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

Abstract

The invention relates to the technical field of part assembly sequence planning, in particular to an assembly assembly sequence planning method and device based on a CAD file, and the method comprises the steps: generating an occupation grid of a functional part based on a point cloud file of the functional part in a target assembly and a CAD model of the target assembly; detecting interference information and contact information of the parts of the functional part based on the occupied grid, and generating an initial part interference matrix and an initial part contact matrix; identifying an interlocking relationship and static interference among the functional parts; correcting the initial part interference matrix and the initial part contact matrix; based on the final part interference matrix and the final part contact matrix, determining an assembly sequence of the functional part parts and the connecting part parts; and planning an assembly body assembly sequence of the target assembly body. Therefore, the problems that the assembly constraint cannot be automatically recognized based on the CAD file, the assembly efficiency is low, the assembly cost is high, and the requirements of the modern industry for quick response and high precision cannot be met in the related technology are solved.

Description

Technical Field

[0001] The present application relates to the technical field of parts assembly sequence planning, and in particular to a method and device for assembly sequence planning of an assembly based on a CAD file. Background Art

[0002] Modern complex products have a large number of parts and types, and assembly sequence planning is highly complex. Traditional assembly processes often rely on manual experience to identify assembly constraints, and it takes a lot of time to find a feasible and optimal assembly sequence. This process is not only time-consuming and inefficient, but also prone to improper assembly due to human errors, which in turn affects the safety and reliability of the product. In addition, with the increasing complexity of complex product design and the acceleration of its update and iteration speed, traditional methods have been unable to meet new assembly requirements.

[0003] In the related technology, according to the requirements of assembly sequence planning, part support information, part contact information and part interference information can be extracted from the three-dimensional assembly model, and expressed as part support matrix, part contact matrix and part interference matrix respectively, and then the assembly sequence planning can be generated by combining the fastener assembly priority rules and assembly process knowledge; the constraint relationship between the assembly parts in the three-dimensional CAD (Computer Aided Design) assembly drawing can also be extracted to obtain the contact-connection matrix and the extended interference matrix, and the assembly sequence planning can be hierarchical, and then the hierarchical explosion diagram can be automatically generated;

[0004] However, the related technology cannot automatically identify assembly constraints based on CAD files and accurately generate feasible assembly sequences. The assembly efficiency is low and the assembly cost is high. It cannot meet the requirements of modern industry for rapid response and high precision and is in urgent need of improvement. Summary of the invention

[0005] The present application provides a method and device for planning an assembly sequence of an assembly based on a CAD file, so as to solve the problems in the related art, such as the inability to automatically identify assembly constraints based on CAD files, accurately generate feasible assembly sequences, low assembly efficiency, high assembly costs, and the inability to meet the requirements of modern industry for rapid response and high precision.

[0006] The first aspect of the present application provides an assembly sequence planning method based on a CAD file, comprising the following steps: based on a point cloud file of a functional part in a target assembly and a CAD model of the target assembly, determining the three-dimensional spatial information and grid resolution information of the functional part, so as to generate an occupation grid of the functional part based on the three-dimensional spatial information and the grid resolution information; based on the occupation grid, detecting interference information and contact information of the functional part in at least one target positive direction, 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 the interlocking relationship and static interference between the functional parts , so as to obtain the interlocking relationship recognition result and the static interference recognition result between the functional parts according to the interlocking relationship and the static interference; use the interlocking relationship recognition result and the static interference recognition result to correct the initial part interference matrix and the initial part contact matrix to obtain the final part interference matrix and the final part contact matrix between the functional parts; determine the functional parts assembly sequence of the functional parts based on the final part interference matrix and the final part contact matrix, and supplement the connector assembly sequence of the connector parts in the target assembly based on the functional parts state sequence; plan the assembly assembly sequence of the target assembly based on the functional parts assembly sequence and the connector assembly sequence.

[0007] Optionally, in one embodiment of the present application, before based on the point cloud file of the functional parts in the target assembly and the CAD model of the target assembly, it also includes: obtaining the CAD file of the target assembly; obtaining the CAD model of the target assembly based on the CAD file, and using the CAD file to obtain the point cloud file of each part in the target assembly; identifying the connector parts and functional parts in the target assembly based on the point cloud file.

[0008] Optionally, in one embodiment of the present application, the identifying the interlocking relationship and the static interference between the functional parts to obtain the interlocking relationship identification result and the static interference identification result between the functional parts according to the interlocking relationship and the static interference includes: determining the target assembly position of the functional parts according to the CAD model; detecting the interference depth of the target assembly parts at 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.

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

[0010]

[0011] Among them, OG represents the three-dimensional array of the grid occupied by the assembly, m represents the size of the grid, that is, the length of the array, OGYZ i Represents the grid of the i-th slice of the assembly in the x-axis direction.

