VR-based automobile precision disassembly simulation system and method

Abstract

This invention discloses a VR-based automotive precision disassembly and assembly simulation system. It includes a model building module that constructs automotive component models based on 3D data and assembles them into a complete vehicle model; a virtual scene building module that processes the complete vehicle model, adjusts the coordinate systems of each component model, and places it in a 3D development engine, building a basic virtual disassembly and assembly scene by setting a scene camera and adjusting lighting parameters; a human-computer interaction configuration module that configures corresponding components and scripts for the VR interaction device and each automotive component model within the scene, allowing for movement and interface interaction of the complete vehicle model via a data handle, and grasping and releasing of automotive component models via a data glove; and an assembly logic control module that monitors the spatial relationship between the grasped automotive component model and a preset virtual assembly position, updating the assembly status of the automotive component model when assembly conditions are met. This invention improves the safety and efficiency of automotive precision disassembly and assembly training.

Description

Technical Field

[0001] This invention relates to the technical field of the intersection of virtual reality technology and automotive engineering, specifically to a VR-based automotive precision disassembly and assembly simulation system and method. Background Technology

[0002] As one of the most important means of transportation, automobiles play a vital role in modern society, greatly facilitating people's daily travel. As a mass-produced precision electromechanical product, understanding the structure of automobiles and being able to skillfully disassemble and assemble automotive parts is fundamental to automobile manufacturing. However, the diverse internal structure of automobiles, the large number and complexity of parts, the high cost of disassembly and assembly, and the difficulty of disassembly and assembly due to the large size and weight of parts have always been major problems in automobile disassembly and assembly.

[0003] During automobile assembly, factors such as impacts, cuts, crushing injuries, electrical hazards, and gas leaks may pose threats to the health and safety of operators. Therefore, operator training is extremely important. However, traditional training methods suffer from high implementation costs, reliance on physical prototypes, significant equipment wear and tear, high safety risks, and inflexibility due to limitations in space and component size, resulting in numerous safety hazards. Summary of the Invention

[0004] The purpose of this invention is to provide a VR-based automotive precision disassembly and assembly simulation system and method. This invention improves the safety, efficiency, and immersiveness of automotive precision disassembly and assembly training, and fundamentally avoids the safety hazards and equipment damage caused by physical operations.

[0005] To achieve this objective, the present invention provides a VR-based precision automotive disassembly and assembly simulation system, comprising: The model building module is used to build automotive component models based on the 3D data of each automotive component using 3D modeling software, and then assemble the various automotive component models into a complete vehicle model. The virtual scene building module is used to render, process materials and convert formats of the whole vehicle model in sequence, and adjust the coordinate system of each car component model that constitutes the whole vehicle model after format conversion to obtain the processed whole vehicle model. The processed whole vehicle model is placed in the 3D development engine, and the scene camera is set and the lighting parameters are adjusted in the 3D development engine to complete the scene layout and build a basic virtual disassembly and assembly scene. The human-computer interaction configuration module is used to configure corresponding interaction components and function scripts for VR interaction devices in the basic virtual disassembly and assembly scenario, configure disassembly and assembly exclusive scripts and interactive feedback components for each car part model, operate the processed whole vehicle model to move and interact in the basic virtual disassembly and assembly scenario through the data handle, and use the data glove to recognize the user's hand posture to grasp and release the car part model in the basic virtual disassembly and assembly scenario and generate tactile feedback signals. The assembly logic control module is used to monitor the spatial relationship between the captured automotive part model and the preset virtual assembly position, determine whether the corresponding automotive part model has been correctly captured and moved to the corresponding preset virtual assembly position, and generate an assembly completion command when the corresponding automotive part model is correctly captured and moved to the corresponding preset virtual assembly position. In the virtual disassembly and assembly scenario, the assembly status of the automotive part model is updated, and corresponding visual feedback signals and tactile feedback signals are triggered.

[0006] Preferably, the method for sequentially rendering, material processing, and format conversion of the complete vehicle model, and adjusting the coordinate system of each automotive component model that constitutes the complete vehicle model after format conversion, to obtain the processed complete vehicle model is as follows: The vehicle model is imported into 3D rendering software for rendering. Different materials are assigned to the vehicle model, and the color and lighting style of the vehicle model are adjusted. Then, the vehicle model is converted into a model format that is compatible with the 3D development engine. The coordinate system adjustment includes adjusting the origin of the coordinate system of each automotive component model that constitutes the vehicle model after the format conversion to the center point of the corresponding component model and adapting it to the coordinate system definition rules of the 3D development engine, thereby obtaining the processed vehicle model.

[0007] Preferably, the specific process for obtaining the basic virtual disassembly and assembly scenario is as follows: The 3D development engine is Unity3D, a comprehensive 3D development engine that supports multi-platform release. The vehicle model is divided into the transmission system, driving system, steering system, braking system and body, and corresponding disassembly and assembly sub-scenes are built. The jump between each disassembly and assembly sub-scene and the overall disassembly and assembly scene is realized through UI interaction components. The field of view of the scene camera and the lighting parameters are adjusted in the 3D development engine to obtain the basic virtual disassembly and assembly scene.

