Method and system for detecting assembly states of bolts and nuts in three-dimensional model, electronic equipment and medium

Abstract

The invention provides a method and system for detecting the assembly state of a bolt and a nut in a three-dimensional model, electronic equipment and a medium, and the method comprises the steps: obtaining target nut information, target bolt information and the axis of a target nut, determining two detection surfaces based on the axis of the target nut, and enabling the target bolt to be located between the two detection surfaces; determining the length L of the target bolt, the shortest distances B1 and B2 between the target bolt and the two detection surfaces, and the vertical distance A between the detection surfaces, A-(B1 + B2) being first judgment values; and L is compared with a first judgment value, if the difference value between the L and the first judgment value is larger than a first preset error value, it is judged that assembling between the target bolt and the target nut is abnormal, and the assembling between the target bolt and the target nut is output. And the distance between the nut and the bolt is detected, and the distance difference between the nut and the bolt is calculated, so that whether the bolt and the nut have abnormal assembly places or not can be quickly detected.

Description

Technical Field

[0001] This invention relates to the field of vehicle design technology, and specifically to a method, system, electronic device, and medium for detecting the assembly state of bolts and nuts in a three-dimensional model. Background Technology

[0002] Automobiles are one of the most important means of transportation in modern society, integrating innovations from fields such as mechanical engineering, electronic technology, materials science, and artificial intelligence. Before production, automobiles undergo multiple stages including design, parts manufacturing, assembly, and testing. The design process begins with parts design, followed by the assembly of these parts to form a three-dimensional car model. However, during assembly, human error or insufficient precision in assembly can lead to inaccuracies or misalignments in the assembled 3D model. This results in inaccurate calculations of vehicle performance based on the 3D model. Currently, inspection is conducted manually by designers, which is slow and has low accuracy. Summary of the Invention

[0003] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a method, system, electronic device and medium for detecting the assembly state of bolts and nuts in a three-dimensional model, in order to solve the problem that errors or misalignments exist in the assembled three-dimensional car model in the prior art, which leads to inaccurate calculation results when calculating vehicle performance based on the three-dimensional car model. Currently, the inspection is carried out manually by the designer, which is slow and has low accuracy.

[0004] To achieve the above and other related objectives, the present invention provides a method for detecting the assembly state of bolts and nuts in a three-dimensional model, comprising: Obtain target nut information and target bolt information for the target nut, wherein the target bolt information includes bolt position and bolt dimensions; Based on the target nut information, the axis of the target nut is determined, and then two detection surfaces perpendicular to the axis of the target nut are determined based on the axis of the target nut, and the target bolt is positioned between the two detection surfaces; The length L of the target bolt is determined based on its external dimensions; The shortest distances B1 and B2 between the target bolt and the two detection surfaces are determined respectively, and the vertical distance A between the two detection surfaces is determined. A-(B1+B2) is the first judgment value. The L is compared with the first judgment value. If the difference between the L and the first judgment value is greater than the first preset error value, then the assembly between the target bolt and the target nut is determined to be abnormal and the abnormal information is output.

[0005] Optionally, determining the axis of the target nut based on the target nut information includes: Multiple circles on the target nut are obtained, and the normal of each circle is determined based on each circle. The axis of the target nut is determined based on the normal of each circle.

[0006] Optionally, obtaining multiple circles on the target nut and determining the normal of each circle based on each circle includes: Multiple arcs on the target nut are detected, and it is determined whether each arc is in the same plane based on the coordinates of each arc. If each arc is in the same plane and can form a closed circle, the normal of the circle is obtained; otherwise, the arc is excluded.

[0007] Optionally, classifying the multiple normals includes: Normals in the same direction are grouped together, and the normals with the most numbers in the same category are used to locate the axis direction.

[0008] Optionally, before obtaining the target nut information of the target nut and the target bolt information of the target bolt, the process includes: Bolts and nuts are identified by their names, and coordinate information of multiple bolts and nuts is obtained. Based on the coordinate information, the distance value of each bolt and each nut is calculated sequentially, and each bolt is paired with the nut with the smallest distance value to form a set of target bolts and target nuts.

