Rule review-oriented complex multi-level assembly model data extraction method

By building component data and generating sets of rules, traversing components according to hierarchical relationships to extract data, the problems of complex and high-quality multi-level assembly model data extraction and rule review are solved, and efficiency and adaptability are improved.

CN119538498APending Publication Date: 2025-02-28CRRC IND INST CO LTD
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Patent Information

Application Number
CN202411358624.0
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-09-27
Publication Date
2025-02-28

AI Technical Summary

Technical Problem

In the prior art, data extraction and rule review of multi-level assembly models are complex, computational volume and data extraction efficiency are low.

Method used

By constructing component data that reflects the hierarchical relationship between components and generating a set of rules for rule review, traversing each component by hierarchical relationship, extracting component data of the current component when the component data of the current component satisfies all the rules in the rule set.

Benefits of technology

It reduces the complexity of data extraction and rule review, reduces the amount of calculation, improves the efficiency of data extraction and rule review, and enhances the adaptability and flexibility to assembly models of different scales and complexities.

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Abstract

The invention relates to the technical field of industrial design, and provides a rule review-oriented complex multi-level assembly model data extraction method, which comprises the following steps of: constructing component data for reflecting a hierarchical relationship between components in an assembly model; generating a rule set for rule review, wherein the rule set comprises at least one rule which needs to be met by the component data; and traversing each component according to the hierarchical relationship, and extracting the component data of the current component under the condition that the component data of the current component meets all rules in the rule set. According to the method, the complexity of data extraction and rule review is reduced, the efficiency of data extraction and rule review is improved, and the adaptability and flexibility of assembly models with different scales and complexity are enhanced.
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Description

Technical Field

[0001] The present invention relates to the technical field of industrial design, and in particular to a data extraction method for complex multi-level assembly models oriented to rule review. Background Art

[0002] In the field of industrial design and engineering, there are a large number of multi-level assembly models. These models usually include multiple components, most of which also include multiple sub-components, and each level represents different assembly details and functional units. When performing a series of data processing and analysis applications such as model checking, performance simulation, and computational optimization, it is necessary to traverse the entire model to extract key information. The more complex the model and the more assembly levels, the longer the model traversal time and the more complex the data extraction. At the same time, when facing rule review, it is necessary to extract data from the model to verify whether the design meets the specified standards. The verification specifically includes verification of dimensions and geometric space interference, which makes data extraction and rule review more complicated, computationally intensive, and data extraction efficiency low. Summary of the invention

[0003] The present invention provides a complex multi-level assembly model data extraction method oriented to rule review, which is used to solve the problems of complex multi-level assembly model data extraction and rule review, large calculation amount and low data extraction efficiency in the prior art.

[0004] The invention provides a complex multi-level assembly model data extraction method oriented to rule review, comprising the following steps.

[0005] Construct component data in the assembly model to reflect the hierarchical relationship between components; generating a rule set for rule review, wherein the rule set includes at least one rule that the component data needs to satisfy; Each component is traversed according to the hierarchical relationship, and when the component data of the current component satisfies all the rules in the rule set, the component data of the current component is extracted.

[0006] According to a method for extracting data from a complex multi-level assembly model oriented to rule review provided by the present invention, the component data used to characterize the hierarchical relationship between components in the assembly model is constructed, including: Based on the generation system of the assembly model, component data for reflecting the hierarchical relationship between components is obtained, the component data including: component ID, component type, connection relationship set, geometric data, position and direction, the connection relationship set including the component ID, connection type and connection direction of the sub-component of the next level connected to the component; The component data is stored in a component data table in the form of key-value pairs.

[0007] According to a complex multi-level assembly model data extraction method oriented to rule review provided by the present invention, the rule set includes: rules based on component types and / or rules based on connection numbers.

[0008] According to a method for extracting data from a complex multi-level assembly model oriented to rule review provided by the present invention, before traversing each component according to the hierarchical relationship, the method further includes: Each component is traversed, and based on the position of each component, the distance between each component and other components is calculated, and the distance is stored in a distance matrix.

[0009] According to a complex multi-level assembly model data extraction method oriented to rule review provided by the present invention, the rule set includes: at least one of: rules based on component type, rules based on the number of connections, and rules based on component interference. Whether the two components interfere is determined based on the interference distance threshold between the two components.

