Assembly information scanning projection sequence planning method

Abstract

The invention relates to an assembly information scanning projection sequence planning method and device, electronic equipment and a storage medium. The method comprises the steps that a geometric graph, a text graph, a mark graph or a mixed graph is adopted as a graph element to define a projection graph, a projection graph is marked, and the projection graph comprises non-communicated sub-graphs; planning a scanning projection sequence between the non-communicated sub-graphs in the projection graph, and generating a scanning path between the non-communicated sub-graphs; planning a scanning path in each non-communicated sub-graph in the projection graph, and generating the scanning path in each non-communicated sub-graph; and representing a scanning projection graph which is scanned according to the scanning paths among the non-communicated sub-graphs and the scanning paths in the non-communicated sub-graphs according to a three-layer tree structure representation sequence. The target graph can be ensured to be projected orderly, the projection frequency of the target graph is improved, and the projection effect of the target graph is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of laser scanning projection, and in particular, to an assembly information scanning projection sequence planning method and device, electronic equipment and a computer readable storage medium. BACKGROUND

[0002] In the manual assembly process of complex products, due to the inconvenience of paper / electronic technical document consultation, the assembly personnel often do not strictly, completely and accurately execute the design drawings and process documents, resulting in production quality problems such as misassembly, missing assembly, mispositioning and incomplete process requirement execution, which affects the quality of complex product production.

[0003] The emergence of laser scanning projection technology provides a powerful means to solve the above problems. The so-called laser scanning projection technology is to convert the coordinate information of the to-be-projected figure into a driving control voltage of a scanning galvanometer, and then drive a double-axis galvanometer to complete the rapid scanning of the laser beam. In the field of assembly, by using laser scanning projection technology, geometric, text and mark figures representing assembly position, assembly object, assembly method, assembly requirement can be accurately projected to the target area, forming an online assembly guidance mode based on scanning projection, providing intuitive and visual production operation information for assembly personnel, improving production operation efficiency, reducing positioning tool investment, ensuring process execution quality, and meeting the needs of complex product large-scale, high-quality and low-cost manufacturing.

[0004] Due to the hardware limitations of laser scanning projection equipment, when carrying out laser scanning projection, the length of the scanning path should be minimized for the projected figure to ensure the scanning frequency. Too many projected figures cannot be displayed at one time, and the same figure should be minimized to avoid repeated scanning, otherwise it will cause the projected figure to flicker, affecting the presentation quality of the projected figure.

[0005] In order to ensure that the scanned and projected figure is presented in high definition, when the figures representing material information, positioning information, process information and other assembly information are scanned and projected by laser, the scanning sequence of the laser projected figure needs to be reasonably planned to ensure that the scanned and projected figure reflecting the assembly information is presented in high quality.

[0006] Therefore, one or more methods are needed to solve the above problems.

[0007] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0008] The disclosure aims to provide an assembly information scanning projection sequence planning method and device, electronic equipment and computer readable storage medium, thereby at least partially overcoming one or more problems caused by limitations and defects of related technologies.

[0009] According to one aspect of the disclosure, an assembly information scanning projection sequence planning method is provided, comprising:

[0010] A geometric pattern, a text pattern, a mark pattern or a mixed pattern is used as a graphic element to define a projection pattern, and a projection pattern is marked, wherein the projection pattern comprises non-connected subgraphs;

[0011] The scanning projection sequence between the non-connected subgraphs in the projection pattern is planned to generate a scanning path between the non-connected subgraphs;

[0012] The scanning path inside each non-connected subgraph in the projection pattern is planned to generate a scanning path inside each non-connected subgraph;

[0013] The scanning projection pattern after scanning according to the scanning path between the non-connected subgraphs and the scanning path inside each non-connected subgraph is represented according to a 3-layer tree structure representation.

[0014] In an exemplary embodiment of the disclosure, the method further comprises:

[0015] The geometric pattern refers to a pattern composed of several geometric elements, and the edge profile and center point information can be represented by the geometric elements;

[0016] The text pattern refers to a pattern composed of several text elements, and the code, specification, size and unit of measurement information can be represented by the text elements;

[0017] The mark pattern refers to a pattern composed of several mark elements, and the installation direction, welding method and annotation information can be represented by the mark elements;

[0018] The mixed pattern refers to a pattern containing two or more of geometric elements, text elements and mark elements.

[0019] In an exemplary embodiment of the disclosure, the method further comprises:

[0020] When both non-connected subgraphs are Euler graphs, the distance between all control points on one non-connected subgraph relative to all control points on the other non-connected subgraph is calculated, and the smallest distance is taken as the transfer path length between the two non-connected subgraphs;

[0021] When one non-connected subgraph is a non-Euler graph and one non-connected subgraph is an Euler graph, the distance between all control points in the non-connected subgraph belonging to the Euler graph and the odd points in the non-connected subgraph belonging to the non-Euler graph is calculated, and the minimum distance is taken as the transfer path length between the two non-connected subgraphs.

[0022] When both non-connected subgraphs are non-Euler graphs, the distance between all odd points in the two non-connected subgraphs is calculated, and the minimum distance is taken as the transfer path length between the two non-connected subgraphs.

[0023] In an exemplary embodiment of the present disclosure, the method further comprises:

[0024] A non-connected subgraph projection scanning sequence is given.