[0012] Optionally, in one embodiment of the present application,

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

[0014]

[0015] Among them, PIM k represents the part interference matrix along direction k, n represents the number of functional parts of the assembly, a ij Represents part P in the assembly i Will it touch part P when moving to the destination position along the +k direction? j Interference occurs, that is, collision occurs, i,j∈[1,n];

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

[0017]

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

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

[0020] The second aspect of the present application provides an assembly sequence planning device based on a CAD file, including: a first generation module, for determining the three-dimensional spatial information and grid resolution information of the functional parts in the target assembly based on the point cloud file of the functional parts in the target assembly and the CAD model of the target assembly, so as to generate an occupation grid of the functional parts based on the three-dimensional spatial information and the grid resolution information; a second generation module, for detecting the interference information and contact information of the functional parts in at least one target positive direction based on the occupation 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; a first recognition module, for recognizing the interlocking relationship and static interference relationship between the functional parts A method for determining the interlocking relationship between the functional parts and the static interference between the functional parts is provided. The method comprises: a correction module for correcting the initial part interference matrix and the initial part contact matrix by using the interlocking relationship recognition result and the static interference recognition result to obtain the final part interference matrix and the final part contact matrix between the functional parts; a determination module for determining the functional parts assembly sequence of the functional parts based on the final part interference matrix and the final part contact matrix, and supplementing the connector assembly sequence of the connector parts in the target assembly based on the functional parts state sequence; and a planning module for planning the assembly sequence of the target assembly based on the functional parts assembly sequence and the connector assembly sequence.

[0021] Optionally, in one embodiment of the present application, it also includes: a first acquisition module, used to acquire the CAD file of the target assembly based on the point cloud file of the functional parts in the target assembly and the CAD model of the target assembly; a second acquisition module, used to obtain the CAD model of the target assembly based on the CAD file, and use the CAD file to acquire the point cloud file of each part in the target assembly; a second identification module, used to identify the connector parts and functional parts in the target assembly based on the point cloud file.

[0022] Optionally, in one embodiment of the present application, the first identification module includes: a first determination unit, used to determine the target assembly position of the functional part according to the CAD model; a detection unit, used to detect the interference depth of the target assembly part at the target assembly position; and a generation unit, used to identify 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.

[0023] Optionally, in one embodiment of the present application, the expression of the occupied grid may be, but is not limited to:

[0024]

[0025] Among them, OG represents the three-dimensional array of the grid occupied by the assembly, m represents the size of the grid, that is, the length of the array, OGYZ i Represents the grid of the i-th slice of the assembly in the x-axis direction.

[0026] Optionally, in one embodiment of the present application,

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

[0028]

[0029] Among them, PIM k represents the part interference matrix along direction k, n represents the number of functional parts of the assembly, a ij Represents part P in the assembly i Will it touch part P when moving to the destination position along the +k direction? j Interference occurs, that is, collision occurs, i,j∈[1,n];

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

[0031]

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

[0033] Optionally, in one embodiment of the present application, the determination module includes: an acquisition unit for acquiring at least one of the assembly direction change number information, part assembly stability information, and part assembly continuity information of the target assembly; and a second determination unit for determining the functional parts assembly sequence based on the final part interference matrix, the final part contact matrix, and at least one of the assembly direction change number information, the part assembly stability information, and the part assembly continuity information.

[0034] A third aspect 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 CAD files as described in the above embodiment.

[0035] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned assembly sequence planning method based on a CAD file.

[0036] A fifth aspect of the present application provides a computer program product, including a computer program, which, when executed, implements the above-mentioned assembly sequence planning method based on CAD files.

[0037] The embodiment of the present application can determine the three-dimensional spatial information and grid resolution information of the functional parts based on the point cloud file of the functional parts in the target assembly and the CAD model of the target assembly, and then generate the occupation grid of the functional parts, and then detect the interference information and contact information of the functional parts in at least one target positive direction based on the occupation grid, and identify the interlocking relationship and static interference between the functional parts, obtain the final part interference matrix and the final part contact matrix between the functional parts, and then determine the functional parts assembly sequence of the functional parts, and supplement the connector assembly sequence of the connector parts in the target assembly, so as to plan the assembly assembly sequence of the target assembly, and directly obtain the relevant constraints 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 optimized 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, and an effective basis is provided for the assembly planning of complex assemblies, which is suitable for the automated manufacturing of complex products and the digital processing flow of high-precision assembly. As a result, the problems in the related technology, such as the inability to automatically identify assembly constraints based on CAD files, accurately generate feasible assembly sequences, low assembly efficiency, high assembly costs, and inability to meet the requirements of modern industry for rapid response and high precision, are solved.