[0010] According to a complex multi-level assembly model data extraction method for rule review provided by the present invention, traversing each component according to the hierarchical relationship, and extracting the component data of the current component when the component data of the current component satisfies all rules in the rule set, includes: Recursively traverse each component and its subcomponents, and when the component data of the current component satisfies all the rules in the rule set, add the current component as a target component to the target component set; Component data of the target component in the target component set is extracted.

[0011] The present invention also provides a complex multi-level assembly model data extraction device oriented to rule review, which includes the following functional modules.

[0012] A component data construction module is used to construct component data in an assembly model to reflect the hierarchical relationship between components; A rule set generation module, used to generate a rule set for rule review, wherein the rule set includes at least one rule that the component data needs to satisfy; The component data extraction module is used to traverse each component according to the hierarchical relationship, and extract the component data of the current component when the component data of the current component meets all the rules in the rule set.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a complex multi-level assembly model data extraction method for rule review as described in any one of the above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described complex multi-level assembly model data extraction methods for rule review.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for extracting data from a complex multi-level assembly model oriented to rule review as described above is implemented.

[0016] The complex multi-level assembly model data extraction method oriented to rule review provided by the present invention, facing a multi-level complex assembly model, first constructs component data reflecting the hierarchical relationship between components, and then generates a rule set for rule review, and the rule set includes at least one rule that the component data must satisfy. When extracting data in a scenario oriented to rule review, each component is traversed according to the hierarchical relationship, and the component data of the current component is extracted when the component data of the current component satisfies all the rules in the rule set, thereby reducing the complexity of data extraction and rule review, reducing the amount of calculation, improving the efficiency of data extraction and rule review, and enhancing the adaptability and flexibility to assembly models of different scales and complexities. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flow chart of the complex multi-level assembly model data extraction method oriented to rule review provided by the present invention.

[0019] Figure 2 It is a structural schematic diagram of a complex multi-level assembly model data extraction device for rule review provided by the present invention.

[0020] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Currently, most existing technologies rely on built-in functions and third-party plug-ins of Computer Aided Diagnosis (CAD) software to achieve data extraction and rule review, including feature recognition technology, and parameter and relationship extraction technology. For feature recognition technology, specific features in assembly models, such as holes, grooves, and brackets, as well as the specific parameters of these features (size, position, and direction) are automatically identified. For parameter and relationship extraction technology, parameters in the model (such as length, volume, and mass) and relative relationships between components (such as fit and alignment) are extracted. The above two technologies provide automated support for typical part models, but there is still no optimized processing solution on the market for extremely complex assembly models (especially when hundreds or even thousands of independent parts are involved). In addition, multi-level data associations and dynamic changes (such as modifications during the design phase) increase the complexity of data extraction and rule review.

[0023] In view of the limitations of existing technologies that only focus on part models and lack rule-driven, it is necessary to build a data extraction method for complex multi-level assembly models that is oriented to rule review, and to build a data structure for complex assemblies to effectively manage and index multi-level information. Through the implementation of model optimization algorithms, more efficient data extraction and rule review can be achieved.

[0024] In view of the above problems existing in the related art, the present invention provides a method for extracting data from a complex multi-level assembly model oriented to rule review. The method flow is as follows: Figure 1 As shown, the following steps S110 to S130 are included.

[0025] Step S110: Construct component data in the assembly model that is used to reflect the hierarchical relationship between components. Specifically, in the assembly model, the entire model is composed of components of multiple levels, and each level of components is assembled from multiple sub-components. Different assembly models have different assembly relationships, and different assembly relationships have different hierarchical relationships between components. In this step, data that can reflect the hierarchical relationship between components can be selected from the original data of the assembly model to construct the component data. Among them, the original data is the relevant data of each component in the assembly model stored by different model CAD systems after generating the assembly model. In this embodiment, the data acquisition interface of the CAD system can be used to traverse the relevant data of the assembly model, such as: the unique identifier ID of the component in the model, the type of the component (part, engineering drawing, assembly), the connection relationships of the component (intersection, contact, parallel, spacing, etc.), the geometric information geometry of the component (part: points, lines, surfaces and topological relationships, engineering drawings: three views, annotations, title bars, drawing frames, and three-dimensional associations, assemblies: sub-components, assembly constraints), the position position (position in the absolute coordinate system and the relative coordinate system) and the orientation orientation (the direction of the relative coordinate system relative to the absolute coordinate system, that is, the direction of the origin of the relative coordinate system relative to the origin of the absolute coordinate system) of the component.