[0009] Optionally, comparing L with the first judgment value further includes: The L is compared with the first judgment value. If the difference between the L and the first judgment value is less than or equal to the first preset error value, the axis of the target bolt is obtained, and the distance difference between the axis of the target bolt and the axis of the target nut is calculated. If the distance difference between the axis of the target bolt and the axis of the target nut is greater than the second preset error value, it is determined that the installation is overlapping or misaligned and abnormal information is output.

[0010] Optionally, the two detection surfaces are equidistant from the target nut. The difference between B1 and B2 is calculated. If the absolute value of the difference between B1 and B2 is greater than a third preset difference, it is determined that the target bolt is not installed inside the target nut and an abnormal message is output. If the absolute value of the difference between B1 and B2 is less than or equal to the third preset difference, it is determined that the target bolt is installed inside the target nut.

[0011] This invention also provides a detection system for the assembly state of bolts and nuts in a three-dimensional model, used to implement the above-mentioned method for detecting the assembly state of bolts and nuts in a three-dimensional model, including: The acquisition module and the detection module are used to detect the data information of the target bolt and the target nut; The processing module is used to calculate the distance values ​​in the length and height directions between the target bolt and the target nut; The judgment module is used to determine the assembly status between the target bolt and the target nut.

[0012] The present invention also provides an electronic device, the electronic device comprising: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, enable the electronic device to implement the above-described method for detecting the assembly state of bolts and nuts in a three-dimensional model.

[0013] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer processor, causes the computer to perform the above-described method for detecting the assembly state of bolts and nuts in a three-dimensional model.

[0014] As described above, the beneficial effects of the technical solution in this invention include at least the following: by automatically identifying bolts and nuts in three-dimensional drawings and detecting the distance between them, the invention can quickly detect whether there are any assembly abnormalities in the bolts and nuts, thereby reducing manual workload and improving work efficiency. Attached Figure Description

[0015] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0016] In the attached diagram: Figure 1 The diagram shows a flowchart of a method for detecting the assembly state of bolts and nuts in a three-dimensional model, which is an exemplary embodiment of the present invention. Figure 2 The diagram shows a flowchart of a nut and bolt detection method according to an exemplary embodiment of the present invention. Figure 3 The diagram shows a schematic of the assembly and inspection system for bolts and nuts, which is an exemplary embodiment of the present invention. Figure 4 The diagram shows a structural schematic of a computer system as an exemplary embodiment of the present invention. Detailed Implementation

[0017] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0018] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0019] Numerous details are explored in the following description to provide a more thorough explanation of embodiments of the present disclosure. However, it will be apparent to those skilled in the art that embodiments of the present disclosure may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present disclosure.

[0020] Please see Figure 1 This invention provides a method for detecting the assembly state of bolts and nuts in a three-dimensional model, comprising: Step 110: Obtain the target nut information and the target bolt information of the target nut; Step 120: Determine the axis of the target nut based on the target nut information; Step 130: Determine two detection surfaces perpendicular to the axis of the target nut based on the axis of the target nut, and position the target bolt between the two detection surfaces; Step 140: Determine the length L of the target bolt based on its external dimensions, and determine the shortest distances B1 and B2 between the target bolt and the two detection surfaces respectively. Step 150: Obtain the vertical distance A between the two detection surfaces, and use the value of A-(B1+B2) as the first judgment value; Step 160: Compare L with the first judgment value; Step 170: If the difference between L and the first judgment value is greater than the first preset error value, then it is determined that there is an assembly abnormality between the target bolt and the target nut and the abnormality information is output.