[0008] Preferably, the specific method for configuring corresponding interactive components and function scripts for VR interactive devices in the basic virtual disassembly and assembly scenario is as follows: The VR interactive device includes a VR head-mounted display, a data handle, a data glove, and a positioning and tracking device; Add a VR interaction plugin and configure the corresponding SDK management component in the basic virtual disassembly and assembly scenario. Based on the physical input characteristics of the data handle and the required grasping, displacement and UI interaction functions, configure controller event, touch interaction, grasping interaction and ray interaction components for the data handle. The grasping, scene displacement and UI interface interaction of the whole vehicle model are realized through the data handle. Configure positioning binding component and gesture recognition component for the data glove. The positioning of each car part model and the recognition of gesture commands in the basic virtual disassembly and assembly scenario are realized through the data glove.

[0009] Preferably, the specific method for configuring dedicated disassembly and assembly scripts and interactive feedback components for each automotive component model in the basic virtual disassembly and assembly scenario is as follows: The dedicated disassembly and assembly scripts include a capture script, an assembly position determination script, a disassembly script, and a batch parts assembly script. The interactive feedback components include a highlight prompt component, a part name display component, a tactile vibration component, and an assembly completion prompt component. In the Unity3D 3D development engine, the written script files are dragged and dropped onto the corresponding automotive part models, thereby attaching the grab script, assembly position judgment script, and disassembly script to each detachable automotive part model object; the batch part assembly script is additionally attached to automotive part models with a large number of similar models; the highlight hint component, part name display component, and associated text sub-object are added and set for each automotive part model; the tactile vibration component and assembly completion prompt component are added and set for the data gloves and assembly position. The script enables virtual grabbing and releasing of automotive component models. The script calculates the distance between the automotive component model and the preset assembly position in real time and completes the assembly judgment. The script enables reverse grabbing and disassembly position judgment of assembled components. The script enables one-click assembly of a large number of automotive component models of the same type. The interactive feedback components provide touch prompts, grab prompts, assembly position prompts, and assembly completion prompts for the automotive component models. Specifically, this is achieved through: The highlighting component is used to make the car part model emit bright light around it when the virtual hand model touches or grabs it, forming a visual feedback signal; during the assembly process, it makes the preset virtual assembly position emit highlighting light to guide the user to assemble it. The part name display component is used to display the name text of the car part model around the car part model when the car part model is grabbed for identification. When the car part model is released or assembled, the name text is hidden. The tactile vibration component is used to drive the data glove to generate tactile vibration when the virtual hand model touches the automotive part model, forming a tactile feedback signal, and triggering a specific vibration at the moment of assembly completion as a tactile feedback signal of successful assembly. The assembly completion prompt component is used to generate an assembly completion command and trigger a comprehensive assembly completion prompt when the corresponding automotive part model is correctly captured and moved to the corresponding preset virtual assembly position. Its functions include: controlling the captured automotive part model to disappear, generating an assembled automotive part model at the corresponding preset virtual assembly position, turning off the relevant highlight prompts and part name display, and triggering tactile vibration to generate a tactile feedback signal.

[0010] Preferably, the specific method for grasping and releasing automotive component models in a basic virtual disassembly and assembly scenario by recognizing user hand postures using data gloves is as follows: The grasping script has a preset grasping gesture recognition logic. When the data glove detects that the user's thumb bending angle is greater than the first preset angle threshold, and the bending angle of at least one of the index finger, middle finger, and ring finger is greater than the second preset angle threshold, it is determined to be a grasping gesture and triggers the car part model grasping command. After capturing the automotive component model, the assembly position determination script calculates the spatial distance between the automotive component model and the preset assembly position in real time frame by frame. When the spatial distance is less than the set distance threshold, it is determined that the assembly is successful and the assembly completion command is triggered, and the automotive component model is updated to the preset virtual assembly position.

[0011] Preferably, in the batch parts assembly script, all preset virtual assembly positions corresponding to a large number of automotive parts models of the same type are constructed into an assembly position set. When the user completes the assembly operation of the automotive parts model at any position in the assembly position set, the batch parts assembly script automatically triggers the assembly operation of all automotive parts models of the same type at the remaining preset virtual assembly positions in the assembly position set, thereby realizing the batch assembly of automotive parts models of the same type.

[0012] Preferably, the data glove does not have a built-in locator. The positioning and tracking device is fixed to the hand wearing the data glove with a special strap. The positioning and tracking device enables real-time position tracking of the data glove in a basic virtual disassembly and assembly scenario. The virtual model corresponding to the positioning and tracking device and the virtual hand model corresponding to the data glove are both mounted under the rigid body of the scene camera, so that the virtual hand model can move synchronously with the viewpoint when the user moves or turns their head.