[0026] Step S120: Generate a rule set for rule review, wherein the rule set includes at least one rule that the component data must satisfy, i.e., rules related to the component data. The rule set can be generated based on a number of rules set in the actual rule review. For example, read a configuration file of a number of rules pre-edited by the user, and generate a rule set based on the configuration file.

[0027] Step S130: traverse each component according to the hierarchical relationship, and extract the component data of the current component when the component data of the current component satisfies all the rules in the rule set. Specifically, each component can be traversed recursively. For the first component of the first level, first determine whether the component data satisfies all the rules in the rule set to obtain the judgment result, and then determine the subcomponents of the component according to the hierarchical relationship until the last layer of subcomponents corresponding to the first component to obtain the judgment result of the subcomponent. Then, the second component of the first level is traversed and judged in the above manner to determine whether each component satisfies all the rules in the rule set (if the component data satisfies all the rules in the rule set, the corresponding component satisfies all the rules in the rule set), and the corresponding component data is extracted for the components that meet all the rules in the rule set.

[0028] In the complex multi-level assembly model data extraction method oriented to rule review of this embodiment, facing a multi-level complex assembly model, component data reflecting the hierarchical relationship between components is first constructed, and then a rule set for rule review is generated, and the rule set includes at least one rule that the component data must satisfy. When extracting data in a scenario oriented to rule review, each component is traversed according to the hierarchical relationship, and the component data of the current component is extracted when the component data of the current component satisfies all the rules in the rule set, thereby reducing the complexity of data extraction and rule review, reducing the amount of calculation, improving the efficiency of data extraction and rule review, and enhancing the adaptability and flexibility to assembly models of different scales and complexities.

[0029] In some embodiments, the step S110 specifically includes: based on the generation system of the assembly model (for example: CAD system), obtaining component data for reflecting the hierarchical relationship between components, the component data including: component ID, component type, connection relationship set, geometric data, position and direction, the connection relationship set including the component ID, connection type and connection direction of the subcomponent of the next level connected to the component. Specifically, the data structure of constructing component data for each component is: C=(id, type, connections, geometry, position, orientation), wherein id represents the component ID, type represents the component type, connections represents the connection relationship set of the component, geometry represents the geometric data of the component, position represents the position of the component, and orientation represents the direction of the component. The Connections set is {(target_id, connection_type, direction)}, wherein each element corresponds to a subcomponent, and each element corresponds to three attribute data of the subcomponent, namely, the component ID of the subcomponent: target_id, the connection type connection_type between the component and the subcomponent, and the connection direction direction.

[0030] The component data is stored in the component data table in the form of key-value pairs, that is, in the component data table, each component includes id, type, connections, geometry, position and orientation fields, and connections can be stored separately in the connection table and associated with the component id of the component data table through target_id. In this embodiment, a database access interface (such as RESTful API or GraphQL) is also provided to support efficient database operations, including query, insert, update and delete, thereby improving the efficiency of component data management and the response speed when extracting data.

[0031] In some embodiments, the rule set includes: rules based on component type and / or rules based on the number of connections. Specifically, the type of component from which data is to be extracted and / or the number of subcomponents from which the component from which data is to be extracted is specified in the rule set. The rule set may also include rules related to other data items in the component data, and the rule set may be set according to the actual requirements for extracting data.

[0032] In some embodiments, before step S130, it also includes: traversing each component, calculating the distance between each component and other components based on the position of each component, and storing the distance in the distance matrix. Specifically, initialize the distance matrix D, recursively traverse all components, calculate the distance between the current component and other components, and store the distance in the distance matrix D. The distance between two components can reflect whether the two components interfere or meet the corresponding interference rules. For example: in a CAD system, when calculating the distance between two components, the CAD system calls a function function to obtain the coordinates of the geometric points of each of the two components, then obtains the intersection object, and calls the intersection calculation function to obtain the distance between the two components.