[0038] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0040] Figure 1 A flowchart of an assembly sequence planning method based on a CAD file according to an embodiment of the present application;

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

[0042] Figure 3An exploded view of a target assembly structure containing five parts and a block diagram of part numbers provided according to an embodiment of the present application;

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

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

[0045] Figure 6 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0047] The following describes the assembly sequence planning method and device based on CAD files of an embodiment of the present application with reference to the accompanying drawings. In view of the problems mentioned in the above background technology that it is impossible to automatically identify assembly constraints based on CAD files, accurately generate feasible assembly sequences, have low assembly efficiency, high assembly costs, and cannot meet the requirements of modern industry for rapid response and high precision, the present application provides an assembly sequence planning method based on CAD files. In this method, based on the point cloud files of the functional parts in the target assembly and the CAD model of the target assembly, the three-dimensional spatial information and grid resolution information of the functional parts can be determined, and then the occupation grid of the functional parts can be generated. Based on the occupation grid, the interference information and contact information of the functional parts in at least one target positive direction can be detected, and the interlocking relationships between the functional parts can be identified. The system and static interference are obtained to obtain the final part interference matrix and final part contact matrix between the functional parts, and then the functional parts assembly sequence of the functional parts is determined, and the connector assembly sequence of the connector parts in the target assembly is obtained, so as to plan the assembly assembly sequence of the target assembly. By directly obtaining relevant constraints from the CAD file of the target assembly, the constraint form is simple and the processing is efficient. It can identify the static interference caused by design errors, provide optimization design information, improve assembly accuracy and feasibility, automatically generate the assembly assembly sequence of the target assembly, improve assembly efficiency, and provide an effective basis for the assembly planning of complex assemblies. It is suitable for the automated manufacturing of complex products and the digital processing flow of high-precision assembly. Therefore, the problems in the related technology 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 requirements of modern industry for rapid response and high precision cannot be met are solved.

[0048] Specifically, Figure 1 The present invention is a flowchart of a method for planning an assembly sequence of an assembly based on a CAD file according to an embodiment of the present application.

[0049] like Figure 1 As shown, the assembly sequence planning method based on CAD files includes the following steps:

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

[0051]

[0052] Among them, OG represents the three-dimensional array of the grid occupied by the assembly, m represents the size of the grid, that is, the length of the array, OGYZ iRepresents the grid of the i-th slice of the assembly in the x-axis direction.

[0053] It is understood that in the embodiment of the present application, the target assembly may include, but is not limited to, a subassembly and multiple parts, wherein the subassembly is composed of multiple parts with static interference; the assembly order of the parts in the subassembly is not considered, and the subassembly is regarded as a single part. Among them, the parts can be divided into functional parts and connector parts.

[0054] In addition, it should be noted that the point cloud file of the embodiment of the present application is generally in ply format, and each point cloud file stores the shape information and position information of a part; the size of the cube envelope of the CAD model can be obtained by the maximum value of the length, width and height of the target assembly, and the present application does not make specific restrictions; the occupied 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 converting the point cloud file, which can be represented by but not limited to:

[0055]

[0056] Among them, OG represents the three-dimensional array of the grid occupied by the assembly, and the three dimensions represent the grid of the section of the assembly along the X, Y, and Z directions respectively; m represents the size of the grid, that is, the length of the array; OGYZ i The grid representing the i-th slice of the assembly in the X-axis direction, which shows 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 section of the assembly in the X-axis direction and the j-th section in the Y-axis direction, i,j∈[1,n], n represents the number of functional parts of the assembly, c k represents one of the grids, c k ∈[0,n]: If the grid is empty and not occupied by any parts, then c k = 0; if the grid is occupied by a part numbered e, then c k =e, e∈{1,2,…,n}.

[0057] As a possible implementation method, the embodiment of the present application can obtain the three-dimensional space information, such as the size of the three-dimensional space (not specifically limited in the present application), and the resolution information of the grid by reading the point cloud file of the functional part, finding the cube envelope of the CAD model, and then voxelizing to obtain the occupation grid of the functional part. For example, Figure 2 As shown, a block diagram of a three-dimensional occupancy grid provided in an embodiment of the present application.

[0058] Optionally, in one embodiment of the present application, before the point cloud file of the functional parts in the target assembly and the CAD model of the target assembly, it also includes: obtaining the CAD file of the target assembly; obtaining the CAD model of the target assembly based on the CAD file, and using the CAD file to obtain the point cloud file of each part in the target assembly; identifying the connector parts and functional parts 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 technicians in this field according to actual conditions, and this application does not make any specific restrictions.

[0060] In addition, the identification of connector parts and functional parts in the embodiment of the present application can be understood as paying more attention to the assembly order of functional parts in the actual assembly process. According to the assembly order of functional parts and combined with process knowledge, the assembly order of connector parts can be supplemented to reduce the calculation burden.