[0013] A VR-based simulation method for precise disassembly and assembly of automobiles includes the following steps: Using 3D modeling software, car component models are constructed based on the 3D data of each car part, and then the car component models are assembled into a complete vehicle model. The vehicle model is rendered, material processed and format converted in sequence. The coordinate system of each component model that constitutes the vehicle model after format conversion is adjusted to obtain the processed vehicle model. The processed vehicle model is placed in the 3D development engine. The scene camera is set and the lighting parameters are adjusted in the 3D development engine to complete the scene layout and build a basic virtual disassembly and assembly scene. In the basic virtual disassembly and assembly scenario, the VR interactive device is configured with corresponding interactive components and function scripts, and each automotive component model is configured with a disassembly and assembly exclusive script and interactive feedback components. The processed vehicle model is moved and interacted with in the basic virtual disassembly and assembly scenario by operating the data handle. The user's hand posture is identified by the data glove to grasp and release the automotive component model in the basic virtual disassembly and assembly scenario, generating tactile feedback signals. The system monitors the spatial relationship between the captured automotive component model and the preset virtual assembly position, determines whether the corresponding automotive component model has been correctly captured and moved to the corresponding preset virtual assembly position, and generates an assembly completion command when the corresponding automotive component model is correctly captured and moved to the corresponding preset virtual assembly position. The system updates the assembly status of the automotive component model in the virtual disassembly and assembly scenario and triggers corresponding visual and tactile feedback signals.

[0014] A computer program product includes a computer program that, when executed by a processor, implements the steps of the above-described method.

[0015] The beneficial effects of this invention are: This invention enables repeated disassembly and assembly practice of automotive parts in a completely virtual environment, eliminating the risk of physical injury to operators and completely avoiding damage to expensive physical prototypes or real parts due to misoperation. It also reduces material costs and potential risks associated with automotive precision disassembly and assembly training. By integrating high-precision data gloves and a VR head-mounted display, this invention provides realistic visual, tactile, and spatial operation feedback, making virtual operation closer to real-world feel and enhancing the immersion and muscle memory formation in automotive precision disassembly and assembly learning. Furthermore, this invention divides the complex vehicle into multiple sub-scenes based on different systems and body structures for step-by-step training, with convenient UI navigation. Batch assembly scripts designed for numerous repetitive parts avoid meaningless repetitive operations, thus improving training efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a flowchart of the present invention. Detailed Implementation

[0017] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: Example 1 A VR-based precision automotive disassembly and assembly simulation system, such as Figure 1 As shown, it includes: The model building module is used to build automotive component models based on the 3D data of various automotive parts using 3D modeling software (SolidWorks), and assemble the various automotive component models into a complete vehicle model. This design provides a high-fidelity operational object foundation by using professional 3D modeling software to generate accurate component models based on the 3D data of various automotive parts and pre-assemble them into a complete vehicle model, which can ensure the authenticity of the automotive component models in terms of structure and size in subsequent disassembly and assembly training. The virtual scene building module is used (using the 3D rendering software 3DS Max) to sequentially render, process materials, and convert the format of the entire vehicle model. After format conversion, the coordinate systems of each automotive component model that constitutes the entire vehicle model are adjusted to obtain the processed vehicle model. The processed vehicle model is then placed in the 3D development engine (Unity3D). In the 3D development engine, scene cameras are set up and lighting parameters are adjusted to complete the scene layout (the scene specifically refers to a specific, visual 3D virtual environment created in the 3D development engine Unity3D). This builds a basic virtual disassembly and assembly scene. This design, through a series of preprocessing steps on the vehicle model, including rendering, material processing, and key coordinate system adjustments, and then placing it into the 3D development engine and configuring cameras and lighting, can create a virtual operating environment that conforms to both visual engineering aesthetics and physical interaction stability (such as adjusting the coordinate systems of each component model to the center point for stable gripping), providing a scene foundation for immersive training. The human-computer interaction configuration module is used to configure corresponding interaction components and function scripts for VR interaction devices in the basic virtual disassembly and assembly scenario, configure disassembly and assembly exclusive scripts and interactive feedback components for each car part model, operate the processed whole vehicle model to move and interact with the interface in the basic virtual disassembly and assembly scenario through the data handle, and use the data glove to recognize the user's hand posture to grasp and release the car part model in the basic virtual disassembly and assembly scenario and generate tactile feedback signals. This design achieves a natural division of labor and collaboration between scene navigation, interface operation and refined hand grasping operation by configuring different interaction components and scripts for the data handle and data glove respectively, allowing users to interact with the virtual environment efficiently and naturally, and improving the degree of freedom and realism of operation. The assembly logic control module monitors the spatial relationship between the captured automotive component model and the preset virtual assembly position, determines whether the corresponding automotive component model has been correctly captured and moved to the corresponding preset virtual assembly position, and generates an assembly completion command when the corresponding automotive component model is correctly captured and moved to the corresponding preset virtual assembly position. In the virtual disassembly and assembly scenario, the assembly status of the automotive component model is updated, and corresponding visual and tactile feedback signals are triggered. This design achieves intelligent, real-time, and accurate evaluation and response to user operation results by monitoring the spatial relationship between the component and the target position in real time and automatically triggering status updates and multi-sensory feedback when conditions are met. It can provide immediate positive feedback to reinforce learning.

[0018] For Unity3D, some optimized technical solutions include: As a comprehensive 3D development engine, Unity3D supports multiple scripting languages, has a rich library of scripts, and is easy to operate. Simply add scripts to achieve functions such as adding gravity to objects, collision detection, and changing their appearance. There are multiple UI interaction methods to choose from and can be implemented through programming. The software interface is user-friendly and can be adjusted according to personal preferences. It also supports multi-platform releases including Windows, Linux, MacOS X, iOS, and Android.