[0021] Specifically, in an optional embodiment of the present invention, a car model is first built into the system. In this embodiment, the system uses CATIA (Computer Aided Tri-Dimensional Interactive Application), developed by Dassault Systèmes. The 3D CAD / CAE / CAM integrated software system developed by Systemes (whose core functions cover the entire lifecycle of product design, engineering analysis, digital prototyping, and manufacturing) can be used, or other systems capable of modeling and inspection functions can be used (this is not limited to these systems). In CATIA, automotive parts are created and assembled. The assembled 3D automotive model is then inspected, identifying and inspecting bolts and nuts. Based on the inspection information of the target nut (target nut information), the axis of the target nut is obtained, along with the position and dimensions of the target bolt. The length L of the target bolt is obtained from its dimensions. Two inspection surfaces are established on the axis of the target nut, with a vertical distance A between them. The axis of the target nut is perpendicular to both inspection surfaces. The target bolt is positioned between the two inspection surfaces, in various states (tilted or lateral). The shortest distance B1 between one inspection surface and the target bolt is detected, and the shortest distance B2 between the other inspection surface and the target bolt is detected. Based on the above inspection results, calculations are performed to determine the shortest path between them. The straight-line distance A-(B2+B2) between the target bolt and the target nut along the axial direction is used as the first judgment value. The first judgment value is calculated with the length L of the target bolt. The detection error value is obtained by subtracting the value of A-(B2+B2) from the length L of the target bolt. This detection error value is compared with a first preset error value. The first preset error value is used to detect whether the target bolt is tilted relative to its corresponding target nut. If the detection error value is greater than the first preset error value, it is determined that there is a misalignment or tilt between the target bolt and the target nut, and an abnormal information is output for the operator to make corrections. If the detection error value is less than or equal to the first preset error value, the target bolt and target nut are then inspected. After the subsequent inspection is completed, the next pair of bolts and nuts is inspected until all bolts and nuts of the 3D car model are inspected. This method can quickly inspect all bolts and nuts in the car model to determine whether their combination and installation position are correct, saving a lot of working time, improving efficiency, and ensuring the accuracy of subsequent data inspection and verification of the car model.

[0022] Please see Figure 2 ; Step 210: Identify bolts and nuts by their names and obtain coordinate information for multiple bolts and nuts; Step 220: Based on the coordinate information, calculate the distance value for each bolt and each nut in sequence; Step 230: Determine the bolts and nuts with the smallest distance values ​​as a group.

[0023] Specifically, in an optional embodiment of the present invention, bolts and nuts are identified by their names. In this embodiment, bolts and nuts have different codes. The code identifies whether the part is a bolt or a nut, and the coordinate information of multiple bolts and multiple nuts is obtained. Based on the coordinate information, the distance values ​​of multiple bolts and nuts are calculated sequentially. The distance value is calculated for each bolt and each nut. The bolts and nuts with the smallest distance values ​​are paired and determined to be a group. Each nut is paired with the bolt with the smallest distance. The bolts and nuts in the same group are then assembled and inspected.

[0024] Specifically, in an optional embodiment of the present invention, determining the axis of the target nut based on the target nut information includes: obtaining multiple circles on the target nut, such as the edge of the threaded hole of the target nut, the edge of part of the nut, or the edge of the raised frustum of the nut, and obtaining the normal of each circle based on each circle; classifying the multiple normals, and judging by the multiple normals after classification, the direction with the most normals is determined as the nut axis.

[0025] Specifically, in an optional embodiment of the present invention, obtaining multiple circles on the target nut and determining the normal of each circle based on each circle includes: The system detects multiple arcs of the nut and determines whether each arc is on the same plane based on the obtained arc coordinates. It also determines whether the radius or diameter is the same. Arcs that are not on the same plane or have different radii or diameters are not matched in the same group. Matching arcs on the same plane, connecting arcs with the same radius or diameter end to end, and determining whether arcs on the same plane can form a closed circle. If multiple arcs on the same plane form a closed circle, the normal of the closed circle is obtained and categorized. Different normals are assigned to different categories, and finally, the number of normals is counted. The normal with the most numbers is the axis direction of the nut. If arcs on the same plane cannot form a closed circle, the arc is excluded, eliminating incorrect options and avoiding inaccurate detection due to too many irrelevant arcs.

[0026] Specifically, in an optional embodiment of the present invention, comparing L with the first judgment value further includes: comparing the detection error value with the first preset error value; if the detection error value is greater than the first preset error value, then the following detection is performed: obtaining the axis of the target bolt, calculating the distance difference between the axis of the target bolt and the axis of the target nut; if the distance difference between the axis of the target bolt and the axis of the target nut is greater than the second preset error value, then it is determined that the installation overlaps or is misaligned (the target bolt and the target nut overlap, or the target bolt and the target nut are completely misaligned) and abnormal information is output; if the distance difference between the axis of the target bolt and the axis of the target nut is less than or equal to the second preset error value, then it is determined that subsequent judgments are performed again.