[0061] In addition, it should be noted that the connector parts in the embodiment of the present application can be understood as being mainly used to connect metal structural members or components to each other, such as screws, bolts, rivets, locking pins, etc., and this application does not impose specific restrictions. Connector parts are generally standard parts with a unified naming format and relatively small in size. Therefore, the embodiment of the present application can screen and identify connector parts through the name format or volume information of the part name, such as a preset volume threshold, and then obtain functional parts that do not meet the above standards. Among them, the preset volume threshold can be set by a technician in this field according to actual conditions, and this application does not impose specific restrictions.

[0062] In some embodiments, the embodiments of the present application can obtain a CAD model of the target assembly by acquiring the CAD file of the target assembly, and converting the CAD file into a point cloud file of each part of the target assembly, and identifying the part name and volume information of each part in the target assembly, and then identifying the connector parts and functional parts in the target assembly according to the part name and volume information.

[0063] Exemplarily, the embodiment 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, and number them as 1, 2, ..., m+n in the reading order, where m is the number of connector parts of the assembly, and n is the number of functional parts of the assembly. At the same time, the relationship between the name and the number is recorded so that the planned assembly sequence corresponds to the actual parts; and the volume information of each part is identified and corresponds to the part number, which is recorded as V={V1, V2, ..., V m+n}. For example, Figure 3As shown, an explosion of a target assembly structure and part numbering are provided in an embodiment of the present application.

[0064] Furthermore, in the embodiment of the present application, by setting a volume threshold V threshold , for part numbered i, if V i ≤V threshold , then the part is determined to be a connector part, otherwise it is a functional part. In the embodiment of the present application, a total of n functional parts can be obtained in the target assembly, which can be recorded as Parts = {P1, P2, ..., P n}.

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

[0066]

[0067] Among them, PIM k represents the part interference matrix along direction k, n represents the number of functional parts of the assembly, a ij Represents part P in the assembly i Will it touch part P when moving to the destination position along the +k direction? j Interference occurs, that is, collision occurs, i,j∈[1,n].

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

[0069]

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

[0071] In some embodiments, the embodiments of the present application can call a grid detection algorithm to detect interference information and contact information of functional parts in at least one target positive direction (such as three positive directions such as X, Y, and Z, which are not specifically limited in this application) based on the occupied grid, and then obtain the initial part interference matrix PIM between the functional parts. k and the initial part contact matrix PIM.

[0072] Among them, the embodiment of the present application can be based on the grid detection algorithm, traverse the grid columns in the positive directions of the three targets X, Y, and Z respectively, obtain the interference information between the functional parts through the overlapping relationship of the part projections of the grid columns, and obtain the initial part interference matrix PIM according to the contact information between the functional parts. k and the initial part contact matrix PIM. Specifically, if in a grid column in the k direction, the part P i and part P j If the projections overlap, it means that part P i and part P j There is interference in the k direction. If there is a part P i A grid c, and there is a part P j If a grid d is formed, and c is located in the negative direction of k compared to d, then in PIM k ={a ij}, there is a ij =1; if part P exists i A grid c, and there is a part P j If a grid d is formed, and c is compared with d, d is located in the positive direction of k, then in PIM k ={a ij}, there is a ji =0.

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

[0074]

[0075] Among them, PIM k represents the part interference matrix along direction k, n represents the number of functional parts of the assembly, a ij Represents part P in the assembly i Will it touch part p when moving to the destination position along the +k direction? j Interference occurs, that is, collision occurs, i,j∈[1,n]. If interference occurs, a ij =1; otherwise, a ij =0.

[0076] Furthermore, in the embodiment of the present application, the initial part interference matrix PIM k It is an asymmetric matrix and does not need to distinguish between the +k and -k directions (k∈{X,Y,Z}). i When moving to the target position along the +k direction, it will contact part P. j If interference occurs, then aij =1, at this time, it can also be explained that part P j When moving to the target position along the -k direction, it will contact part P. i Interference occurs, but it cannot be explained that part P j When moving to the target position along the +k direction, it will contact part P. i Interference occurs, that is, a ji It is not necessarily equal to 1. Therefore, the matrix of asymmetric interference in the +k direction is sufficient to express the interference information in both the +k and -k directions.

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

[0078]

[0079] Where PIM represents the part contact matrix, n represents the number of functional parts of the assembly, and b ij Represents part P in the assembly i and part P j contact relationship, b ij ∈{0,1,2},i,j∈[1,n]. If part P in the assembly i and part P j If the surfaces come into contact, then b ij =1; if part P i and part P j Deep contact, that is, static interference occurs, then b ij =2; if part P i and part P j If there is no 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 static interference between the functional parts are identified to obtain the interlocking relationship identification result and the static interference identification result between the functional parts according to the interlocking relationship and the static interference.

[0081] It is understandable that there may be two reasons for the interlocking of parts in the embodiments of the present application. One is static interference caused by errors in the design end, and the other is loss of precision during the rasterization process. The specific settings can be made by technicians in this field according to actual conditions, and this application does not impose any specific restrictions.