[0019] In the above technical solution, the vehicle model is rendered, its materials are processed, and its format is converted sequentially. The coordinate system of each automotive component model constituting the vehicle model after format conversion is then adjusted to obtain the processed vehicle model. The specific method is as follows: The complete vehicle model (in STL format) is imported into 3D rendering software (3DS Max) for rendering. Different materials are assigned to the complete vehicle model, and its color and lighting style are adjusted. Then, the complete vehicle model is converted into a model format compatible with the 3D development engine. The coordinate system adjustment includes adjusting the origin of the coordinate system of each car component model that constitutes the complete vehicle model to the center point of the corresponding car component model and adapting it to the coordinate system definition rules of the 3D development engine (in Unity3D, the origin coordinates of the world coordinate system can determine the absolute position coordinates of the car component model, and the coordinates of the car component model in the local coordinate system are the position coordinates with the parent coordinate position of the car component model as the origin), thus obtaining the processed complete vehicle model. The above design adjusts the origin of the coordinate system of each car component model to the geometric center of the corresponding car component model. During virtual grabbing and collision detection, the force and rotation center of the car component model is more reasonable, avoiding the strange handling and clipping problems caused by axis offset, and improving the realism of the interaction and the robustness of the system.

[0020] For the 3D rendering software 3DS Max, some optimized technical solutions include: Since the unit of the 3D model in SolidWorks is mm, the unit in 3DS Max needs to be set to a universal unit. The entire vehicle model is rendered using 3DS Max. The color, pattern, and lighting style of the entire vehicle model are adjusted using the shader in the Inspector window of the Assets material sphere. Different materials are added to the car component models within the vehicle model. For car component models with ordinary materials, the Shader can be set to Standard. For car component models that require transparent glass materials, such as windows, the Rendering Mode needs to be changed to Transparent, and the Alpha value changed to full transparency. After format conversion, the origin of the coordinate system of each car component model constituting the entire vehicle model is adjusted to the center point of the corresponding car component model to facilitate stable handling and collision detection distance during assembly and disassembly (added through the physics engine in Unity 3D).

[0021] The specific process of obtaining the basic virtual disassembly and assembly scenario in the above technical solution is as follows: The 3D development engine is Unity3D, a comprehensive 3D development engine that supports multi-platform release. The vehicle model is divided into the transmission system (including clutch, gearbox and transfer case, universal joint and drive axle), running system (including frame, axle and wheels and suspension), steering system (including steering gear, steering control mechanism and steering transmission mechanism), braking system (brakes), and body (including body shell, air conditioning system, seats, instruments and lighting devices), and corresponding disassembly and assembly sub-scenes are built. The UI interactive components realize the jump between each disassembly and assembly sub-scene and the overall disassembly and assembly scene. The field of view of the scene camera and the lighting parameters are adjusted in the 3D development engine to obtain the basic virtual disassembly and assembly scene. The above design divides the vehicle model into multiple disassembly and assembly sub-scenes according to the transmission system, running system, steering system, braking system and body, so that the complex vehicle disassembly and assembly training can be carried out step by step. It can focus on practicing a specific system, reduce the learning difficulty, and realize the jump between each disassembly and assembly sub-scene and the overall disassembly and assembly scene through scene jump function.

[0022] In the above technical solution, the specific method for configuring corresponding interactive components and function scripts for VR interactive devices in the basic virtual disassembly and assembly scenario is as follows: The VR interactive device includes a VR head-mounted display, a data handle (with positioning function), a data glove (with finger bending sensing function and haptic feedback function), and a positioning and tracking device. In the basic virtual disassembly and assembly scenario, a VR interaction plugin is added and a corresponding SDK management component is configured (the SDK management component is a software module used in a virtual reality development environment (such as Unity3D) to uniformly integrate, manage, and configure software development kits for different virtual reality hardware devices). Based on the physical input characteristics of the data handle and the required grasping, displacement, and UI interaction functions, controller event, touch interaction, grasping interaction, and ray interaction components are configured for the data handle. The grasping, scene displacement, and UI interface interaction of the whole vehicle model are realized through the data handle. A positioning binding component and a gesture recognition component are configured for the data glove. The positioning and gesture command recognition of each car component model in the basic virtual disassembly and assembly scenario are realized through the data glove. The above design clarifies the specific types of VR interaction devices, configures corresponding interaction components for the physical input characteristics of the data handle and the required grasping, displacement, and UI interaction functions, and configures positioning binding components and gesture recognition components for the data glove, so that the configuration of each device is highly matched with its functional requirements and can accurately realize the corresponding operation functions.

