Layered decomposition of interactive control methods, devices and electronic equipment

Abstract

This invention provides a layered disassembly interactive control method, device, and electronic device, belonging to the field of virtual reality industrial disassembly training technology. The method includes: acquiring a disassembly hierarchy sequence of an assembly to be disassembled; determining a first disassembly hierarchy of the assembly to be disassembled; determining a first part disassembly sequence of the first disassembly hierarchy from a priority part sequence; determining a second part disassembly sequence of the first disassembly hierarchy from a sequence of individual parts; generating a first-level interactive part set of the first disassembly hierarchy based on the first and second part disassembly sequences; and performing a disassembly operation on the first disassembly hierarchy based on the first-level interactive part set. This method can reduce computational overhead and improve disassembly accuracy during disassembly operations.

Description

Technical Field

[0001] This invention relates to the field of virtual reality industrial disassembly training technology, specifically to a layered disassembly interactive control method, device, and electronic equipment. Background Technology

[0002] With the rapid development of new energy vehicles and energy storage equipment, the demand for standardized disassembly training for multi-level assemblies is constantly increasing. Existing technologies typically use VR (Virtual Reality) technology to construct 3D models of assemblies and uniformly configure collision bodies for each part in the model to support physical collisions and ray interactions in the virtual scene, enabling users to perform disassembly operations by selecting parts in the virtual environment.

[0003] However, existing VR disassembly training systems struggle to balance detection accuracy and real-time performance in practical applications. Continuously enabling collision detection for all parts of an assembly incurs enormous computational overhead, causing system lag. Using coarse collision detectors indiscriminately selects boundaries, while using fine collision detectors further increases overhead, making it impossible to balance performance and accuracy. Secondly, when disassembling assemblies with multiple layers, undisassembled parts on the surface can obscure lower-level parts, easily leading to accidental selection of these parts during virtual interaction. Finally, the disassembly sequence lacks effective constraints. Existing systems lack a mandatory control mechanism consistent with actual disassembly processes, allowing trainees to arbitrarily select any level and part, resulting in chaotic disassembly sequences and failing to achieve standardized disassembly.

[0004] Therefore, there is an urgent need for an interactive control method for virtual reality disassembly training that can improve disassembly accuracy while reducing computational overhead. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a layered disassembly interactive control method to reduce computational overhead and improve disassembly accuracy during disassembly operations. The technical solution is as follows: In a first aspect, the present invention provides a layered decomposition and interactive control method, comprising: Obtain the disassembly hierarchy sequence of the assembly to be disassembled. The disassembly hierarchy sequence contains multiple disassembly levels. Each disassembly level contains a priority part sequence and a component sequence. The priority part sequence is a sequence of parts with the same priority, and the component sequence is a sequence of parts that do not belong to any priority part sequence. Determine the first disassembly level of the assembly to be disassembled, determine the first part disassembly sequence of the first disassembly level from the priority part sequence, and determine the second part disassembly sequence of the first disassembly level from the component sequence; Based on the first part disassembly sequence and the second part disassembly sequence, a first-level interactive part set of the first disassembly level is generated; The disassembly operation of the first disassembly level is performed based on the first-level interactive parts set.

[0006] Combining the first aspect and the above implementation methods, in some possible implementation methods, the first disassembly level of the assembly to be disassembled is determined, including: Disable the colliders of all parts in the disassembly hierarchy sequence; Based on the hierarchical disassembly order corresponding to the disassembly hierarchy sequence, the first undisassembled hierarchy in the assembly to be disassembled, which contains interactive parts, is determined as the first disassembly hierarchy. Combining the first aspect and the above implementation methods, in some possible implementation methods, after determining the first disassembly level of the assembly to be disassembled, the following is also included: Enable the collision objects of the parts in the first disassembly level and disable the collision objects of the parts in the second disassembly level. The disassembly level of the second disassembly level is lower than that of the first disassembly level.

[0007] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, determining the first part disassembly sequence of the first disassembly level from the priority part sequence and determining the second part disassembly sequence of the first disassembly level from the component sequence includes: Obtain the scheduling status of the first priority part sequence corresponding to the first disassembly level; If the scheduling state of the first priority part sequence is unscheduled, then the first part disassembly sequence is generated based on all parts in the first priority part sequence. If the first priority part sequence does not exist and / or the scheduling state is in the scheduling completed state, then the parts in the scattered parts sequence that have a contact relationship with the first part disassembly sequence will be integrated to obtain the second part disassembly sequence.