[0082] As a possible implementation method, the embodiment of the present application can identify the interlocking relationship and static interference between functional parts through a collision detection algorithm, and then obtain the interlocking relationship identification results and static interference identification results between the functional parts.

[0083] Optionally, in one embodiment of the present application, the interlocking relationship and static interference between functional parts are identified to obtain interlocking relationship recognition results and static interference recognition results between functional parts based on the interlocking relationship and static interference, including: determining the target assembly position of the functional parts based on the CAD model; detecting the interference depth of the target assembly parts at the target assembly position; identifying the interlocking relationship and static interference based on the interference depth to obtain interlocking relationship recognition results and static interference recognition results.

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

[0085] Exemplarily, the embodiments of the present application can obtain the interlocking relationship recognition results and static interference recognition results between the functional parts based on the point cloud files of the two parts by detecting the interference depth at the target assembly position of the functional parts in the target assembly, such as the original position in the CAD model.

[0086] Specifically, in the embodiment of the present application, if the interference depth of two parts at the original position of the functional parts in the target assembly is not 0, it means that static interference exists; if it is 0, it means that there is a loss of precision, and it is necessary to use a collision detection algorithm to determine the actual interference situation and then obtain a static interference identification result.

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

[0088] Through the above analysis, it can be seen that the interlocking relationship recognition result between the functional parts of the embodiment of the present application can be obtained by the initial part interference matrix in three directions. For part P i and part P j If PIM X 、PIM Y 、PIM Z There is a ij =1 and a ji =1, it can be explained that no matter which functional part P is assembled first i Reassemble functional parts P j , or assemble the functional parts P first j Reassemble functional parts P i , will cause a collision.

[0089] As a possible implementation method, the embodiment of the present application can use the interlocking relationship recognition results and static interference recognition results to correct the initial part interference matrix and the initial part contact matrix, and then obtain the final part interference matrix and the final part contact matrix between functional parts.

[0090] Furthermore, after obtaining the interlocking relationship recognition results and the static interference recognition results, in the embodiment of the present application, if static interference exists, the two parts with static interference 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 loss of precision, the actual interference relationship is detected through a collision detection algorithm, and the initial part interference matrix is ​​corrected.

[0091] In this embodiment of the present application, if there is static interference, the two parts with static interference are treated as a subassembly, and the initial part interference matrix and the initial part contact matrix are corrected respectively. In this embodiment, if the part P q and part P r Static interference, then part P q and part P r Merge as a new part P s , the number of assembly parts changes from n to n-1. For another part P t , in the original part's initial part contact matrix PLM = {b ij} n×n The contact term in 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 is b st ,b ts , then b st =b ts =max{b qt ,b tq ,b rt ,b tr}. According to the above relationship, traverse the possible parts P t , the initial part contact matrix of the part can be corrected. In addition, for the initial part interference matrix, the embodiment of the present application needs to call the local grid detection algorithm to traverse the part P q and part P r The grid columns covered by projections in the X, Y, and Z directions are used to obtain the interference relationship between the parts through the overlapping relationship of the grid column part projections, and then the final part interference matrix is ​​obtained.

[0092] If there is a loss of precision, the embodiment of the present application can determine the actual interference through the collision detection algorithm, that is, keep one of the parts P i Keep the original position unchanged and move another part P j Move along the six directions of +X, -X, +Y, -Y, +Z, -Z, and monitor the change of interference depth during the movement. If the interference depth is always 0 during the movement along the +k (k∈{X,Y,Z}) direction until the two parts are significantly separated, then correct the initial part interference matrix PIM k , so that a ji =0; if the interference depth is always 0 during the movement along the -k (k∈{X,Y,Z}) direction until the two parts are significantly separated, it means that the opposite direction of this direction is a feasible assembly direction. At this time, the embodiment of the present application can correct the initial part interference matrix PIM k , so that a ij =0. If the interference depth in each direction is not 0 before the two parts are significantly separated during the movement in the six directions, the maximum interference depth in each direction is recorded, and the direction corresponding to the minimum value of the maximum interference depth is a feasible assembly direction. Specifically, in the embodiment of the present application, the maximum interference depth in the six directions can be recorded as d X+ d X- d Y+ d Y- d z+ d z- , and remember 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 embodiment of the present application is X It can be expressed as, but not limited to:

[0094]

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

[0096]

[0097] Final PIM Z It can be expressed as, but not limited to:

[0098]

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

[0100]

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

[0102] As a possible implementation method, the embodiment of the present application can use the final part interference matrix as constraint information, combined with the final part contact matrix, use a genetic algorithm to determine the functional parts assembly sequence of the functional parts, and add assembly process information to supplement the assembly order of the connector parts to obtain the connector assembly sequence of the connector parts.