[0023] In the above technical solution, the specific method for configuring dedicated disassembly and assembly scripts and interactive feedback components for each automotive component model in the basic virtual disassembly and assembly scenario is as follows: The dedicated disassembly and assembly scripts include a capture script, an assembly position determination script, a disassembly script, and a batch parts assembly script. The interactive feedback components include a highlight prompt component, a part name display component, a tactile vibration component, and an assembly completion prompt component. In the Unity3D 3D development engine, the written script files are dragged and dropped onto the corresponding automotive part models, thereby attaching the grab script, assembly position judgment script, and disassembly script to each detachable automotive part model object; the batch part assembly script is additionally attached to automotive part models with a large number of similar models; the highlight hint component, part name display component, and associated text sub-object are added and set for each automotive part model; the tactile vibration component and assembly completion prompt component are added and set for the data gloves and assembly position. The script enables virtual grabbing and releasing of automotive component models. The script calculates the distance between the automotive component model and the preset assembly position in real time and completes the assembly judgment. The script enables reverse grabbing and disassembly position judgment of assembled components. The script enables one-click assembly of a large number of automotive component models of the same type. The interactive feedback components provide touch prompts, grab prompts, assembly position prompts, and assembly completion prompts for the automotive component models. Specifically, this is achieved through: The highlighting component is used to make the car part model emit bright light (such as yellow) around the car part model when the virtual hand model touches or grabs it, forming a visual feedback signal; during the assembly process, the preset virtual assembly position emits a highlighting light (such as blue) to guide the user to assemble it. The part name display component is used to display the name text of the car part model around the car part model when the car part model is grabbed for identification. When the car part model is released or assembled, the name text is hidden. The tactile vibration component is used to drive the data glove to generate tactile vibration when the virtual hand model touches the automotive part model, forming a tactile feedback signal, and triggering a specific vibration at the moment of assembly completion as a tactile feedback signal of successful assembly. The assembly completion notification component is used to generate an assembly completion command and trigger a comprehensive assembly completion notification when the corresponding automotive part model is correctly grabbed and moved to the corresponding preset virtual assembly position. Its functions include: controlling the grabbed automotive part model to disappear, generating an assembled automotive part model at the corresponding preset virtual assembly position, turning off the relevant highlight hints and part name display, and triggering haptic vibration to generate haptic feedback signals. The above design clarifies the specific types of disassembly and assembly scripts and interactive feedback components, as well as the specific methods for configuring disassembly and assembly scripts and interactive feedback components for automotive part models in Unity3D. It clarifies the specific functions of each script and component, making the disassembly and assembly interaction of automotive part models richer, more accurate, and the feedback more timely and comprehensive, which can improve the user's operating experience and learning efficiency, while solving the problem of repeated assembly of multiple automotive part models of the same type.

[0024] For the aforementioned capture script, assembly position determination script, disassembly script, and batch parts assembly script, some optimized technical solutions include: The capture script is used to define the gesture conditions that trigger the capture, as shown in the following code: / / Determine the grasping gesture based on data from the data glove sensor if((angle[0] > 40.0f) && ((angle[1] > 90.0f) || (angle[2] > 90.0f) ||(angle[3] > 90.0f))) { pick = true; / / The condition is met, and it is determined to be a grab gesture. } else { pick = false; } This code implements grasping gesture recognition based on data from the data glove sensor. The core logic is a conditional statement: when the bending angle of the thumb (angle[0]) is greater than 40 degrees, and the bending angle of at least one of the index finger (angle[1]), middle finger (angle[2]), or ring finger (angle[3]) is greater than 90 degrees, the boolean variable pick is set to true, and it is determined that the user has made a valid grasping gesture; otherwise, pick is set to false. The assembly position determination script calculates the distance in real time and switches the assembly state when certain conditions are met. The code is as follows: / / Calculate the squared distance between the captured car part model and the preset virtual assembly position. float dis = Vector3.SqrMagnitude(targetPos.position - currentPos.position); / / Determine if the distance is less than or equal to a set distance threshold (to avoid square root operations and optimize performance). if (dis <= threshold * threshold) { Destroy(grabbedPart); / / Destroy the captured temporary car part model. targetPart.SetActive(true); / / Activate the assembled car part model at the preset virtual assembly location / / (Simultaneously triggers highlight disappearance and vibration stop feedback) } This code is responsible for determining whether the car part model has been correctly assembled. First, it calculates the squared distance (Vector3.SqrMagnitude) between the captured car part model (currentPos) and the preset virtual assembly position (targetPos). The squared distance is used for comparison to optimize performance and avoid time-consuming square root calculations. The code compares the squared distance with the square of a set distance threshold (threshold * threshold). If the distance is less than or equal to the set distance threshold, the assembly condition is determined to be met, and then the assembly operation is performed: the captured temporary car part model (Destroy(grabbedPart)) is destroyed, and the car part model (targetPart) that has been pre-placed at the preset virtual assembly position and indicates that it has been assembled is activated (SetActive(true)), thereby completing the switching of the visual state. The disassembly script is used to unbind the assembled car part model from the assembly position when a grab gesture is applied to it, and then bind the car part model to the virtual hand model for movement. It can also reset the assembly state to incomplete. The code is as follows: / / When grabbing an assembled car parts model if (pick && targetPart.activeSelf) { / / The gesture is valid and the target car part model is in an assembled state. targetPart.transform.SetParent(hand.transform); / / Bind to the hand targetPart.SetActive(false); / / Hides the assembled car part model. / / (Regenerate a new model of the car component to be assembled at this location) } When the code detects a grab gesture (pick is true) and the target is a car part model that is already in an assembled state (targetPart.activeSelf is true), the disassembly script will unbind the car part model from its assembly position and set it as a child object of the virtual hand model (SetParent(hand.transform)), so that it can be held and moved by the virtual hand model. Hide (SetActive(false)) the car part model that is already in an assembled state, thereby resetting the state of the car part model to unassembled, in preparation for the next assembly operation; The batch parts assembly script is used to automatically assemble all automotive parts models in the same location when any preset virtual assembly position is triggered. The code is as follows: / / Assume allTargetPositions contains a list of references to all preset virtual assembly positions for this car component model. public GameObject[] allTargetPositions; / / This function is triggered when assembly is completed at any preset virtual assembly position. void BatchAssemble() { for (int i = 0; i < allTargetPositions.Length; i++) { allTargetPositions[i].SetActive(true); / / Activate all assembled car component models in all positions. / / (This can also activate highlight cues at various locations) } } This code implements the function of quickly assembling multiple identical car part models (such as screws). The batch part assembly script maintains an array (allTargetPositions), which stores references to all preset virtual assembly positions of the same type of car part models. When the user successfully completes the assembly operation at any position, the BatchAssemble function is triggered. This function uses a loop (for) to traverse all assembly positions in the array and activates the car part model representing the assembled state at each position one by one (SetActive(true)).

