Alternate implementations are possible.

[0178] The logic and / or steps represented in the flowcharts and / or described herein, for example, can be considered as a sequence of executable instructions stored in a computer readable medium, which can be executed by an instruction execution system, apparatus or device, such as a computer-based system, a processor-based system, or other system that can fetch the instructions from the instruction execution system, apparatus or device and execute the instructions, or a combination of the above. For the purposes of this specification, a "computer readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus or device. The computer readable medium can be a computer readable storage medium or a computer readable signal medium. The computer readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a propagation medium. The computer readable signal medium can include, but is not limited to, a computer readable medium that facilitates transfer of the program from one place to another. A specific example of a computer readable medium is a non-transitory computer-readable storage medium. A specific example of a computer readable signal medium is a source or destination of the computer readable medium. Another specific example of a computer readable signal medium is a computer readable signal travelling through space. Thus, a computer readable medium can take many forms of hardware to carry out the program for use by or in connection with the instruction execution system, apparatus or device.

[0179] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware and in another embodiment, the hardware can be implemented using any or a combination of the following technologies, which are each well known in the art: a discrete logic circuit(s) having logic gates for implementing logic functions upon an application of data signals, an application specific integrated circuit having appropriate combinational logic gates, a programmable gate array(s) (PGA), a field programmable gate array (FPGA), etc.

[0180] Those of skill in the art would understand that the steps of the methods carried out above can be carried out wholly or partly by a program instructing relevant hardware, and the program can be stored in a computer readable storage medium, and when executed, includes one or a combination of the steps of the method embodiments.

[0181] In addition, each of the functional units in the various embodiments of the present application can be integrated in one processing module, or each of the units can be physically present separately, or two or more units can be integrated in one module. The integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0182] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A CAD file based assembly sequence planning method for an assembly, characterized in that, The method comprises the following steps: determining three-dimensional spatial information and grid resolution information of functional part based on point cloud file of functional part in target assembly and CAD model of the target assembly, to generate occupancy grid of the functional part based on the three-dimensional spatial information and the grid resolution information; detecting interference information and contact information of the functional part in at least one target positive direction based on the occupancy grid, and generating initial part interference matrix and initial part contact matrix between the functional parts based on the interference information and the contact information; identifying interlocking relationship and static interference between the functional parts, to obtain interlocking relationship identification result and static interference identification result between the functional parts according to the interlocking relationship and the static interference; correcting the initial part interference matrix and the initial part contact matrix by using the interlocking relationship identification result and the static interference identification result, to obtain final part interference matrix and final part contact matrix between the functional parts; determining functional assembly sequence of the functional parts based on the final part interference matrix and the final part contact matrix, and supplementing to obtain connector assembly sequence of connector part in the target assembly based on the functional assembly sequence; planning assembly assembly sequence of the target assembly based on the functional assembly sequence and the connector assembly sequence.

2. The method of claim 1, wherein, Before determining three-dimensional spatial information and grid resolution information of functional part based on point cloud file of functional part in target assembly and CAD model of the target assembly, the method further comprises: obtaining CAD file of the target assembly; obtaining CAD model of the target assembly based on the CAD file, and obtaining point cloud file of each part in the target assembly by using the CAD file; identifying connector part and functional part in the target assembly based on the point cloud file.

3. The method of claim 1, wherein, The method of identifying interlocking relationship and static interference between the functional parts, to obtain interlocking relationship identification result and static interference identification result between the functional parts according to the interlocking relationship and the static interference, comprises: determining target assembly position of the functional part according to the CAD model; detecting interference depth of the target assembly part in the target assembly position; identifying the interlocking relationship and the static interference based on the interference depth, to obtain the interlocking relationship identification result and the static interference identification result.

4. The method of claim 1, wherein, The expression of the occupancy grid is: where OG represents the occupancy grid three-dimensional array of the assembly, m represents the size of the grid, i.e. the length of the array, OGYZ i represents the grid of the i-th slice of the assembly in the X-axis direction.

5. The method of claim 1, wherein, wherein, The expression of the initial part interference matrix is: where PIM k represents the interference matrix of the part in the direction k, n represents the number of functional parts of the assembly, a ij represents the part P i in the assembly, i, j ∈ [1, n] and k ∈ [1, n] represent the interference between the part P j i and the part Pj in the direction k, i.e. collision, i, j ∈ [1, n] The expression of the initial part contact matrix is: where PIM denotes a part interference matrix, n denotes the number of functional part of the assembly, b ij denotes the contact relationship of the part P i and the part P j in the assembly, b ij ∈{0,1,2}, i,j ∈[1,n].

6. The method of claim 1, wherein, The method of determining functional assembly sequence of the functional parts based on the final part interference matrix and the final part contact matrix, comprises: obtaining at least one of assembly direction transformation frequency information, part assembly stability information and part assembly continuity information of the target assembly; determining the functional assembly sequence based on the final part interference matrix, the final part contact matrix, and at least one of the assembly direction transformation frequency information, the part assembly stability information and the part assembly continuity information.

7. A CAD file-based assembly sequence planning apparatus for an assembly, characterized by, The method comprises: The first generation module is configured to determine three-dimensional spatial information and grid resolution information of the functional part based on a point cloud file of the functional part in the target assembly and a CAD model of the target assembly, and to generate an occupancy grid of the functional part based on the three-dimensional spatial information and the grid resolution information. The second generation module is configured to detect interference information and contact information of the functional part in at least one target positive direction based on the occupancy grid, and to generate an initial part interference matrix and an initial part contact matrix between the functional parts based on the interference information and the contact information. The first identification module is configured to identify interlocking relationships and static interference between the functional parts, and to obtain interlocking relationship identification results and static interference identification results between the functional parts according to the interlocking relationships and the static interference. The correction module is configured to correct the initial part interference matrix and the initial part contact matrix by using the interlocking relationship identification results and the static interference identification results, to obtain a final part interference matrix and a final part contact matrix between the functional parts. The determination module is configured to determine a functional assembly sequence of the functional parts based on the final part interference matrix and the final part contact matrix, and to supplement a connecting part assembly sequence of connecting parts in the target assembly based on the functional assembly sequence. The planning module is configured to plan an assembly assembly sequence of the target assembly based on the functional assembly sequence and the connecting part assembly sequence.

8. An electronic device, comprising: The computer program is executed by the processor to implement the assembly sequence planning method based on the CAD file. The computer program is executed by the processor to implement the assembly sequence planning method based on the CAD file.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the assembly sequence planning method based on the CAD file.

10. A computer program product, characterised in that, ​

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