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

[0104] Optionally, in one embodiment of the present application, the functional parts assembly sequence of the functional parts is determined based on the final part interference matrix and the final part contact matrix, including: obtaining at least one of the number of assembly direction change information, part assembly stability information, and part assembly continuity information of the target assembly; determining the functional parts assembly sequence based on the final part interference matrix, the final part contact matrix, and at least one of the number of assembly direction change information, part assembly stability information, and part assembly continuity information.

[0105] In some embodiments, the embodiments of the present application can use the final part interference matrix as a physical constraint, and optimize the assembly efficiency by combining the final part contact matrix, assembly direction change number information D, part assembly stability information S, and part assembly continuity information C on the premise of satisfying the physical constraints. The genetic algorithm is used to determine the functional parts assembly sequence of the functional parts, and the assembly process information is added to supplement the assembly sequence of the connector parts to obtain the connector assembly sequence of the connector parts.

[0106] Among them, the number of assembly direction changes can be understood as the judgment and calculation of feasible assembly directions in the final part interference matrix; the part assembly stability information is judged by whether the rule of assembling large parts first and small parts later is followed; the part assembly continuity information is judged by whether the parts assembled before and after are adjacent. In addition, it should be noted that the weighted information of the number of assembly direction changes, the part assembly stability information, and the part assembly continuity information constitute the fitness function of the genetic algorithm.

[0107] Specifically, for a first assembled part P i Post-assembly parts P j Part assembly sequence, if part P i The feasible assembly directions and P j The feasible assembly directions of P have no same direction, then the number of assembly direction changes D increases by 1, otherwise it decreases by 1; if P i and P j The corresponding part volumes are V i and V j , and V i ≥V j , then the part assembly stability S increases by 1, otherwise it decreases by 1; if part P i and P j No contact, in the final part contact matrix PLM = {b ij} n×n There is v ij =1, the parts assembly continuity C increases by 1, otherwise it decreases by 1.

[0108] In step S106 , the assembly sequence of the target assembly is planned based on the functional component assembly sequence and the connector assembly sequence.

[0109] As a possible implementation method, the embodiment of the present application can plan the assembly sequence of the target assembly based on the functional component assembly sequence and the connector assembly sequence.

[0110] The working principle of the assembly sequence planning method based on CAD files proposed in the embodiment of the present application is described in detail below in conjunction with a specific embodiment.

[0111] in, Figure 4The present invention is a flowchart of the working principle of the assembly sequence planning method based on CAD files according to one 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 occupation grid.

[0116] Step S405: Use a grid detection algorithm to obtain part interference information and contact information.

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

[0118] In this embodiment of the present application, when all grids are traversed, step S407 is executed; 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 an interlocking relationship exists.

[0121] In this embodiment of the present application, if an interlocking relationship exists, step S408 is executed; otherwise, step S414 is executed.

[0122] Step S409: calling the collision detection algorithm.

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

[0124] In this embodiment of the present application, when static interference exists, step S410 is executed; otherwise, step S412 is executed.

[0125] Step S411: calling the 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 this embodiment of the present application, if there is precision loss, step S413 is executed; otherwise, step S414 is executed.

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

[0129] Step S414: Functional parts assembly sequence planning

[0130] Step S415: planning the assembly sequence of all parts.

[0131] According to the assembly assembly sequence planning method based on CAD files proposed in the embodiment of the present application, the three-dimensional spatial information and grid resolution information of the functional parts can be determined based on the point cloud file of the functional parts in the target assembly and the CAD model of the target assembly, and then the occupation grid of the functional parts is generated, and then the interference information and contact information of the functional parts in at least one target positive direction are detected based on the occupation grid, and the interlocking relationship and static interference between the functional parts are identified, and the final part interference matrix and the final part contact matrix between the functional parts are obtained, and then the functional parts assembly sequence of the functional parts is determined, and the connector assembly sequence of the connector parts in the target assembly is supplemented, so as to plan the assembly assembly sequence of the target assembly, and the relevant constraints are directly obtained from the CAD file of the target assembly, and the constraint form is simple and the processing is efficient, and the static interference caused by design errors can be identified, and optimized design information can be provided, and the assembly accuracy and feasibility are improved, and the assembly assembly sequence of the target assembly is automatically generated, and the assembly efficiency is improved, and an effective basis is provided for the assembly planning of complex assemblies, which is suitable for the automated manufacturing of complex products and the digital processing flow of high-precision assembly. As a result, the problems in the related technology, such as the inability to automatically identify assembly constraints based on CAD files, accurately generate feasible assembly sequences, low assembly efficiency, high assembly costs, and inability to meet the requirements of modern industry for rapid response and high precision, are solved.

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

[0133] Figure 5 It is a block diagram of an assembly sequence planning device based on a CAD file provided according to an embodiment of the present application.

[0134] like Figure 5 As shown, the assembly sequence planning device 10 based on CAD files includes: a first generating module 100 , a second generating module 200 , a first identifying module 300 , a correcting module 400 , a determining module 500 and a planning module 600 .