[0025] In the above technical solution, the specific method for grasping and releasing automotive component models in a basic virtual disassembly and assembly scenario by recognizing the user's hand posture using data gloves is as follows: The grasping script has a preset grasping gesture recognition logic. When the data glove detects that the user's thumb bending angle is greater than the first set angle threshold (the first set angle threshold can be set to 40 degrees), and the bending angle of at least one of the index finger, middle finger, and ring finger is greater than the second set angle threshold (the second set angle threshold can be set to 90 degrees), it is determined to be a grasping gesture and triggers the car part model grasping command. After capturing the automotive component model, the assembly position determination script calculates the spatial distance between the automotive component model and the preset assembly position in real time frame by frame. When the spatial distance is less than a set distance threshold (the set distance threshold can be configured between 0.01 meters and 0.1 meters according to the size of the automotive component model), the assembly is determined to be successful and an assembly completion command is triggered, and the automotive component model is updated to the preset virtual assembly position. The above design clarifies the specific quantitative method for recognizing the grasping gesture and determining the assembly success using data gloves, making gesture recognition and assembly determination more accurate and objective, avoiding invalid operations caused by ambiguous determination, and improving the accuracy and smoothness of virtual disassembly and assembly operations.

[0026] In the above technical solution, the batch parts assembly script constructs a set of preset virtual assembly positions corresponding to a large number of automotive parts models of the same type. When the user completes the assembly operation of an automotive parts model at any position in the set of assembly positions, the batch parts assembly script automatically triggers the assembly operation of all automotive parts models of the same type at the remaining preset virtual assembly positions in the set of assembly positions, thereby realizing the batch assembly of automotive parts models of the same type. The above design clarifies the specific implementation logic of the batch parts assembly script, which can realize the rapid batch assembly of a large number of automotive parts models of the same type, completely avoids repetitive and tedious single assembly operations, and improves the operation efficiency of virtual disassembly and assembly simulation.

[0027] In the above technical solution, the data glove does not have a built-in locator. The positioning and tracking device is fixed to the hand wearing the data glove using a special strap. A binding relationship is established between the positioning and tracking device and the virtual hand model of the data glove in the virtual scene. The positioning and tracking device enables real-time position tracking of the data glove in the basic virtual disassembly and assembly scene. Both the virtual model corresponding to the positioning and tracking device and the virtual hand model corresponding to the data glove are mounted under the rigid body of the scene camera, so that the virtual hand model can move synchronously with the user's viewpoint when the user moves or turns their head. The above design solves the positioning and tracking problem of data gloves without built-in locators in the basic virtual disassembly and assembly scene. By mounting both the positioning and tracking device and the virtual hand model of the data glove under the rigid body of the scene camera, the synchronous movement of the virtual hand model and the user's viewpoint is ensured, making the user's virtual operation more in line with the actual operation logic and improving the realism and immersion of the operation.

[0028] Example 2 A VR-based simulation method for precise disassembly and assembly of automobiles, such as Figure 2 As shown, automotive component models are constructed based on 3D data and assembled into a complete vehicle model. The complete vehicle model is processed, and the coordinate systems of each component model are adjusted. The model is then placed in a 3D development engine, and a basic virtual disassembly and assembly scene is built by setting up a scene camera and adjusting lighting parameters. In the scene, corresponding components and scripts are configured for VR interactive devices and each automotive component model. The movement of the complete vehicle model and the interface interaction are controlled by a data handle, and the automotive component models are grasped and released by a data glove. The spatial relationship between the grasped automotive component model and the preset virtual assembly position is monitored, and the assembly status of the automotive component model is updated when the assembly conditions are met.

[0029] The specific method for VR-based precision disassembly and assembly simulation of automobiles includes the following steps: Using 3D modeling software, car component models are constructed based on the 3D data of each car part, and then the car component models are assembled into a complete vehicle model. The vehicle model is rendered, material processed and format converted in sequence. The coordinate system of each component model that constitutes the vehicle model after format conversion is adjusted to obtain the processed vehicle model. The processed vehicle model is placed in the 3D development engine. The scene camera is set and the lighting parameters are adjusted in the 3D development engine to complete the scene layout and build a basic virtual disassembly and assembly scene. In the basic virtual disassembly and assembly scenario, the VR interactive device is configured with corresponding interactive components and function scripts, and each automotive component model is configured with a disassembly and assembly exclusive script and interactive feedback components. The processed vehicle model is moved and interacted with in the basic virtual disassembly and assembly scenario by operating the data handle. The user's hand posture is identified by the data glove to grasp and release the automotive component model in the basic virtual disassembly and assembly scenario, generating tactile feedback signals. The system monitors the spatial relationship between the captured automotive component model and the preset virtual assembly position, determines whether the corresponding automotive component model has been correctly captured and moved to the corresponding preset virtual assembly position, and generates an assembly completion command when the corresponding automotive component model is correctly captured and moved to the corresponding preset virtual assembly position. The system updates the assembly status of the automotive component model in the virtual disassembly and assembly scenario and triggers corresponding visual and tactile feedback signals.