[0008] Combining the first aspect and the above implementation methods, in some possible implementation methods, a first-level interactive parts set of the first disassembly level is generated based on the first part disassembly sequence and the second part disassembly sequence, including: Based on the contact state of the parts in the first part disassembly sequence and / or the second part disassembly sequence, the collision state of the parts in the first part disassembly sequence and / or the second part disassembly sequence is set as the first collision body state or the second collision body state. Based on the parts in the first collider state and / or the second collider state, a first-level set of interactive parts is generated.

[0009] Combining the first aspect and the above implementation methods, in some possible implementation methods, performing a disassembly operation on the first disassembly level based on the first-level interactive parts set includes: Obtain the disassembly type of the first disassembly level; If the disassembly type is single-piece disassembly, the first disassembly level will be disassembled and then moved to the target position along the preset separation direction. If the disassembly type is synchronous group disassembly, then after disassembling the first disassembly level, the parts in the first disassembly level are moved together to the target position to obtain the disassembled parts group.

[0010] Combining the first aspect and the above implementation methods, in some possible implementation methods, after performing the disassembly operation on the first disassembly level based on the first-level interactive parts set, it includes: Obtain the disassembly status of the first disassembly level; If the disassembly status of the first disassembly level is the disassembly completed state, then update the contact status of the remaining parts in the disassembly level sequence. The remaining parts are those not included in the set of interactive parts in the first level. The collision state of the remaining parts is updated based on the contact state of the parts. The collision state includes the first collision state and the second collision state.

[0011] Combining the first aspect and the above implementation methods, in some possible implementation methods, after performing the disassembly operation on the first disassembly level based on the first-level interactive parts set, it includes: Obtain the target disassembled assembly, which is the disassembled assembly generated after performing a complete disassembly operation on the assembly to be disassembled; In response to interactive operation commands, obtain the collision results generated by the virtual interactive ray acting on the target disassembly assembly; Sort the collision results by distance and extract the part objects to which the colliders belong in turn; If a part object belongs to any disassembly level and passes the preset interactivity check, the part object will be loaded and displayed based on the preset display rendering effect.

[0012] Secondly, the present invention also provides a layered disassembly and interactive control device, comprising: The disassembly sequence acquisition unit is used to acquire the disassembly level sequence of the assembly to be disassembled. The disassembly level sequence contains multiple disassembly levels. Each disassembly level contains a priority part sequence and a component sequence. The priority part sequence is a sequence of parts with the same priority, and the component sequence is a sequence of parts that do not belong to any priority part sequence. The disassembly sequence decomposition unit is used to determine the first disassembly level of the assembly to be disassembled, determine the first part disassembly sequence of the first disassembly level from the priority part sequence, and determine the second part disassembly sequence of the first disassembly level from the component sequence. A parts set generation unit is used to generate a first-level interactive parts set of a first disassembly level based on a first parts disassembly sequence and a second parts disassembly sequence. The disassembly operation execution unit is used to perform disassembly operations on the first disassembly level based on the first-level interactive parts set.

[0013] Thirdly, the present invention also provides an electronic device, which includes a data acquisition unit, a memory, a processor, and a disassembly actuator, wherein... The data acquisition unit is used to acquire the disassembly hierarchy sequence of the assembly to be disassembled; Memory, used to store executable program code; The processor is used to determine the disassembly level of the assembly to be disassembled, determine the part disassembly sequence corresponding to the disassembly level, and generate the set of interactive parts corresponding to the disassembly level based on the part disassembly sequence. The disassembly actuator is used to perform disassembly operations on the disassembly level in response to disassembly trigger commands for the disassembly level, based on the interactive part set.