[0033] In traditional methods, interference checking usually needs to be recalculated each time it is queried, especially in complex multi-level models. This process is extremely time-consuming, and for complex large assembly models, fully traversing the interference of each component may lead to a huge computational burden, especially repeating this process after each design modification. In this embodiment, the distance matrix D is used to calculate and store the distance information between components once. When interference checking is required, it is only necessary to traverse the distance matrix D to obtain the distance between two components, which reduces the consumption of computing resources, especially when dealing with large-scale or complex assembly models, and also improves the accuracy and efficiency of interference detection.

[0034] Furthermore, the rule set includes: at least one of: rules based on component type, rules based on number of connections, and rules based on component interference. Whether the two components interfere is determined based on an interference distance threshold between the two components, and the interference distance threshold is set according to the actual conditions of the two components.

[0035] In some embodiments, the step S130 specifically includes: recursively traversing each component and its subcomponents, and when the component data of the current component satisfies all the rules in the rule set, adding the current component as a target component to the target component set. Specifically, a rule function Rule(C i , R) and the data extraction function f(C, R), where C irepresents the component data of the i-th component in the assembly model, C represents the set of all components, R represents the rule set, and the rule function Rule(C i , R) obtain the target component set S.

[0036] For every rule r∈R, i For example, R includes rules based on component type, rules based on number of connections, and rules based on component interference. The rule function Rule(C i , R) to C i The judgment is as follows: Judgment C i Whether the type belongs to the component type specified in R; Statistics C i The number of elements in the connections of R is determined to be within the range of connections specified in R; query C in the distance matrix D i With C j The distance d ij , judge d ij Does it meet the C specified in R? i With C j If all three of the above judgments are true, True is returned to the data extraction function f(C, R). The data extraction function f(C, R) converts the component C i The target component is added to the target component set S. Finally, the component data of the target component in the target component set S is extracted.

[0037] The complex multi-level assembly model data extraction device for rule review provided by the present invention is described below. The complex multi-level assembly model data extraction device for rule review described below and the complex multi-level assembly model data extraction method for rule review described above can be referenced to each other.

[0038] The complex multi-level assembly model data extraction device for rule review provided by the embodiment of the present invention is as follows: Figure 2 As shown, it includes the following functional modules.

[0039] The component data construction module 210 is used to construct component data in the assembly model for reflecting the hierarchical relationship between components.

[0040] The rule set generation module 220 is used to generate a rule set for rule review, wherein the rule set includes at least one rule that the component data needs to satisfy.

[0041] The component data extraction module 230 is used to traverse each component according to the hierarchical relationship, and extract the component data of the current component when the component data of the current component satisfies all the rules in the rule set.

[0042] In the complex multi-level assembly model data extraction device oriented to rule review of the present invention, facing a multi-level complex assembly model, component data reflecting the hierarchical relationship between components is first constructed, and then a rule set for rule review is generated, and the rule set includes at least one rule that the component data must satisfy. When extracting data in a scenario oriented to rule review, each component is traversed according to the hierarchical relationship, and the component data of the current component is extracted when the component data of the current component satisfies all the rules in the rule set, thereby reducing the complexity of data extraction and rule review, improving the efficiency of data extraction and rule review, and enhancing the adaptability and flexibility to assembly models of different scales and complexities.

[0043] In some embodiments, the component data construction module 210 includes the following modules.

[0044] A component data acquisition module, for acquiring component data reflecting the hierarchical relationship between components based on the generation system of the assembly model, wherein the component data includes: component ID, component type, connection relationship set, geometric data, position and direction, wherein the connection relationship set includes the component ID, connection type and connection direction of the sub-component of the next level connected to the component; The component data storage module is used to store the component data in a component data table in the form of key-value pairs.

[0045] In some embodiments, the rule set includes: rules based on component type and / or rules based on the number of connections.

[0046] In some embodiments, the complex multi-level assembly model data extraction device for rule review also includes: a component distance calculation module, which is used to traverse each component before traversing each component according to the hierarchical relationship, calculate the distance between each component and other components based on the position of each component, and store the distance in a distance matrix.

[0047] In some embodiments, the rule set includes at least one of: a rule based on component type, a rule based on the number of connections, and a rule based on component interference. Whether the two components interfere is determined based on an interference distance threshold between the two components.