[0025] Based on the calculation formula of the transfer path length of the non-connected subgraph, the transfer path length between each two non-connected subgraphs in the projection graph is calculated.

[0026] According to the given non-connected subgraph sequence, the transfer path length between adjacent non-connected subgraphs in the sequence is summed up to obtain the total transfer path length corresponding to the non-connected subgraph sequence.

[0027] If the total transfer path length is the current minimum value, the corresponding non-connected subgraph sequence is recorded.

[0028] If the total transfer path length is not the minimum value, the non-connected subgraph sequence is updated, and the total transfer path length is repeatedly calculated and determined whether it is the minimum value.

[0029] After all non-connected subgraph sequences are traversed, the recorded non-connected subgraph sequence is taken as the non-connected subgraph projection scanning sequence.

[0030] In an exemplary embodiment of the present disclosure, when the scanning path inside each non-connected subgraph in the projection graph is planned, the method further comprises:

[0031] According to the type of each non-connected subgraph and the projection scanning start and end positions, the non-connected subgraphs are classified into four categories: non-connected subgraph is an Euler graph and the scanning entry point or exit point has been determined, non-connected subgraph is an Euler graph and the scanning entry point and exit point have been determined, non-connected subgraph is a non-Euler graph and the scanning entry point or exit point has been determined, and non-connected subgraph is a non-Euler graph and the scanning entry point and exit point have been determined.

[0032] In an exemplary embodiment of the present disclosure, the method further comprises:

[0033] For the non-connected subgraph being an Euler graph and the scanning entry point or exit point type being determined, taking the entry point or exit point as the starting point of the internal scanning of the non-connected subgraph, the Fleury algorithm is adopted to find a path without repeating traversing each edge of the non-connected subgraph, and the order of the control points passed on the path is recorded as the internal projection scanning sequence.

[0034] For the non-connected subgraph being an Euler graph and the scanning entry point and exit point types being determined, an auxiliary line is added between the entry point and the exit point, taking the scanning entry point as the starting point and the scanning exit point as the terminating point, the Fleury algorithm is adopted to find a path without repeating traversing each edge of the non-connected subgraph, and the order of the control points passed on the path is recorded as the internal projection scanning sequence.

[0035] For the non-connected subgraph being a non-Euler graph and the scanning entry point or exit point type being determined, between the odd points of the non-connected subgraph, (q-2) / 2 auxiliary lines are connected, where q represents the number of odd points, each odd point is connected with at most one auxiliary line, and the total length of the auxiliary lines is minimized, taking the scanning entry point as the starting point or the scanning exit point as the terminating point, the Fleury algorithm is adopted to find a path without repeating traversing each edge of the non-connected subgraph, and the order of the control points passed on the path is recorded as the internal projection scanning sequence.

[0036] For the non-connected subgraph being a non-Euler graph and the scanning entry point and exit point types being determined, for the other odd points except the scanning entry point and the exit point, q / 2 auxiliary lines are connected, where q represents the number of odd points, and the total length of the auxiliary lines is minimized, taking the scanning entry point as the starting point and the scanning exit point as the terminating point, the Fleury algorithm is adopted to find a path without repeating traversing each edge of the non-connected subgraph, and the order of the control points passed on the path is recorded as the internal projection scanning sequence.

[0037] In an exemplary embodiment of the present disclosure, the method further comprises:

[0038] In assembling the projection process, the scanning projection order of the projection control points is determined according to the depth-first rule, and the projection pattern on the product physical surface is realized.

[0039] In an aspect of the present disclosure, a device for planning a scanning projection sequence of assembly information is provided, comprising:

[0040] A projection pattern definition module is configured to define a projection pattern by using a geometric pattern, a text pattern, a mark pattern, or a mixed pattern as a graphic element, and mark a projection pattern, wherein the projection pattern comprises a non-connected subgraph.

[0041] a graph inter-path planning module, configured to plan a scanning path between non-connected subgraphs in the projection graph, and generate a scanning path between non-connected subgraphs;

[0042] a graph intra-path planning module, configured to plan a scanning path inside each non-connected subgraph in the projection graph, and generate a scanning path inside each non-connected subgraph;

[0043] a projection graph sequence representation module, configured to represent a scanning projection graph after scanning according to the scanning path between non-connected subgraphs and the scanning path inside each non-connected subgraph, in a 3-layer tree structure.

[0044] In one aspect of the present disclosure, an electronic device is provided, comprising:

[0045] a processor; and

[0046] a memory, having computer readable instructions stored thereon, which, when executed by the processor, implement the method according to any one of the above.

[0047] In one aspect of the present disclosure, a computer readable storage medium is provided, having a computer program stored thereon, which, when executed by a processor, implements the method according to any one of the above.

[0048] In one of the exemplary embodiments of the present disclosure, an assembly information scanning projection sequence planning method is provided, which comprises: defining a projection graph by using a geometric graph, a text graph, a mark graph or a mixed graph as a graph element, marking a projection graph, the projection graph comprising non-connected subgraphs; planning a scanning projection sequence between non-connected subgraphs in the projection graph, and generating a scanning path between non-connected subgraphs; planning a scanning path inside each non-connected subgraph in the projection graph, and generating a scanning path inside each non-connected subgraph; and representing a scanning projection graph after scanning according to the scanning path between non-connected subgraphs and the scanning path inside each non-connected subgraph, in a 3-layer tree structure. The present disclosure reasonably plans a laser projection scanning sequence of a target graph representing specific assembly information based on relative positions and features of the projection graph, ensures that the target graph is projected in order, improves the projection frequency of the target graph, and improves the projection effect of the target graph.