[0135] The first generating module 100 is used to determine the three-dimensional space information and 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, so as to generate the occupation grid of the functional part based on the three-dimensional space information and the grid resolution information;

[0136] A second generating module 200 is used to detect interference information and contact information of functional parts 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] A first recognition module 300 is used to recognize the interlocking relationship and static interference between functional parts, so as to obtain the interlocking relationship recognition result and static interference recognition result between the functional parts according to the interlocking relationship and static interference;

[0138] A correction module 400 is used to correct the initial part interference matrix and the initial part contact matrix using the interlocking relationship recognition result and the static interference recognition result to obtain the final part interference matrix and the final part contact matrix between the functional parts;

[0139] The determination module 500 is used to determine the functional component assembly sequence of the functional component parts based on the final component interference matrix and the final component contact matrix, and to supplement the connector assembly sequence of the connector parts in the target assembly based on the functional component state sequence.

[0140] The planning module 600 is used to plan the assembly sequence of the target assembly based on the functional component assembly sequence and the connector assembly sequence.

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

[0142] The first acquisition module is used to acquire the CAD file of the target assembly based on the point cloud file of the functional parts in the target assembly and the CAD model of the target assembly.

[0143] The second acquisition module is used to obtain a CAD model of the target assembly based on the CAD file, and to use the CAD file to obtain a point cloud file of each part in the target assembly.

[0144] The second recognition module is used to recognize the connector parts and functional parts in the target assembly based on the point cloud file.

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

[0146] Wherein, the first determination unit is used to determine the target assembly position of the functional part according to the CAD model.

[0147] The detection unit is used to detect the interference depth of the target assembly part at the target assembly position.

[0148] The generating unit is used to identify 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.

[0149] Optionally, in one embodiment of the present application, the expression of occupying the grid may be, but is not limited to:

[0150]

[0151] Among them, OG represents the three-dimensional array of the grid occupied by the assembly, m represents the size of the grid, that is, the length of the array, OGYZ i Represents the grid of the i-th slice of the assembly in the x-axis direction.

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

[0153]

[0154] Among them, PIM k represents the part interference matrix along direction k, n represents the number of functional parts of the assembly, a ij Represents part P in the assembly i Will it touch part P when moving to the destination position along the +k direction? j Interference occurs, that is, collision occurs, i,j∈[1,n].

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

[0156]

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

[0158] Optionally, in one embodiment of the present application, the determination module 500 includes: an acquisition unit and a second determination unit.

[0159] The acquisition unit is used to acquire at least one of the assembly direction change times information, part assembly stability information, and part assembly continuity information of the target assembly.

[0160] The second determination unit is used to determine the functional parts assembly sequence based on the final part interference matrix, the final part contact matrix, and at least one of the assembly direction change times information, the part assembly stability information, and the part assembly continuity information.

[0161] It should be noted that the aforementioned explanation of the embodiment of the assembly sequence planning method for an assembly based on a CAD file is also applicable to the assembly sequence planning device for an assembly based on a CAD file in this embodiment, and will not be repeated here.

[0162] According to the assembly assembly sequence planning device based on CAD files proposed in the embodiment of the present application, the three-dimensional spatial information and grid resolution information of the functional parts can be determined based on the point cloud file of the functional parts in the target assembly and the CAD model of the target assembly, and then the occupation grid of the functional parts is generated, and then the interference information and contact information of the functional parts in at least one target positive direction are detected based on the occupation grid, and the interlocking relationship and static interference between the functional parts are identified, and the final part interference matrix and the final part contact matrix between the functional parts are obtained, and then the functional parts assembly sequence of the functional parts is determined, and the connector assembly sequence of the connector parts in the target assembly is supplemented, so as to plan the assembly assembly sequence of the target assembly, and the relevant constraints are directly obtained from the CAD file of the target assembly, and the constraint form is simple and the processing is efficient, and the static interference caused by design errors can be identified, and optimized design information can be provided, and the assembly accuracy and feasibility are improved, and the assembly assembly sequence of the target assembly is automatically generated, and the assembly efficiency is improved, and an effective basis is provided for the assembly planning of complex assemblies, which is suitable for the automated manufacturing of complex products and the digital processing flow of high-precision assembly. As a result, the problems in the related technology, such as the inability to automatically identify assembly constraints based on CAD files, accurately generate feasible assembly sequences, low assembly efficiency, high assembly costs, and inability to meet the requirements of modern industry for rapid response and high precision, are solved.

[0163] Figure 6 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. The electronic device may include:

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

[0165] When the processor 602 executes the program, the assembly sequence planning method based on the CAD file provided in the above embodiment is implemented.

[0166] Furthermore, the electronic device further comprises:

[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 computer programs that can be executed on the processor 602 .