[0048] In some embodiments, the component data extraction module 230 is specifically used to recursively traverse each component and its subcomponents, and when the component data of the current component satisfies all rules in the rule set, add the current component as a target component to the target component set; and extract the component data of the target component in the target component set.

[0049] Figure 3An example of a physical structure diagram of an electronic device is shown in FIG. Figure 3 As shown, the electronic device may include: a processor 310, a communications interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communications interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the complex multi-level assembly model data extraction method for rule review, and the method includes the following steps.

[0050] Build component data in the assembly model to reflect the hierarchical relationship between components.

[0051] A rule set for rule review is generated, wherein the rule set includes at least one rule that the component data needs to satisfy.

[0052] Each component is traversed according to the hierarchical relationship, and when the component data of the current component satisfies all the rules in the rule set, the component data of the current component is extracted.

[0053] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0054] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the complex multi-level assembly model data extraction method for rule review provided by the above methods, which includes the following steps.

[0055] Build component data in the assembly model to reflect the hierarchical relationship between components.

[0056] A rule set for rule review is generated, wherein the rule set includes at least one rule that the component data needs to satisfy.

[0057] Each component is traversed according to the hierarchical relationship, and when the component data of the current component satisfies all the rules in the rule set, the component data of the current component is extracted.

[0058] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the rule-review-oriented complex multi-level assembly model data extraction method provided by the above-mentioned methods, and the method includes the following steps.

[0059] Build component data in the assembly model to reflect the hierarchical relationship between components.

[0060] A rule set for rule review is generated, wherein the rule set includes at least one rule that the component data needs to satisfy.

[0061] Each component is traversed according to the hierarchical relationship, and when the component data of the current component satisfies all the rules in the rule set, the component data of the current component is extracted.

[0062] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0063] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A data extraction method for complex multi-level assembly models oriented to rule review, characterized in that: include: Construct component data in the assembly model to reflect the hierarchical relationship between components; generating a rule set for rule review, wherein the rule set includes at least one rule that the component data needs to satisfy; Each component is traversed according to the hierarchical relationship, and when the component data of the current component satisfies all the rules in the rule set, the component data of the current component is extracted.

2. The complex multi-level assembly model data extraction method for rule review according to claim 1 is characterized in that: The component data used to characterize the hierarchical relationship between components in the assembly model includes: Based on the generation system of the assembly model, component data for reflecting the hierarchical relationship between components is obtained, the component data including: component ID, component type, connection relationship set, geometric data, position and direction, the connection relationship set including the component ID, connection type and connection direction of the sub-component of the next level connected to the component; The component data is stored in a component data table in the form of key-value pairs.

3. The complex multi-level assembly model data extraction method for rule review according to claim 2 is characterized in that: The rule set includes: rules based on component type and / or rules based on the number of connections.

4. The complex multi-level assembly model data extraction method for rule review according to claim 2 is characterized in that: Before traversing each component hierarchically, it also includes: Each component is traversed, and based on the position of each component, the distance between each component and other components is calculated, and the distance is stored in a distance matrix.

5. The complex multi-level assembly model data extraction method for rule review according to claim 4 is characterized in that: The rule set includes at least one of: a rule based on component type, a rule based on the number of connections, and a rule based on component interference. Whether the two components interfere is determined based on an interference distance threshold between the two components.

6. The complex multi-level assembly model data extraction method for rule review according to any one of claims 1 to 5, characterized in that: The step of traversing each component according to the hierarchical relationship and extracting the component data of the current component when the component data of the current component satisfies all the rules in the rule set includes: Recursively traverse each component and its subcomponents, and when the component data of the current component satisfies all the rules in the rule set, add the current component as a target component to the target component set; Component data of the target component in the target component set is extracted.

7. A data extraction device for complex multi-level assembly models oriented to rule review, characterized in that: include: A component data construction module is used to construct component data in an assembly model to reflect the hierarchical relationship between components; A rule set generation module, used to generate a rule set for rule review, wherein the rule set includes at least one rule that the component data needs to satisfy; The component data extraction module is used to traverse each component according to the hierarchical relationship, and extract the component data of the current component when the component data of the current component meets all the rules in the rule set.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for extracting complex multi-level assembly model data for rule review according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for extracting complex multi-level assembly model data for rule review according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for extracting complex multi-level assembly model data for rule review according to any one of claims 1 to 6 is implemented.