[0014] The beneficial effects of this invention are as follows: By obtaining the disassembly hierarchy sequence of the assembly to be disassembled, the disassembly process is hierarchically divided; then, the first disassembly hierarchy of the assembly to be disassembled is determined, the first part disassembly sequence of the first disassembly hierarchy is determined from the priority part sequence, and the second part disassembly sequence of the first disassembly hierarchy is determined from the individual parts sequence, thus clarifying the disassembly order of different parts; then, based on the first and second part disassembly sequences, a first-level interactive part set of the first disassembly hierarchy is generated, restricting the currently allowed interactive parts to within the first-level interactive part set, avoiding interactive calculations for parts outside the current hierarchy and sequence, and significantly reducing computational overhead; finally, the disassembly operation of the first disassembly hierarchy is performed based on the first-level interactive part set. This method, through the division of priority part sequences and individual part sequences and the limitation of interactive part sets, avoids accidental access to parts outside the current set, forcibly constrains the disassembly order, thereby improving disassembly accuracy while reducing computational overhead. Attached Figure Description To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is an application architecture diagram of the hierarchical decomposition and interactive control method provided by the present invention; Figure 2 A flowchart illustrating the hierarchical decomposition and interactive control method provided by the present invention; Figure 3 For the present invention Figure 2 A schematic diagram of an embodiment of S202; Figure 4 For the present invention Figure 2 A schematic diagram of an embodiment of S202; Figure 5 For the present invention Figure 2 A schematic diagram of an embodiment of S204; Figure 6 For the present invention Figure 2 A schematic diagram of an embodiment of S204; Figure 7 For the present invention Figure 2 A schematic diagram of an embodiment of S204; Figure 8 This is a schematic diagram comparing the FPS of the rendered image over time with that of the present invention and the traditional collision method; Figure 9 A schematic diagram of the layered disassembly and interactive control device provided by the present invention; Figure 10 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0017] In the description of the embodiments of the present invention, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0018] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0019] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0020] This application provides a layered disassembly interactive control method, wherein the executing entity of the layered disassembly interactive control method is a layered disassembly interactive control method device or an electronic device equipped with a layered disassembly interactive control method device. The following provides a detailed description; it should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments.

[0021] Please see Figure 1 , Figure 1 This is an application architecture diagram of the layered decomposition and interactive control method provided in the embodiments of this application. For example... Figure 1 As shown, the application architecture in this application embodiment includes at least a controller, a hierarchical configurator, an interactive ray generator, a part disassembly executor, and a performance evaluator.

[0022] In this embodiment, the controller, in response to the user's disassembly operation command, instructs the hierarchy configurator to obtain the disassembly hierarchy sequence of the assembly to be disassembled, and determines the current disassembly hierarchy and the corresponding set of interactive parts; based on the set of interactive parts, instructs the hierarchy configurator to turn off the colliders of the other hierarchy parts and perform bounding box intersection detection on the current set; in response to the detection result that there is a contact relationship between the parts, instructs the hierarchy configurator to switch the collider of the corresponding part from the first collider to the second collider.

[0023] In response to the interactive control command, the interactive ray generator is instructed to generate an interactive ray to calculate the interaction with the second collider, thereby selecting the target part; the part disassembly actuator is instructed to perform a disassembly operation on the selected target part; after the target part is disassembled, the part disassembly actuator is instructed to notify the hierarchical configurator to re-detect the contact state of the remaining interactive parts, and based on the detection result of the release of contact relationship, the hierarchical configurator is instructed to switch the collider of the remaining parts from the second collider back to the first collider; and the performance evaluator is instructed to obtain the operating state and environmental state of each device.

[0024] In practical applications, taking the virtual reality disassembly of a power battery pack as an example, due to the compact internal structure and dense arrangement of fasteners in the power battery pack, after the user triggers the initialization operation, the hierarchy configurator generates a disassembly hierarchy sequence of the assembly to be disassembled and determines the current disassembly level and the set of interactive parts. To solve the problem of excessive system performance consumption caused by the large amount of global collision detection computation, the hierarchy configurator disables the collision bodies of other levels of parts, thereby reducing the physical computation of non-interactive parts and improving operating efficiency.

[0025] When disassembling to densely packed fasteners such as bolts and nuts, in order to solve the problem that the overlapping bounding boxes of the first collider in dense areas can easily lead to ray mis-touch and inaccurate selection of target parts, the hierarchy configurator switches the collider of the bolt and nut from the first collider to the second collider after detecting the intersection of their bounding boxes. This improves the accuracy of target part selection in dense areas, while avoiding the computational overhead of using the second collider globally, thus balancing interaction accuracy and computational efficiency.

[0026] After the user issues an interactive control command, the interactive ray generator generates an interactive ray. The ray interacts with the second collider to calculate and accurately select the bolt. The part disassembly actuator then disassembles and removes the bolt. After the bolt is removed, to address the resource waste caused by continuously calculating the second collider in the disassembled area, the part disassembly actuator instructs the hierarchical configurator to re-perform bounding box intersection detection. Based on the detection result of the release of contact relationships around the nut, the hierarchical configurator switches the nut's collider from the second collider back to the first collider, thereby dynamically releasing computing resources and improving processing speed.