[0049] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0050] The above and other features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

[0051] Figure 1 A flow chart of a method for planning a sequence of scan projections is shown according to an example embodiment of the present disclosure;

[0052] Figure 2 A flow chart of a method for planning a sequence of scan projections is shown according to an example embodiment of the present disclosure;

[0053] Figure 3 A structure diagram of a sequence of assembly projections is shown according to an example embodiment of the present disclosure;

[0054] Figure 4 A diagram of an example of a projection pattern is shown according to an example embodiment of the present disclosure;

[0055] Figure 5 A diagram of an example of a sequence of scan projections is shown according to an example embodiment of the present disclosure;

[0056] Figure 6 A diagram of an example of a sequence of scan projections is shown according to an example embodiment of the present disclosure;

[0057] Figure 7 A diagram of an example of a sequence of scan projections is shown according to an example embodiment of the present disclosure;

[0058] Figure 8 A schematic block diagram of a device for planning a sequence of scan projections is shown according to an example embodiment of the present disclosure;

[0059] Figure 9 A block diagram of an electronic device is schematically shown according to an example embodiment of the present disclosure;

[0060] Figure 10 A schematic diagram of a computer readable storage medium is schematically shown according to an example embodiment of the present disclosure. DETAILED DESCRIPTION

[0061] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, however, can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and descriptions of the same elements can be omitted from the descriptions of the figures.

[0062] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details described, or other methods, components, materials, apparatuses, steps, etc., can be employed. In other instances, well-known structures, methods, apparatuses, implementations, materials, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0063] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, or in one or more software-hardened modules, or in different network and / or processor devices and / or microcontroller devices.

[0064] In this example embodiment, an assembly information scanning projection sequence planning method is first provided; refer to Figure 1 As shown, the assembly information scanning projection sequence planning method may include the following steps:

[0065] Step S110: Define the projected graphic using geometric graphics, text graphics, marker graphics, or hybrid graphics as graphic elements, and mark a projected graphic, wherein the projected graphic includes a non-connected subgraph.

[0066] Step S120: Plan the scanning projection sequence between non-connected subgraphs in the projected graphic to generate scanning paths between non-connected subgraphs;

[0067] Step S130: Plan the scanning path inside each non-connected subgraph in the projected graphic to generate the scanning path inside each non-connected subgraph.

[0068] Step S140: The scan projection graphic after scanning, which is completed according to the scan path between non-connected subgraphs and the scan path within each non-connected subgraph, is represented by a 3-layer tree structure representation sequence.

[0069] The assembly information scanning projection sequence planning method in one of the example embodiments of the present disclosure comprises: defining a projection graph by using a geometric graph, a text graph, a mark graph or a mixed graph as a graph element, marking a projection graph, wherein the projection graph comprises non-connected subgraphs; planning a scanning projection sequence between the non-connected subgraphs in the projection graph to generate a scanning path between the non-connected subgraphs; planning a scanning path inside each non-connected subgraph in the projection graph to generate a scanning path inside each non-connected subgraph; and representing the scanning projection graph after scanning according to the scanning path between the non-connected subgraphs and the scanning path inside each non-connected subgraph in a 3-layer tree structure table. The present disclosure reasonably plans a laser projection scanning sequence of a target graph representing specific assembly information based on the relative position and features of the projection graph, ensures that the target graph is projected in order, improves the projection frequency of the target graph, and improves the projection effect of the target graph.

[0070] In the following, the assembly information scanning projection sequence planning method in the example embodiment will be further described.

[0071] Embodiment one:

[0072] In step S110, a projection graph can be defined by using a geometric graph, a text graph, a mark graph or a mixed graph as a graph element, and a projection graph is marked, wherein the projection graph comprises non-connected subgraphs;

[0073] In the example embodiment, the method further comprises:

[0074] The geometric graph refers to a graph composed of a plurality of geometric elements, and the edge contour and center point information can be represented by the geometric elements;

[0075] The text graph refers to a graph composed of a plurality of text elements, and the code, specification, size and unit of measurement information can be represented by the text elements;

[0076] The mark graph refers to a graph composed of a plurality of mark elements, and the installation direction, welding method and annotation information can be represented by the mark elements;

[0077] The mixed graph refers to a graph containing two or more of the geometric elements, the text elements and the mark elements.

[0078] In step S120, a scanning projection sequence between the non-connected subgraphs in the projection graph can be planned to generate a scanning path between the non-connected subgraphs;

[0079] In the example embodiment, the method further comprises:

[0080] When both non-connected subgraphs are Euler graphs, the distance between all control points in one non-connected subgraph relative to all control points in another non-connected subgraph is calculated, and the smallest distance is taken as the transfer path length between the two non-connected subgraphs;

[0081] When one non-connected subgraph is a non-Euler graph and the other is an Euler graph, the distance between all control points in the non-connected subgraph belonging to the Euler graph and the odd points in the non-connected subgraph belonging to the non-Euler graph is calculated, and the smallest distance is taken as the transfer path length between the two non-connected subgraphs;

[0082] When both non-connected subgraphs are non-Euler graphs, the distance between all odd points in the two non-connected subgraphs is calculated, and the smallest distance is taken as the transfer path length between the two non-connected subgraphs.