[0169] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as 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 communicate with 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. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this 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 communicate with each other through an internal interface.

[0172] The processor 602 may 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] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned assembly sequence planning method for an assembly based on a CAD file.

[0174] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, implements the above-mentioned assembly sequence planning method based on CAD files.

[0175] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0176] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0177] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0178] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0179] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0180] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0181] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0182] The storage medium mentioned above may 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 can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for planning assembly sequence of an assembly based on a CAD file, characterized in that: The following steps are involved: Based on a point cloud file of a functional part in a target assembly and a CAD model of the target assembly, determine three-dimensional spatial information and grid resolution information of the functional part, so as to generate an occupation grid of the functional part based on the three-dimensional spatial information and the grid resolution information; Based on the occupation grid, detecting interference information and contact information of the functional parts in at least one target positive direction, 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 the interlocking relationship and static interference between the functional parts, so as to obtain the interlocking relationship identification result and the static interference identification result between the functional parts according to the interlocking relationship and the static interference; Using the interlocking relationship recognition result and the static interference recognition result, the initial part interference matrix and the initial part contact matrix are corrected to obtain a final part interference matrix and a final part contact matrix between the functional parts; Determine a functional component assembly sequence of the functional component part based on the final component interference matrix and the final component contact matrix, and supplement the connector assembly sequence of the connector part in the target assembly body based on the functional component state sequence; An assembly sequence of the target assembly is planned based on the functional component assembly sequence and the connector assembly sequence.

2. The method according to claim 1, characterized in that Before the method is based on the point cloud file of the functional part in the target assembly and the CAD model of the target assembly, it also includes: Obtaining a CAD file of the target assembly; Obtaining a CAD model of the target assembly based on the CAD file, and obtaining a point cloud file of each part in the target assembly using the CAD file; Connector parts and functional parts in the target assembly are identified based on the point cloud file.

3. The method according to claim 1, characterized in that The identifying of the interlocking relationship and the static interference between the functional parts to obtain the interlocking relationship identification result and the static interference identification result between the functional parts according to the interlocking relationship and the static interference includes: Determining a target assembly position of the functional component parts according to the CAD model; Detecting the interference depth of the target assembly part at the target assembly position; The interlocking relationship and the static interference are identified based on the interference depth to obtain the interlocking relationship identification result and the static interference identification result.

4. The method according to claim 1, characterized in that The expression of the occupied grid is: Among them, OG represents the three-dimensional array of the grid occupied by the assembly, m represents the size of the grid, that is, 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 according to claim 1, characterized in that in, The expression of the initial part interference matrix is: Among them, PIM k represents the part interference matrix along direction k, n represents the number of functional parts of the assembly, a ij Represents part P in the assembly i Will it touch part P when moving to the destination position along the +k direction? j Interference occurs, that is, collision occurs, i,j∈[1,n]; The expression of the initial part contact matrix is: Where PIM represents the part interference matrix, n represents the number of functional parts of the assembly, and b ij Represents part P in the assembly i and part P j contact relationship, b ij ∈{0,1,2},i,j∈[1,n].

6. The method according to claim 1, characterized in that The determining the functional component assembly sequence of the functional component parts based on the final component interference matrix and the final component contact matrix comprises: Acquire at least one of assembly direction change times information, parts assembly stability information, and parts assembly continuity information of the target assembly; The functional parts assembly sequence is determined based on the final part interference matrix, the final part contact matrix, and at least one of the assembly direction change times information, the part assembly stability information, and the part assembly continuity information.

7. An assembly sequence planning device for an assembly based on a CAD file, characterized in that: include: A first generating module is used to determine the three-dimensional space information and grid resolution information of the functional part in the target assembly based on the point cloud file of the functional part in the target assembly and the CAD model of the target assembly, so as to generate an occupation grid of the functional part based on the three-dimensional space information and the grid resolution information; A second generating module is used to detect interference information and contact information of the functional parts in at least one target positive direction based on the occupation 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 recognition module is used to recognize the interlocking relationship and static interference between the functional parts, so as to obtain the interlocking relationship recognition result and the static interference recognition result between the functional parts according to the interlocking relationship and the static interference; A correction module, used for correcting the initial part interference matrix and the initial part contact matrix by using the interlocking relationship recognition result and the static interference recognition result, 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 component assembly sequence of the functional component part based on the final component interference matrix and the final component contact matrix, and to supplement a connector assembly sequence of the connector part in the target assembly based on the functional component state sequence; A planning module is used to plan the assembly sequence of the target assembly based on the functional component assembly sequence and the connector assembly sequence.

8. An electronic device, characterized in that: include: 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 a CAD file as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the assembly sequence planning method based on a CAD file as described in any one of claims 1 to 6.

10. A computer program product, characterized in that It comprises a computer program, which, when executed, is used to implement the assembly sequence planning method based on CAD files as described in any one of claims 1 to 6.

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