[0027] Please see Figure 2 , Figure 2 This is a flowchart illustrating the layered decomposition and interactive control method provided in an embodiment of this application. For example... Figure 2 As shown, the method in this application embodiment may include the following steps S201-S204: S201, Obtain the disassembly hierarchy sequence of the assembly to be disassembled.

[0028] In this embodiment, the assembly to be disassembled refers to the overall three-dimensional model that needs to be disassembled in a virtual reality disassembly training scenario, such as a three-dimensional model of a retired power battery pack. The disassembly hierarchy sequence refers to the ordered disassembly hierarchy combination obtained by dividing the assembly to be disassembled according to the order and hierarchical relationship of the actual disassembly process, where each disassembly hierarchy represents an independent disassembly stage.

[0029] For each disassembly level, the level configurator performs parameter normalization, including normalizing the separation direction, setting lower limits for distance and separation speed, and setting lower limits for the expansion amount in contact detection. The level configurator scans all candidate objects at each disassembly level. If a candidate object has a rendering component but has not yet been attached to a part disassembly executor, it automatically attaches the part disassembly executor. The part disassembly executor further ensures that the candidate object has a first collider, a second collider, and a kinematic rigid body. The first collider is preferably a box collider, and the second collider is preferably a mesh collider. If the object cannot create a second collider, it falls back to using only the first collider.

[0030] The hierarchical configurator divides parts into two categories: parts belonging to priority part sequences and individual parts not belonging to any priority part sequence. Parts in the priority part sequence are automatically assigned to their corresponding groups based on the configured group root node, and the mapping relationships between parts and hierarchies, and between parts and priority part sequences, are recorded. Individual part sequences are sorted from top to bottom according to their relative spatial position within a layer, and from right to left when near the same height, degenerating to hierarchical tree order when necessary. If a valid priority part sequence exists for a disassembly level, that sequence is used as the first priority part sequence; otherwise, the process directly proceeds to the individual part sequence stage, thus obtaining the complete disassembly hierarchy sequence.

[0031] S202, determine the first disassembly level of the assembly to be disassembled, determine the first part disassembly sequence of the first disassembly level from the priority part sequence, and determine the second part disassembly sequence of the first disassembly level from the component sequence.

[0032] In this embodiment, the first disassembly level refers to the disassembly level in the disassembly level sequence that is currently activated and allows disassembly operations. The priority part sequence refers to the sequence of parts with the same priority within the disassembly level, divided according to their priority part sequence. The first part disassembly sequence refers to the set of all parts in the currently activated priority part sequence within the first disassembly level that are allowed to participate in interaction. The scattered part sequence refers to the sequence of parts within the disassembly level that do not belong to any priority part sequence, arranged according to their spatial location or hierarchical tree order. The second part disassembly sequence refers to the sequence of scattered parts in the first disassembly level that are allowed to interact when all priority part sequences are loaded, disassembled, or do not exist.

[0033] In one feasible implementation, the disassembly level to be activated is found in hierarchical order, and the first level that has not been completely disassembled and has interactive parts is determined as the first disassembly level.

[0034] Within the first disassembly level, the hierarchical configurator adopts a scheduling method of "priority part sequence first, followed by component sequence". That is, if the first disassembly level is configured with a valid priority part sequence, the hierarchical configurator first activates all parts in the priority part sequence. Parts in the same group have the same priority and can be selected in parallel, thereby determining these parts as the first part disassembly sequence.

[0035] Once all priority part sequences are completed, the hierarchical configurator moves to the component sequence phase. In the component sequence phase, only one part in a component sequence is activated at any given time. Based on the contact status between the currently activated part and the parts in the first component disassembly sequence, it determines whether to incorporate the part into the second component disassembly sequence.

[0036] S203, based on the first part disassembly sequence and the second part disassembly sequence, generate the first level interactive part set of the first disassembly level.

[0037] In this embodiment of the application, the first-level interactive parts set refers to the set of all parts in the first disassembly level that are allowed to participate in collision detection and ray interaction at the current stage.

[0038] In one feasible implementation, colliders are enabled only for parts in the first and second part disassembly sequences, while colliders are disabled for all other levels and for parts in the same level that are not in the first disassembly sequence. The parts in the first and second part disassembly sequences with enabled colliders and allowed interaction are integrated together to generate a first-level interactive part set, ensuring that only parts in this set are allowed to participate in collision detection and raycasting during runtime.