[0083] In the embodiment of the present example, the method further includes:

[0084] A non-connected subgraph projection scanning sequence is given;

[0085] Based on the calculation formula of the transfer path length of the non-connected subgraph, the transfer path length between each pair of non-connected subgraphs in the projection graph is calculated;

[0086] According to the given non-connected subgraph sequence, the transfer path lengths between adjacent non-connected subgraphs in the sequence are summed up to obtain the total transfer path length corresponding to the non-connected subgraph sequence;

[0087] If the total transfer path length is the current minimum value, the corresponding non-connected subgraph sequence is recorded;

[0088] If the total transfer path length is not the minimum value, the non-connected subgraph sequence is updated, and the total transfer path length is repeatedly calculated and determined whether it is the minimum value;

[0089] After all non-connected subgraph sequences are traversed, the recorded non-connected subgraph sequence is taken as the non-connected subgraph projection scanning sequence.

[0090] In step S130, the scanning path inside each non-connected subgraph in the projection graph can be planned to generate the scanning path inside each non-connected subgraph;

[0091] In the embodiment of the present example, when the scanning path inside each non-connected subgraph in the projection graph is planned, the method further includes:

[0092] According to the type of each non-connected subgraph and the start and end positions of the projection scanning, the non-connected subgraph is classified into four types: the non-connected subgraph is an Euler graph and the scanning entry point or exit point is determined, the non-connected subgraph is an Euler graph and the scanning entry point and exit point are determined, the non-connected subgraph is a non-Euler graph and the scanning entry point or exit point is determined, and the non-connected subgraph is a non-Euler graph and the scanning entry point and exit point are determined.

[0093] In the embodiment of the present example, the method further comprises:

[0094] For the type of non-connected subgraph being an Euler graph and the scanning entry point or exit point being determined, the Fleury algorithm is used to find a path that does not repeatedly traverse each edge of the non-connected subgraph, taking the entry point or exit point as the starting point of the internal scanning of the non-connected subgraph, and the order of the control points passed through on the path is recorded as the internal projection scanning sequence.

[0095] For the type of non-connected subgraph being an Euler graph and the scanning entry point and exit point being determined, an auxiliary line is added between the entry point and the exit point, the Fleury algorithm is used to find a path that does not repeatedly traverse each edge of the non-connected subgraph, taking the scanning entry point as the starting point and the scanning exit point as the termination point, and the order of the control points passed through on the path is recorded as the internal projection scanning sequence.

[0096] For the type of non-connected subgraph being a non-Euler graph and the scanning entry point or exit point being determined, (q-2) / 2 auxiliary lines are connected between the singular points of the non-connected subgraph, where q represents the number of singular points, and each singular point is connected with at most one auxiliary line, and the total length of the auxiliary lines is minimized, the Fleury algorithm is used to find a path that does not repeatedly traverse each edge of the non-connected subgraph, taking the scanning entry point as the starting point or the scanning exit point as the termination point, and the order of the control points passed through on the path is recorded as the internal projection scanning sequence.

[0097] For the type of non-connected subgraph being a non-Euler graph and the scanning entry point and exit point being determined, q / 2 auxiliary lines are connected for the singular points other than the scanning entry point and exit point, where q represents the number of singular points, and the total length of the auxiliary lines is minimized, the Fleury algorithm is used to find a path that does not repeatedly traverse each edge of the non-connected subgraph, taking the scanning entry point as the starting point and the scanning exit point as the termination point, and the order of the control points passed through on the path is recorded as the internal projection scanning sequence.

[0098] In step S140, the scanning projection graph after the scanning according to the scanning path between the non-connected subgraphs and the scanning path inside each non-connected subgraph can be represented according to a 3-layer tree structure table.

[0099] In the embodiment of the present example, the method further comprises:

[0100] In assembling the projection process, the scanning projection order of the projection control points is determined according to the depth-first rule to realize the projection pattern on the product physical surface.

[0101] In the embodiment of the present example, the assembly information laser scanning projection sequence planning method of the present disclosure reasonably plans the laser projection scanning sequence of the target pattern representing specific assembly information based on the relative position and characteristics of the projection pattern, ensures the ordered projection of the target pattern, improves the projection frequency of the target pattern, and improves the projection effect of the target pattern.

[0102] Embodiment two:

[0103] In the embodiment of the present example, the projection pattern definition step comprises:

[0104] In the design of the laser scanning projection pattern of the assembly information, in order to express the material information (material specification, quantity, etc.), orientation information (outline, distance, orientation, etc.), and process information (torque information, welding information, punching hole information, and glue coating information) required for assembly, a geometric pattern, a text pattern, a marker pattern, or a mixed pattern is used as a projection pattern. Among them:

[0105] a) Geometric pattern refers to a pattern composed of several geometric elements (points, solid lines, dotted lines, B-spline curves, etc.), which can represent edge contours, center points, etc. information;

[0106] b) Text pattern refers to a pattern composed of several text elements (letters, numbers, punctuation marks, mathematical symbols, etc.), which can represent code, specification, size, unit of measurement, etc. information;

[0107] c) Marker pattern refers to a pattern composed of several marker elements (arrow markers, shape markers, method markers, etc.), which can represent installation direction, welding method, annotation, etc. information;

[0108] d) Mixed pattern refers to a pattern containing two or more of geometric elements, text elements, and marker elements.