[0027] Specifically, in an optional embodiment of the present invention, the two detection surfaces are equidistant from the target nut, and the target nut is located in the middle of the two detection surfaces. The difference between B1 and B2 is calculated. If the absolute value of the difference between B1 and B2 is greater than a third preset difference (one end of the target bolt is close to one of the detection surfaces, the bolt is only partially inserted into the nut or the bolt is not inserted into the nut), it is determined that the bolt is not installed inside the nut and an abnormal message is output. If the absolute value of the difference between B1 and B2 is less than or equal to the third preset difference, it is determined that the bolt is installed inside the nut.

[0028] Please see Figure 3 The present invention also provides a detection system for the assembly state of bolts and nuts in a three-dimensional model, used to implement the above-mentioned method for detecting the assembly state of bolts and nuts in a three-dimensional model, including: The acquisition module 310 and the detection module are used to detect the data information of the target bolt and the target nut; Processing module 320 is used to calculate the distance values ​​in the length and height directions between the target bolt and the target nut; The judgment module 330 is used to determine the assembly state between the target bolt and the target nut.

[0029] Specifically, in an optional embodiment of the present invention, the acquisition module 310 acquires data information of the target bolt and the target nut, including the external dimensions, coordinate information and name of the target bolt and the target nut, and stores the acquired information. The processing module 320 is used to calculate the distance difference between the target bolt and the target nut along the axis of the target nut, calculate the vertical distance difference between the axis of the target bolt and the axis of the target nut, and compare the calculation results. The judgment module 330 judges the calculation comparison results of the processing module 320, thereby determining the assembly state between the bolt and the nut.

[0030] Please see Figure 4 , Figure 4This is a schematic diagram of the structure of a computer system for an electronic device, as shown in an exemplary embodiment of the present invention.

[0031] In one embodiment of the present invention, a method for detecting the assembly state of bolts and nuts in a three-dimensional model is provided, including a memory, at least one processor, and a computer program stored in the memory and executable on the processor, so that a computer device implements a method for detecting the assembly state of bolts and nuts in a three-dimensional model in the above embodiments.

[0032] Computer system 400 includes a Central Processing Unit (CPU) 401, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in read-only memory (ROM) 402 or programs loaded from storage portion 408 into random access memory (RAM) 403. The RAM 403 also stores various programs and data required for system operation. The CPU 401, ROM 402, and RAM 403 are interconnected via bus 404. An input / output (I / O) interface 405 is also connected to bus 404.

[0033] The following components are connected to I / O interface 405: an input section 406 including a keyboard, mouse, etc.; an output section 407 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to I / O interface 405 as needed. A removable medium 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 410 as needed so that computer programs read from it can be installed into storage section 408 as needed.

[0034] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 409, and / or installed from removable medium 411. When the computer program is executed by central processing unit (CPU) 401, it performs various functions defined in the system of the present invention.

[0035] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 409, and / or installed from removable medium 411. When the computer program is executed by central processing unit (CPU) 401, it performs various functions defined in the system of the present invention.

[0036] Another aspect of the present invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer processor, causes the computer to perform a method for detecting the assembly state of bolts and nuts in a three-dimensional model as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently without being assembled into the electronic device.

[0037] Another aspect of the present invention provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform a method for detecting the assembly state of bolts and nuts in a three-dimensional model provided in the various embodiments above.

[0038] The electronic device disclosed in this embodiment includes a processor, a memory, a transceiver, and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication between them. The memory is used to store computer programs, the communication interface is used to perform communication, and the processor and the transceiver are used to run the computer programs, so that the electronic device performs the various steps of the above method.