[0039] S204, Perform a disassembly operation on the first disassembly level based on the first level interactive parts set.

[0040] In one feasible implementation, a corresponding target part is determined from the first-level interactive part set, and the part disassembly executor performs a disassembly action on the target part.

[0041] The disassembly action includes two types: single-part disassembly and synchronous group disassembly. If the disassembly type is single-part disassembly, the target part is separated from the assembly to be disassembled and moved gradually to the target position along the preset separation direction at a set speed. The target position is determined by the current part position, separation direction, and separation distance. When the disassembly action starts, the target part is marked as completed and its collision body is turned off. After the disassembly action ends, it is determined whether to hide the rendering display of the part according to the configuration.

[0042] If the disassembly type is synchronous group disassembly, when the target part is a member of the synchronous group, all parts under the root node of that synchronous group are selected as linkage objects, causing them to move to the target position along the preset direction with the group root node. After each disassembly is completed, the part disassembly executor notifies the hierarchy configurator to re-detect the contact status of the remaining interactive parts. The hierarchy configurator checks whether the current stage has been completed and decides whether to switch to the next disassembly level based on the check result. After receiving the stage change notification, the controller recalculates the next disassembly level and its set of interactive parts until the overall disassembly of the assembly to be disassembled is completed.

[0043] It should be noted that the above embodiments of this application use the "first disassembly level" as an example to describe the disassembly interaction control process in detail. Here, "first disassembly level" refers only to the level currently activated and allowed to perform disassembly operations in the disassembly level sequence, and not to a limitation on the absolute order of the disassembly levels. The disassembly processes for other remaining levels to be disassembled in the disassembly level sequence can be inferred or known based on the disassembly process of the first disassembly level of this application, and their internal interaction logic and control steps are highly consistent. To avoid repetition, those skilled in the art can undoubtedly apply the disassembly process of the first disassembly level to any subsequent level to be disassembled; therefore, the disassembly process for each remaining level will not be described in detail here.

[0044] In summary, this application hierarchically divides the disassembly process by obtaining the disassembly hierarchy sequence of the assembly to be disassembled; then, it determines the first disassembly level of the assembly, identifies the first part disassembly sequence of the first disassembly level from the priority part sequence, and determines the second part disassembly sequence of the first disassembly level from the individual parts sequence, thus clarifying the disassembly order of different parts; next, based on the first and second part disassembly sequences, it generates a first-level interactive part set for the first disassembly level, restricting currently allowed interactive parts to the first-level interactive part set, avoiding interactive calculations for parts outside the current level and sequence, and significantly reducing computational overhead; finally, it performs disassembly operations on the first disassembly level based on the first-level interactive part set. This method, through the division of priority part sequences and individual part sequences and the limitation of the interactive part set, avoids accidental access to parts outside the current set, forcibly constrains the disassembly order, thereby improving disassembly accuracy while reducing computational overhead.

[0045] Please see Figure 3 , Figure 3 This is the present invention. Figure 2 A schematic diagram of an embodiment of S202. (See attached diagram.) Figure 3 As shown, the method in this application embodiment may include the following steps S301-S303: S301, disable the collision bodies of all parts in the disassembly hierarchy sequence.

[0046] In this embodiment, a collider refers to a geometric object used in a virtual reality physics engine to detect ray interactions and physical collisions, including a first collider and a second collider. Specifically, the first collider can be a coarse collider, and the second collider can be a fine collider. A coarse collider refers to a collision detection boundary approximately generated using a simple geometry, preferably a box-shaped collider, to reduce computational overhead. A fine collider refers to a collision detection boundary generated using a mesh that fits the actual surface of the part, preferably a mesh collider, to improve selection accuracy.

[0047] In one feasible implementation, after initialization, the controller traverses all disassembly levels in the disassembly level sequence and sets all coarse and fine colliders of all parts to the off state, thereby clearing all objects that may participate in collision detection. This prepares for the subsequent activation of colliders only for specific parts of the currently active level, thus narrowing the range of objects that can be hit.

[0048] S302, based on the disassembly order corresponding to the disassembly level sequence, the first level in the assembly to be disassembled that has not been completely disassembled and has interactive parts is determined as the first disassembly level.