[0109] Considering that a projection pattern involves many pattern elements, and the pattern elements may not be connected to each other, a projection pattern can be recorded as:

[0110] H={G i}1≤i≤g

[0111] In the formula, H represents the projection pattern, Gi represents the ith non-connected subgraph in the projection pattern, and g represents the total number of non-connected subgraphs in the projection pattern.

[0112] For each non-connected subgraph, discretization into a plurality of control points is required before projection, and scanning is performed along the connection line between the control points, and finally the projection pattern is presented.

[0113] In the embodiment of the present example, the scanning projection sequence planning step between non-connected subgraphs includes:

[0114] When performing laser scanning projection on a projection pattern involving a plurality of non-connected subgraphs, in order to avoid irrelevant scanning curves between subgraphs, the laser will be turned off when the projection device scans along the path between the subgraphs. The on-off of the laser consumes a certain amount of time, affecting the frequency of laser scanning. In order to reduce the number of times the laser is turned off, each non-connected subgraph needs to be scanned in turn, that is, after completing the scanning projection of one non-connected subgraph, scanning projection is performed on another non-connected subgraph.

[0115] When laser scanning projection is transferred from one non-connected subgraph to another non-connected subgraph, the longer the transfer path, the more time is consumed, which in turn affects the frequency of scanning projection. Therefore, it is necessary to reasonably plan the scanning projection sequence between non-connected subgraphs so that the total length of the transfer path between non-connected subgraphs is minimized.

[0116] Let G j and G k represent two non-connected subgraphs, d j，k represent the minimum transfer distance between the two non-connected subgraphs, according to the characteristics of the non-connected subgraphs, d j，k The calculation is divided into three cases.

[0117] a) Both non-connected subgraphs are Euler graphs

[0118] The distance between all control points on one non-connected subgraph relative to all control points on another non-connected subgraph is calculated, and the minimum distance between them is taken as the transfer path length between the two non-connected subgraphs. The calculation formula is as follows:

[0119] d j，k =min{dist(p j，m ,p k,n )}1≤m≤M,1≤n≤N

[0120] In the formula, M and N represent the total number of control points on G i and G j , respectively, and p j,m and p k，n represent the mth control point on G j and G kThe nth control point, and function dist( ) represents the Euclidean distance between two points.

[0121] b) One non-connected subgraph is a non-Euler graph, and one non-connected subgraph is an Euler graph

[0122] The distance between all control points belonging to the non-connected subgraph of the Euler graph and the odd points belonging to the non-connected subgraph of the non-Euler graph is calculated, and the minimum distance is taken as the transfer path length between the two non-connected subgraphs. The calculation formula is as follows (take G j as an Euler graph, and G k as a non-Euler graph as an example):

[0123] d j， k = Min{dist(p j，m , q k，n )} 1≤m≤M, 1≤n≤N'

[0124] In the formula: M represents the total number of control points of the subgraph G j , N' represents the total number of odd points of the subgraph G j,m , p k，n′ and q j represent the mth control point of G k and the nth odd point of G j，k , respectively, and function dist( ) represents the Euclidean distance between two points.

[0125] c) Both non-connected subgraphs are non-Euler graphs

[0126] The distance between all odd points in the two non-connected subgraphs is calculated, and the minimum distance is taken as the transfer path length between the two subgraphs. The calculation formula is as follows:

[0127] d j，k = Min{dist(q j，m , q k，n )} 1≤m≤M', 1≤n≤N'

[0128] In the formula: M' and N' represent the total number of odd points of G j and G k , respectively, q j,m′ and q k,n′ represent the mth odd point of G j and the nth odd point of G k , respectively, and function dist( ) represents the Euclidean distance between two points.

[0129] Based on the above non-connected subgraph transfer path calculation formula, the non-connected subgraph scanning projection sequence solving process is as shown in Figure 2 .

[0130] a) A non-connected subgraph projection scanning sequence is given;

[0131] b) Based on the above formula of non-connected subgraph transfer path length, the transfer path length between each two non-connected subgraphs in the projection graph is calculated (especially, for the non-connected subgraph of non-Euler graph, the scanning entry point and exit point cannot be the same) ;

[0132] c) According to the given non-connected subgraph sequence, the transfer path length between adjacent non-connected subgraphs in the sequence is summed up to obtain the total transfer path length corresponding to the non-connected subgraph sequence;

[0133] d) If the total transfer path length is the current minimum value, the corresponding non-connected subgraph sequence is recorded;

[0134] e) If the total transfer path length is not the minimum value, the non-connected subgraph sequence is updated, and steps 3)-4) are repeated;

[0135] f) After all non-connected subgraph sequences are traversed, the recorded non-connected subgraph sequence is taken as the non-connected subgraph projection scanning sequence.

[0136] In the embodiment of the present example, the non-connected subgraph internal scanning projection sequence planning step includes:

[0137] After completing the non-connected subgraph between projection scanning sequence planning, the entry point and exit point of each subgraph internal scanning can be obtained. Next, the scanning path in each non-connected subgraph needs to be planned. In order to ensure the projection effect, it is necessary to make each edge between the control points on the non-connected subgraph only scan once.