[0039] In this embodiment, the memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0040] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), graphics processing units (GPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0041] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and subsamples of some embodiments may be included in or replace parts and subsamples of other embodiments. Moreover, the terminology used in this invention is for descriptive purposes only and is not intended to limit the claims. As used in the description of the embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or,” as used herein, means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this invention, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated subsamples, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other subsamples, wholes, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes the element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section. It should be noted that the computer-readable medium shown in the embodiments of this invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above. A computer-readable storage medium may, for example, be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this invention, a computer-readable signal medium may include data signals propagated in baseband or as part of a carrier wave, wherein a computer-readable computer program is carried.The transmitted data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0042] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0043] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some sub-samples may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0044] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A method for detecting the assembly state of bolts and nuts in a three-dimensional model, characterized in that, include: Obtain target nut information and target bolt information for the target nut, wherein the target bolt information includes bolt position and bolt dimensions; Based on the target nut information, the axis of the target nut is determined, and then two detection surfaces perpendicular to the axis of the target nut are determined based on the axis of the target nut, and the target bolt is positioned between the two detection surfaces; The length L of the target bolt is determined based on its external dimensions; The shortest distances B1 and B2 between the target bolt and the two detection surfaces are determined respectively, and the vertical distance A between the two detection surfaces is determined. A-(B1+B2) is the first judgment value. The L is compared with the first judgment value. If the difference between the L and the first judgment value is greater than the first preset error value, then the assembly between the target bolt and the target nut is determined to be abnormal and the abnormal information is output.

2. The method for detecting the assembly state of bolts and nuts in a three-dimensional model according to claim 1, characterized in that, Determining the axis of the target nut based on the target nut information includes: Multiple circles on the target nut are obtained, and the normal of each circle is determined based on each circle. The axis of the target nut is determined based on the normal of each circle.

3. The method for detecting the assembly state of bolts and nuts in a three-dimensional model according to claim 2, characterized in that, The step of obtaining multiple circles on the target nut and determining the normal of each circle based on each circle includes: Multiple arcs on the target nut are detected, and it is determined whether each arc is in the same plane based on the coordinates of each arc. If each arc is in the same plane and can form a closed circle, the normal of the circle is obtained; otherwise, the arc is excluded.

4. The method for detecting the assembly state of bolts and nuts in a three-dimensional model according to claim 3, characterized in that: Classifying the multiple normals includes: Normals in the same direction are grouped together, and the normals with the most numbers in the same category are used to locate the axis direction.

5. The method for detecting the assembly state of bolts and nuts in a three-dimensional model according to claim 1, characterized in that, Before obtaining the target nut information and the target bolt information, the following steps are included: Bolts and nuts are identified by their names, and coordinate information of multiple bolts and nuts is obtained. Based on the coordinate information, the distance value of each bolt and each nut is calculated sequentially, and each bolt is paired with the nut with the smallest distance value to form a set of target bolts and target nuts.

6. The method for detecting the assembly state of bolts and nuts in a three-dimensional model according to claim 1, characterized in that, Comparing L with the first judgment value further includes: The L is compared with the first judgment value. If the difference between the L and the first judgment value is less than or equal to the first preset error value, the axis of the target bolt is obtained, and the distance difference between the axis of the target bolt and the axis of the target nut is calculated. If the distance difference between the axis of the target bolt and the axis of the target nut is greater than the second preset error value, it is determined that the installation is overlapping or misaligned and abnormal information is output.

7. The method for detecting the assembly state of bolts and nuts in a three-dimensional model according to claim 6, characterized in that: The two detection surfaces are equidistant from the target nut. The difference between B1 and B2 is calculated. If the absolute value of the difference between B1 and B2 is greater than a third preset difference, it is determined that the target bolt is not installed inside the target nut and an abnormal message is output. If the absolute value of the difference between B1 and B2 is less than or equal to the third preset difference, it is determined that the target bolt is installed inside the target nut.

8. An assembly inspection system for bolts and nuts, characterized in that, A method for detecting the bolt and nut assembly state in a three-dimensional model according to any one of claims 1-7, comprising: The acquisition module and the detection module are used to detect the data information of the target bolt and the target nut; The processing module is used to calculate the distance values ​​in the length and height directions between the target bolt and the target nut; The judgment module is used to determine the assembly status between the target bolt and the target nut.

9. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement a method for detecting the assembly state of bolts and nuts in a three-dimensional model as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by the computer's processor, causes the computer to perform a method for detecting the bolt and nut assembly state in the three-dimensional model according to any one of claims 1 to 7.

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