[0049] In this embodiment, the hierarchical disassembly order refers to the pre-defined order of disassembly between different disassembly levels in the disassembly hierarchy sequence. An interactive part refers to a part that is currently active in the current disassembly level, has interactive permissions, and can be selected by a ray and disassembled.

[0050] In one feasible implementation, each level is judged sequentially according to the hierarchical disassembly order. First, it is judged whether the level has been completely disassembled. If the disassembly is not completed, it is further judged whether there are interactive parts in the current stage of the level.

[0051] If a certain level has no interactive parts in the current stage, the system will first attempt to automatically advance the stage within that level. For example, if a priority part sequence has been completed but the system has not yet switched to the next priority part sequence, or if the current stage is an empty group or empty sequence, the level configurator will automatically update the internal stage status. If no interactive parts are found after automatic advancement, the system will skip that level according to the configuration, mark it as disassembly complete, and continue searching for the next disassembly level. This will determine the first level that has not been disassembled and has interactive parts as the first disassembly level, preventing the entire disassembly process from stalling in an empty or invalid stage.

[0052] S303, enable the colliders of the parts in the first disassembly level and disable the colliders of the parts in the second disassembly level.

[0053] In the embodiments of this application, the second disassembly level refers to the disassembly level other than the first disassembly level in the disassembly level sequence.

[0054] In one feasible implementation, after determining the first disassembly level, colliders are only enabled for parts in the current stage of that first disassembly level, ensuring that colliders for parts in other levels, i.e., the second disassembly level, remain disabled, and colliders for parts not in the current stage within the same level are also disabled. This narrows the range of objects that can be hit, preventing non-currently disassembled objects from being triggered by ray interaction, thereby reducing accidental touches.

[0055] In summary, this application reduces the number of objects involved in physical detection by uniformly disabling all colliders and then only enabling the colliders of the parts in the current stage of the currently active layer. This prevents non-current disassembly objects from being triggered by ray interaction, thereby reducing the number of objects involved in physical detection, lowering the system's unnecessary computational overhead, and effectively avoiding accidental touch issues in multi-layer occlusion scenarios.

[0056] Please see Figure 4 , Figure 4 This is the present invention. Figure 2 A schematic diagram of an embodiment of S202. (See attached diagram.) Figure 4 As shown, the method in this application embodiment may include the following steps S401-S403: S401, obtain the scheduling status of the first priority part sequence corresponding to the first disassembly level.

[0057] In this application, the first priority part sequence refers to a sequence of parts to be disassembled that are automatically assigned to the group root node and have the same priority in the first disassembly level. The scheduling status refers to a status identifier used to indicate whether the first priority part sequence has been activated and is in an interactive state, including an unscheduled state and a scheduling completed state.

[0058] In one feasible implementation, after determining the first disassembly level, the hierarchical configurator reads the configuration information of the priority part sequence corresponding to the first disassembly level and checks whether a valid priority part sequence exists. If it exists, the currently pointed-to valid priority part sequence is determined as the first priority part sequence, and it is determined whether it has been activated or completed scheduling, so as to decide whether to continue scheduling parts in the priority part sequence.

[0059] S402, if the scheduling state of the first priority part sequence is unscheduled, then generate the first part disassembly sequence based on all parts in the first priority part sequence.

[0060] In this embodiment, the unscheduled state refers to the state in which the first priority part sequence has not yet been activated and its internal parts have not yet participated in the current interaction.

[0061] In one feasible implementation, if the first priority part sequence is in an unscheduled state, the hierarchical configurator first activates all parts in the first priority part sequence. Since the parts in the first priority part sequence have the same priority, they can be selected in parallel. All parts in the first priority part sequence are then included in the current interactive scope, thereby generating the first part disassembly sequence.

[0062] S403, if the first priority part sequence does not exist and / or the scheduling state is in the scheduling completed state, then the parts in the scattered parts sequence that have a contact relationship with the first part disassembly sequence are integrated to obtain the second part disassembly sequence.

[0063] In this embodiment, the scheduling completion state refers to the state where the first priority part sequence has been activated and all parts within it have been disassembled. Contact relationship refers to the state where bounding boxes intersect between parts in spatial geometry.

[0064] In one feasible implementation, if the hierarchical configurator determines that the first priority part sequence does not exist and / or the scheduling state is in the scheduling completed state, then the parts in the scattered parts sequence that have a contact relationship with the first part disassembly sequence are integrated to obtain the second part disassembly sequence.