[0138] According to the type of subgraph and the start and end positions of projection scanning, the projection scanning sequence of the subgraph is planned, which is divided into the following 4 cases.

[0139] 1) The non-connected subgraph is an Euler graph and the scanning entry point or exit point has been determined

[0140] Taking the entry point or exit point as the starting point of the non-connected subgraph internal scanning, using Fleury algorithm, a path without repeating each edge on the non-connected subgraph is found, and the control point sequence passed on the path is recorded as the internal projection scanning sequence.

[0141] 2) The non-connected subgraph is an Euler graph and the scanning entry point and exit point have been determined

[0142] An auxiliary line is added between the entry point and the exit point (if the entry point and the exit point are the same point, no auxiliary line is needed), taking the scanning entry point as the starting point and the scanning exit point as the terminal point, using Fleury algorithm, a path without repeating each edge on the non-connected subgraph (including auxiliary line) is found, and the control point sequence passed on the path is recorded as the internal projection scanning sequence.

[0143] 3) non-connected subgraph is non-Eulerian graph, the scanning entry point or exit point is determined

[0144] For non-connected subgraph is non-Eulerian graph and the scanning entry point and exit point are determined, for other odd points except scanning entry point and exit point, connect q / 2 auxiliary lines (q represents the number of odd points), and make the total length of auxiliary lines minimum. Take the scanning entry point as the starting point and the scanning exit point as the ending point, and find a path that traverses each edge of the non-connected subgraph without repetition by using Fleury algorithm. Record the order of control points passed on the path as the internal projection scanning sequence.

[0145] 4) subgraph is non-Eulerian graph, the scanning entry point and exit point are determined

[0146] For other odd points except scanning entry point and exit point, connect q / 2 auxiliary lines (q represents the number of odd points), and make the total length of auxiliary lines minimum. On this basis, take the scanning entry point as the starting point and the scanning exit point as the ending point, and find a path that traverses each edge of the non-connected subgraph (including auxiliary lines) without repetition by using Fleury algorithm. Record the order of control points passed on the path as the internal projection scanning sequence.

[0147] In the embodiment of the present example, the scanning projection pattern sequence representation step comprises:

[0148] The scanning sequence of a projection pattern (including scanning sequence between non-connected subgraphs and scanning sequence inside non-connected subgraphs) is represented by a 3-layer tree structure, as shown in Figure 4 .

[0149] Wherein:

[0150] 1) The projection pattern is the first level (root node) of the tree structure;

[0151] 2) Each non-connected subgraph constituting the projection pattern is a node at the second level, and each node is arranged from top to bottom according to the planned subgraph sequence;

[0152] 3) Control points constituting the subgraph are at the third level

[0153] In the assembly projection process, the scanning projection order of the projection control points is determined according to the depth-first rule, and finally the projection pattern is formed on the surface of the product physical object.

[0154] Embodiment three:

[0155] In the embodiment of the present example, as shown in Figure 4As shown, taking a certain welding symbol as a projection pattern, based on the method of the present application, the scanning projection sequence is solved in 3 steps.

[0156] First step: as shown, the non-connected subgraphs contained in the projection pattern are identified, and the scanning projection sequence between the non-connected subgraphs is obtained through the sequence planning method. Figure 5

[0157] Second step: as shown, for each non-connected subgraph, the scanning projection sequence inside the non-connected subgraph is obtained through the sequence planning method. Figure 6

[0158] Third step: as shown, according to the scanning projection sequence between the non-connected subgraphs and the scanning projection sequence inside each non-connected subgraph, the scanning sequence of the entire projection pattern is formed. Figure 7

[0159] In the embodiment of the present example, the present application can automatically obtain a more reasonable scanning projection sequence for the projected pattern, reduce the total length of the scanning path, and improve the display effect of the projection pattern.

[0160] It should be noted that although the steps of the method in the present disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired result. In addition or alternatively, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be divided into multiple steps, etc.

[0161] In addition, in the example embodiment, an assembly information scanning projection sequence planning device is also provided. As shown, Figure 8 The assembly information scanning projection sequence planning device 200 can include a projection pattern definition module 210, an inter-graph path planning module 220, an intra-graph path planning module 230, and a projection pattern sequence representation module 240. Among them:

[0162] The projection pattern definition module 210 is configured to define a projection pattern using geometric patterns, text patterns, marker patterns, or mixed patterns as pattern elements, mark a projection pattern, and the projection pattern includes non-connected subgraphs.

[0163] The inter-graph path planning module 220 is configured to plan the scanning projection sequence between the non-connected subgraphs in the projection pattern and generate the scanning path between the non-connected subgraphs.

[0164] The intra-graph path planning module 230 is configured to plan the scanning path inside each non-connected subgraph in the projection pattern and generate the scanning path inside each non-connected subgraph.​​​

[0165] The projection pattern sequence representation module 240 is configured to represent the scan projection patterns after scanning according to the scan paths between the non-connected subgraphs and the scan paths within each non-connected subgraph according to the 3-layer tree structure.

[0166] The specific details of each of the above-mentioned assembly information scanning projection sequence planning device modules have been described in detail in the corresponding assembly information scanning projection sequence planning method, and therefore will not be described here.

[0167] It should be noted that although several modules or units of the assembly information scanning projection sequence planning device 200 are mentioned in the above detailed description, such division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into several modules or units.