[0030] Example 3 A computer program product includes a computer program that, when executed by a processor, implements the steps of the method described in Embodiment 2.

[0031] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0032] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1A system that specifies functions in one or more boxes.

[0033] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction set implemented in a process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0034] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit its scope of protection. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that after reading the present invention, they can still make various changes, modifications or equivalent substitutions to the specific implementation of the invention, but these changes, modifications or equivalent substitutions are all within the scope of protection of the pending claims of the invention.

[0036] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A VR-based precision automotive disassembly and assembly simulation system, characterized in that, It includes: The model building module is used to build automotive component models based on the 3D data of each automotive component using 3D modeling software, and then assemble the various automotive component models into a complete vehicle model. The virtual scene building module is used to render, process materials and convert formats of the whole vehicle model in sequence, and adjust the coordinate system of each car component model that constitutes the whole vehicle model after format conversion to obtain the processed whole vehicle model. The processed whole vehicle model is placed in the 3D development engine, and the scene camera is set and the lighting parameters are adjusted in the 3D development engine to complete the scene layout and build a basic virtual disassembly and assembly scene. The human-computer interaction configuration module is used to configure corresponding interaction components and function scripts for VR interaction devices in the basic virtual disassembly and assembly scenario, configure disassembly and assembly exclusive scripts and interactive feedback components for each car part model, operate the processed whole vehicle model to move and interact in the basic virtual disassembly and assembly scenario through the data handle, and use the data glove to recognize the user's hand posture to grasp and release the car part model in the basic virtual disassembly and assembly scenario and generate tactile feedback signals. The assembly logic control module is used to monitor the spatial relationship between the captured automotive part model and the preset virtual assembly position, determine whether the corresponding automotive part model has been correctly captured and moved to the corresponding preset virtual assembly position, and generate an assembly completion command when the corresponding automotive part model is correctly captured and moved to the corresponding preset virtual assembly position. In the virtual disassembly and assembly scenario, the assembly status of the automotive part model is updated, and corresponding visual feedback signals and tactile feedback signals are triggered.

2. The VR-based automotive precision disassembly and assembly simulation system according to claim 1, characterized in that: The specific method for rendering, material processing, and format conversion of the complete vehicle model in sequence, and adjusting the coordinate system of each car component model that constitutes the complete vehicle model after format conversion, to obtain the processed complete vehicle model is as follows: The vehicle model is imported into 3D rendering software for rendering. Different materials are assigned to the vehicle model, and the color and lighting style of the vehicle model are adjusted. Then, the vehicle model is converted into a model format that is compatible with the 3D development engine. The coordinate system adjustment includes adjusting the origin of the coordinate system of each car component model that constitutes the vehicle model after the format conversion to the center point of the corresponding car component model and adapting it to the coordinate system definition rules of the 3D development engine, thereby obtaining the processed vehicle model.

3. The VR-based automotive precision disassembly and assembly simulation system according to claim 1, characterized in that: The specific process of obtaining the basic virtual disassembly and assembly scenario is as follows: The 3D development engine is Unity3D, a comprehensive 3D development engine that supports multi-platform release. The vehicle model is divided into the transmission system, driving system, steering system, braking system and body, and corresponding disassembly and assembly sub-scenes are built. The jump between each disassembly and assembly sub-scene and the overall disassembly and assembly scene is realized through UI interaction components. The field of view of the scene camera and the lighting parameters are adjusted in the 3D development engine to obtain the basic virtual disassembly and assembly scene.

4. The VR-based automotive precision disassembly and assembly simulation system according to claim 1, characterized in that: The specific method for configuring corresponding interactive components and function scripts for VR interactive devices in the aforementioned basic virtual disassembly and assembly scenario is as follows: The VR interactive device includes a VR head-mounted display, a data handle, a data glove, and a positioning and tracking device; Add a VR interaction plugin and configure the corresponding SDK management component in the basic virtual disassembly and assembly scenario. Based on the physical input characteristics of the data handle and the required grasping, displacement and UI interaction functions, configure controller event, touch interaction, grasping interaction and ray interaction components for the data handle. The grasping, scene displacement and UI interface interaction of the whole vehicle model are realized through the data handle. Configure positioning binding component and gesture recognition component for the data glove. The positioning of each car part model and the recognition of gesture commands in the basic virtual disassembly and assembly scenario are realized through the data glove.