[0065] When the first priority part sequence is in the scheduling completed state or does not exist, the process transitions to the component sequence phase. In the component sequence phase, only one part in the component sequence is activated at any given time. The contact relationship between the currently activated part and the first priority part sequence is detected. If the currently activated part has a contact relationship, it is integrated into the second part disassembly sequence.

[0066] In summary, this application introduces a priority group scheduling and component sequence control mechanism, which activates all components in a priority group when the priority group is not scheduled, and activates components sequentially when the priority group is completed or does not exist. This ensures that the virtual disassembly process is consistent with the actual process steps, avoids users from arbitrarily skipping steps, and improves the standardization of training and the continuity of the disassembly process.

[0067] In one feasible implementation, in addition to the step of generating a first-level interactive parts set of a first disassembly level based on a first parts disassembly sequence and a second parts disassembly sequence, the following is further performed: Based on the contact state of the parts in the first part disassembly sequence and / or the second part disassembly sequence, the collision state of the parts in the first part disassembly sequence and / or the second part disassembly sequence is set as the first collision body state or the second collision body state. In this embodiment, the contact state refers to the state of mutual contact or separation between parts determined by the intersection detection results of the axis alignment bounding box. The collision state refers to the type of collider currently used by the part and its activity status. The first collider state refers to the state in which the part only uses coarse colliders for collision detection. The second collider state refers to the state in which the part uses fine colliders for collision detection; if the part does not have fine colliders, it reverts to using coarse colliders.

[0068] In one feasible implementation, the parts in the first part disassembly sequence and the second part disassembly sequence are first set to the first collision body state, that is, the coarse collision body is enabled; the bounding box intersection detection is performed on all parts, and in order to reduce the missed detection caused by floating point error, the bounding box is slightly expanded by a preset expansion amount.

[0069] If the expanded bounding boxes of two parts intersect, then these two parts are added to the contact set. For parts in the contact set, if there is a part with a fine collider, then its collision state is switched to the second collider state; if there is no fine collider, then the first collider state is maintained. For parts not in the contact set, the first collider state is maintained.

[0070] The above tests can be performed either when a certain disassembly level is just activated or after any part has been disassembled.

[0071] Based on the parts in the first collider state and / or the second collider state, a first-level set of interactive parts is generated.

[0072] In one feasible implementation, parts in the first and second collider states are aggregated. All colliders on these parts are in an active state, enabling them to participate in physical collisions and ray detection. These parts with active colliders are grouped into a first-level interactive part set for the first disassembly layer. This dynamic switching mechanism based on contact states ensures interaction accuracy using fine colliders when parts are in contact, and automatically reverts to coarse colliders when parts have separated and no longer affect each other, reducing physical overhead and thus avoiding continuous high-precision collision calculations across the entire scene.

[0073] In summary, this application achieves a balance between interaction accuracy and operational efficiency by using a dynamic switching mechanism between coarse and fine colliders based on contact states, which ensures the interaction accuracy of key contact areas while reducing the performance burden caused by continuously using fine colliders on all parts.

[0074] Please see Figure 5 , Figure 5 This invention Figure 2 A schematic diagram of an embodiment of S204. (See attached diagram.) Figure 5 As shown, the method in this application embodiment may include the following steps S501-S504: S501, obtain the disassembly type of the first disassembly level.

[0075] In the embodiments of this application, the disassembly type refers to the category of disassembly action performed on the part to be disassembled, including single-piece disassembly and synchronous group disassembly.

[0076] In one feasible implementation, when a user selects a currently valid target part through ray interaction, the part disassembly executor obtains the configuration information of the target part, determines whether it belongs to an independently disassembled single part or a member of a certain synchronous group, and thus determines the disassembly type.

[0077] S502, if the disassembly type is single-piece disassembly, then after the first disassembly level is disassembled, it is moved to the target position along the preset separation direction.

[0078] In this embodiment, single-part disassembly refers to the operation of independently disassembling and separating a single part at the first disassembly level. The preset separation direction refers to the movement direction vector pre-set for the part in the hierarchical configuration module. The target position refers to the final spatial position of the part after the disassembly operation is completed, which is calculated and determined by the current part position, separation direction, and separation distance.

[0079] In one feasible implementation, individual parts from the first disassembly level are gradually moved to the target position along a preset separation direction at a set speed. At the start of the disassembly process, each individual part is marked as complete and its collision body is disabled to avoid duplicate selection. After the disassembly process is completed, a decision is made based on the configuration whether to hide the rendered display of that individual part.