[0168] In addition, in the exemplary embodiments of the present disclosure, an electronic device capable of implementing the above-mentioned method is also provided.

[0169] Those skilled in the art can understand that various aspects of the present disclosure can be implemented as a system, a method or a program product. Therefore, various aspects of the present disclosure can be embodied as a complete hardware embodiment, a complete software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects, which can be collectively referred to as "circuitry", "module" or "system" here.

[0170] The electronic device 500 according to this embodiment of the present disclosure will be described below with reference to Figure 9 Figure 9 The display electronic device 500 is only an example and should not impose any limitation on the functions and use range of the embodiments of the present disclosure.

[0171] As shown in Figure 9 The electronic device 500 is shown in the form of a general computing device. The components of the electronic device 500 can include, but are not limited to, the above-mentioned at least one processing unit 510, the above-mentioned at least one storage unit 520, a bus 530 connecting different system components (including the storage unit 520 and the processing unit 510), and a display unit 540.

[0172] The storage unit stores program code which can be executed by the processing unit 510, so that the processing unit 510 performs the steps described in the above "exemplary method" section according to various exemplary embodiments of the present disclosure. For example, the processing unit 510 can execute the steps described in the above "exemplary method" section according to various exemplary embodiments of the present disclosure.​Figure 1 Steps S110 to S140 shown in FIG. 10.

[0173] The storage unit 520 can include a readable medium in the form of volatile storage such as a random access memory (RAM) 5201 and / or cache memory 5202, and can further include a read-only memory (ROM) 5203.

[0174] The storage unit 520 can also include a program / utility 5204 having a set (at least one) of program modules 5205, including an operating system, one or more application programs, other program modules, and program data, each of which gives the electronic device 500 the ability to function in a networked environment, as each of these examples or some combination thereof can include implementation of the techniques described herein.

[0175] The bus 530 can represent one or more of several types of bus structures, including a storage bus or bus controller, a peripheral bus, a graphics acceleration bus, a processor or local bus using any of a variety of bus architectures, and the like.

[0176] The electronic device 500 can also communicate with one or more external devices 570 such as a keyboard or pointing device, a Bluetooth device, etc.; other devices that enable a user to interact with the electronic device 500; and / or one or more devices that enable the electronic device 500 to communicate with one or more other computing devices. Such communication can be facilitated by an input / output (I / O) interface 550. Still yet, the electronic device 500 can communicate with one or more networks, such as a local area network (LAN), a wide area network (WAN), and / or the Internet, through a network adapter 560. As depicted, the network adapter 560 can communicate with the other components of the electronic device 500 through the bus 530. It should be appreciated that although the network adapter 560 is depicted as a single component, the network adapter 560 can comprise two or more components that operate together to facilitate the communication of the electronic device 500 with one or more networks. It should also be appreciated that not all of the components shown in FIG. 5 can be required, that implementations of the electronic device 500 can include other components that are not explicitly shown, and that one or more components can be consolidated. For example, the electronic device 500 can be a mobile device such as a mobile phone, a smart phone, a tablet, a laptop, a netbook, etc. In such a case, the electronic device 500 can not include the storage unit 520, the display 540, and / or the input / output interface 550.

[0177] Those skilled in the art will easily understand, through the above description of the embodiments, that the example embodiments described herein can be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, etc.) or a network, and includes a plurality of instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to perform the methods according to the embodiments of the present disclosure.

[0178] In exemplary embodiments of the present disclosure, a computer readable storage medium having stored thereon a program product capable of implementing the above-described methods of the present specification is also provided. In some possible embodiments, various aspects of the present application can also be implemented in the form of a program product including program code, which, when run on a terminal device, causes the terminal device to perform the steps described in the above "Exemplary Methods" section according to various exemplary embodiments of the present application.

[0179] Reference Figure 10 As shown, a program product 600 for implementing the above-described methods according to embodiments of the present application is described, which can take the form of a portable compact disc read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto, and in the present document, the readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus or device.

[0180] The program product can take any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium, for example, can be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0181] The computer readable signal medium can include a data signal propagated in baseband or propagated as a carrier wave in a propagated data signal, in which the readable program code is carried. Such propagated data signal can take various forms, including but not limited to electromagnetic signal, optical signal or any suitable combination thereof. The readable signal medium can also be any readable medium other than the readable storage medium, which can send, propagate or transmit the program for use by or in conjunction with an instruction execution system, apparatus or device.

[0182] The program code contained on the readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0183] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0184] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0185] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0186] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for planning assembly information scanning projection sequences, characterized in that, The method includes: A projected graphic is defined using geometric graphics, text graphics, marker graphics, or hybrid graphics as graphic elements, and a projected graphic is marked. The projected graphic includes a non-connected subgraph. The scanning projection sequence between non-connected subgraphs in the projected graphic is planned to generate scanning paths between non-connected subgraphs; The scanning paths within each non-connected subgraph in the projected graphic are planned to generate the scanning paths within each non-connected subgraph. The scan projection graphic, which is completed by scanning the scan paths between non-connected subgraphs and within each non-connected subgraph, is represented by a 3-layer tree structure representation sequence.

2. The method as described in claim 1, characterized in that, The method further includes: The geometric graphics refer to graphics composed of several geometric elements, which can represent edge contours and center point information. The text-based graphics refer to graphics composed of several text elements, which can represent information such as codes, specifications, size, and units of measurement. The marked graphics refer to graphics composed of several marked elements, which can represent the installation direction, welding method, and annotation information. The hybrid graphics refer to graphics that contain two or more of the following: geometric elements, text elements, and marker elements.