5. The VR-based automotive precision disassembly and assembly simulation system according to claim 3, characterized in that: The specific method for configuring dedicated disassembly and assembly scripts and interactive feedback components for each automotive component model in the basic virtual disassembly and assembly scenario is as follows: The dedicated disassembly and assembly scripts include a capture script, an assembly position determination script, a disassembly script, and a batch parts assembly script. The interactive feedback components include a highlight prompt component, a part name display component, a tactile vibration component, and an assembly completion prompt component. In the Unity3D 3D development engine, the written script files are dragged and dropped onto the corresponding automotive part models, thereby attaching the grab script, assembly position judgment script, and disassembly script to each detachable automotive part model object; the batch part assembly script is additionally attached to automotive part models with a large number of similar models; the highlight hint component, part name display component, and associated text sub-object are added and set for each automotive part model; the tactile vibration component and assembly completion prompt component are added and set for the data gloves and assembly position. The script enables virtual grabbing and releasing of automotive component models. The script calculates the distance between the automotive component model and the preset assembly position in real time and completes the assembly judgment. The script enables reverse grabbing and disassembly position judgment of assembled components. The script enables one-click assembly of a large number of automotive component models of the same type. The interactive feedback components provide touch prompts, grab prompts, assembly position prompts, and assembly completion prompts for the automotive component models. Specifically, this is achieved through: The highlighting component is used to make the car part model emit bright light all over its body when the virtual hand model touches or grabs the car part model, thus forming a visual feedback signal; During the assembly process, preset virtual assembly positions are highlighted to guide the user in assembly. The part name display component is used to display the name text of the car part model around the car part model when the car part model is grabbed for identification. When the car part model is released or assembled, the name text is hidden. The tactile vibration component is used to drive the data glove to generate tactile vibration when the virtual hand model touches the automotive part model, forming a tactile feedback signal, and triggering a specific vibration at the moment of assembly completion as a tactile feedback signal of successful assembly. The assembly completion prompt component is used to generate an assembly completion command and trigger a comprehensive assembly completion prompt when the corresponding automotive part model is correctly captured and moved to the corresponding preset virtual assembly position. Its functions include: controlling the captured automotive part model to disappear, generating an assembled automotive part model at the corresponding preset virtual assembly position, turning off the relevant highlight prompts and part name display, and triggering tactile vibration to generate a tactile feedback signal.

6. The VR-based automotive precision disassembly and assembly simulation system according to claim 5, characterized in that: The specific method for grasping and releasing automotive component models in a basic virtual disassembly and assembly scenario by recognizing user hand gestures using data gloves is as follows: The grasping script has a preset grasping gesture recognition logic. When the data glove detects that the user's thumb bending angle is greater than the first preset angle threshold, and the bending angle of at least one of the index finger, middle finger, and ring finger is greater than the second preset angle threshold, it is determined to be a grasping gesture and triggers the car part model grasping command. After capturing the automotive component model, the assembly position determination script calculates the spatial distance between the automotive component model and the preset assembly position in real time frame by frame. When the spatial distance is less than the set distance threshold, it is determined that the assembly is successful and the assembly completion command is triggered, and the automotive component model is updated to the preset virtual assembly position.

7. The VR-based automotive precision disassembly and assembly simulation system according to claim 5, characterized in that: In the batch parts assembly script, all preset virtual assembly positions corresponding to a large number of automotive parts models of the same type are constructed into an assembly position set. When the user completes the assembly operation of the automotive parts model at any position in the assembly position set, the batch parts assembly script automatically triggers the assembly operation of all automotive parts models of the same type at the remaining preset virtual assembly positions in the assembly position set, thereby realizing the batch assembly of automotive parts models of the same type.

8. The VR-based automotive precision disassembly and assembly simulation system according to claim 4, characterized in that: The data glove does not have a built-in locator. The positioning and tracking device is fixed to the hand wearing the data glove with a special strap. The positioning and tracking device enables real-time position tracking of the data glove in a basic virtual disassembly and assembly scenario. The virtual model corresponding to the positioning and tracking device and the virtual hand model corresponding to the data glove are both mounted under the rigid body of the scene camera, so that the virtual hand model can move synchronously with the viewpoint when the user moves or turns their head.

9. A VR-based simulation method for precise disassembly and assembly of automobiles, characterized in that, It includes the following steps: Using 3D modeling software, car component models are constructed based on the 3D data of each car part, and then the car component models are assembled into a complete vehicle model. The vehicle model is rendered, material processed and format converted in sequence. The coordinate system of each car component model that constitutes the vehicle model after format conversion is adjusted to obtain the processed vehicle model. The processed vehicle model is placed in the 3D development engine. The scene camera is set and the lighting parameters are adjusted in the 3D development engine to complete the scene layout and build a basic virtual disassembly and assembly scene. In the basic virtual disassembly and assembly scenario, the VR interactive device is configured with corresponding interactive components and function scripts, and each automotive component model is configured with a disassembly and assembly exclusive script and interactive feedback components. The processed vehicle model is moved and interacted with in the basic virtual disassembly and assembly scenario by operating the data handle. The user's hand posture is identified by the data glove to grasp and release the automotive component model in the basic virtual disassembly and assembly scenario, generating tactile feedback signals. The system monitors the spatial relationship between the captured automotive component model and the preset virtual assembly position, determines whether the corresponding automotive component model has been correctly captured and moved to the corresponding preset virtual assembly position, and generates an assembly completion command when the corresponding automotive component model is correctly captured and moved to the corresponding preset virtual assembly position. The system updates the assembly status of the automotive component model in the virtual disassembly and assembly scenario and triggers corresponding visual and tactile feedback signals.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method of claim 9.

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