3. The method as described in claim 1, characterized in that, The method further includes: When both non-connected subgraphs are Eulerian graphs, calculate the distances between all control points in one non-connected subgraph and all control points in the other non-connected subgraph, and use the minimum distance as the transition path length between the two non-connected subgraphs. When one non-connected subgraph is a non-Eulerian graph and the other non-connected subgraph is an Eulerian graph, calculate the distances between all control points in the non-connected subgraph belonging to the Eulerian graph and the singular points in the non-connected subgraph belonging to the non-Eulerian graph, and take the minimum distance as the transition path length between the two non-connected subgraphs. When both non-connected subgraphs are non-Eulerian graphs, calculate the distance between all singular vertices in the two non-connected subgraphs, and take the minimum distance as the transition path length between the two non-connected subgraphs.

4. The method as described in claim 3, characterized in that, The method described above includes the following steps for solving the non-connected subgraph scan projection sequence: Given a non-connected subgraph projection scan sequence; Based on the calculation formula for the transition path length of the non-connected subgraph, the transition path length between any two non-connected subgraphs in the projected graphic is calculated respectively. Given a sequence of non-connected subgraphs, the total length of the transition paths between adjacent non-connected subgraphs in the sequence is obtained by summing the lengths of the transition paths corresponding to the sequence of non-connected subgraphs. If the total length of the transition path is the current minimum, then record the corresponding non-connected subgraph sequence; If the total length of the transition path is not the minimum value, then update the non-connected subgraph sequence, repeat the calculation of the total length of the transition path and determine whether it is the minimum value; After traversing all non-connected subgraph sequences, the recorded non-connected subgraph sequences are used as the non-connected subgraph projection scan sequences.

5. The method as described in claim 1, characterized in that, The method further includes, when planning the scan path within each non-connected subgraph in the projected graphic, the following: Based on the type of each non-connected subgraph and the start and end positions of the projection scan, the non-connected subgraphs are classified into four categories: non-connected subgraphs that are Eulerian graphs with a determined scan entry or exit point, non-connected subgraphs that are Eulerian graphs with a determined scan entry and exit point, non-connected subgraphs that are non-Eulerian graphs with a determined scan entry or exit point, and subgraphs that are non-Eulerian graphs with a determined scan entry and exit point.

6. The method as described in claim 5, characterized in that, The method further includes: For non-connected subgraphs that are Eulerian graphs and whose entry or exit point types have been determined, the entry or exit point is used as the starting point for scanning within the non-connected subgraph. The Fleury algorithm is used to find a path that traverses each edge of the non-connected subgraph without repetition, and the order of the control points passed along the path is recorded as the internal projection scan sequence. For non-connected subgraphs that are Eulerian graphs and whose entry and exit point types have been determined, an auxiliary line is added between the entry and exit points. The entry point is used as the starting point and the exit point is used as the ending point. The Fleury algorithm is used to find a path that traverses each edge of the non-connected subgraph without repetition. The order of the control points passed along the path is recorded as the internal projection scan sequence. For non-connected subgraphs that are non-Eulerian graphs with a determined scan entry or exit point type, connect (q-2) / 2 auxiliary lines between the singularities in the non-connected subgraph, where q represents the number of singularities. Each singularity is connected by at most one auxiliary line, and the total length of the auxiliary lines is minimized. Using the scan entry point as the starting point or the scan exit point as the ending point, the Fleury algorithm is used to find a path that traverses all edges of the non-connected subgraph without repetition. The order of the control points passed along the path is recorded as the internal projection scan sequence. For a non-connected subgraph that is a non-Eulerian graph and whose scan entry and exit point types are determined, connect q / 2 auxiliary lines to other singularities besides the scan entry and exit points, where q represents the number of singularities, and the total length of the auxiliary lines is minimized. Using the scan entry point as the starting point and the scan exit point as the ending point, the Fleury algorithm is used to find a path that traverses all edges of the non-connected subgraph without repetition, and the order of the control points passed along the path is recorded as the internal projection scan sequence.

7. The method as described in claim 1, characterized in that, The method further includes: During the assembly projection process, the scanning projection sequence of the projection control points is determined according to the depth-first rule to realize the projected graphics on the surface of the product.

8. An assembly information scanning projection sequence planning device, characterized in that, The device includes: The projection graphic definition module is used to define a projection graphic using geometric graphics, text graphics, marker graphics, or hybrid graphics as graphic elements, and to mark a projection graphic, wherein the projection graphic includes a non-connected subgraph. The inter-graph path planning module is used to plan the scanning projection sequence between non-connected subgraphs in the projected graph and generate scanning paths between non-connected subgraphs. The in-graphic path planning module is used to plan the scanning path inside each non-connected subgraph in the projected graphic and generate the scanning path inside each non-connected subgraph. The projection graphic sequence representation module is used to represent the scan projection graphic after scanning according to the scan paths between non-connected subgraphs and the scan paths within each non-connected subgraph in a three-level tree structure.

9. An electronic device, characterized in that, include Processor; and A memory storing computer-readable instructions that, when executed by the processor, implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the method according to any one of claims 1 to 7.

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