[0080] S503, if the disassembly type is synchronous group disassembly, then after disassembling the first disassembly level, the parts in the first disassembly level are moved together to the target position to obtain the disassembled parts group.

[0081] In the embodiments of this application, synchronous disassembly refers to the operation of disassembling multiple interconnected parts as a whole in a synchronized manner.

[0082] In one feasible implementation, all parts of the first-level interactive part set are selected as the linkage object, so that all parts move together to the target position along a preset direction, thereby realizing the linkage disassembly of multiple parts.

[0083] In summary, by supporting both single-piece disassembly and synchronous group disassembly, it can flexibly adapt to the disassembly process requirements of different parts. In particular, it enables the overall separation of interconnected parts such as fasteners, improving the efficiency of disassembly operations and its compatibility with actual processes.

[0084] Please see Figure 6 , Figure 6 This is the present invention. Figure 2 A schematic diagram of an embodiment of S204. (See attached diagram.) Figure 6 As shown, the method in this application embodiment may include the following steps S601-S603: S601, obtain the disassembly status of the first disassembly level.

[0085] In this embodiment of the application, the disassembly status refers to the progress of disassembly of parts within the current first disassembly level, including the disassembly in progress status and the disassembly completed status.

[0086] In one feasible implementation, after each single-piece disassembly or synchronous group disassembly action is completed, the part disassembly actuator notifies the hierarchical configuration module to check whether all parts in the current stage have been disassembled, thereby obtaining the disassembly status of the current level.

[0087] S602, if the disassembly status of the first disassembly level is the disassembly completed state, then update the contact status of the remaining parts in the disassembly level sequence.

[0088] In this embodiment, the disassembly completion state refers to the state where all interactive parts in the current first disassembly level have completed the disassembly action. Remaining parts refer to parts in the first disassembly level that have not yet been disassembled. Part contact state refers to the state where parts are in contact or separated, as determined by bounding box intersection detection.

[0089] In one feasible implementation, once it is detected that all parts of the first disassembly level have been disassembled, the hierarchical configuration module re-executes pairwise bounding box intersection detection for the remaining interactive parts to update the changes in contact relationships between parts caused by the removal of some parts.

[0090] S603, update the collision state of the remaining parts based on the contact state of the parts. The collision state includes the first collision state and the second collision state.

[0091] In one feasible implementation, based on the contact state, if the remaining part intersects with the bounding box of other parts, it is switched to the second collision body state; if the remaining part no longer intersects with the bounding box of other parts, it is maintained or switched back to the first collision body state.

[0092] In summary, this application dynamically updates the contact state and collision state of the remaining parts after disassembly, enabling the system to adaptively adjust the collision detection strategy and automatically revert to a coarse collision state after part separation, thereby continuously reducing the physical calculation overhead and ensuring the smooth operation of the system.

[0093] Please see Figure 7 , Figure 7 This is for the present invention Figure 2 A schematic diagram of an embodiment of S204. (See attached diagram.) Figure 7 As shown, the method in this application embodiment may include the following steps S701-S704: S701, Obtain the target disassembled assembly. The target disassembled assembly is the disassembled assembly generated after performing an overall disassembly operation on the assembly to be disassembled.

[0094] In this embodiment, the target disassembled assembly refers to a set of three-dimensional models of the assembly to be disassembled, in which all parts are separated after all disassembly actions are completed according to the disassembly hierarchy sequence. The overall disassembly operation refers to the entire process of breaking down the assembly to be disassembled into individual independent parts or components according to the hierarchical scheduling and priority order in the above embodiments.

[0095] In one feasible implementation, once all disassembly levels of the retired power battery pack have been completed, the system generates a target disassembly assembly scene containing all disassembled parts. This scene is used for subsequent training demonstrations, review observations, or playback of disassembly steps.

[0096] S702, in response to interactive operation commands, obtains the collision results generated by the virtual interactive ray acting on the target disassembly assembly.

[0097] In this embodiment, the interactive operation command refers to the operation command issued by the user during the training demonstration phase via a virtual reality controller or keyboard and mouse to select or view disassembled parts. The virtual interactive ray refers to a ray generated by an intelligent ray interactor based on the input device, used to detect objects in three-dimensional space. The collision result refers to the set of hit information generated by the intersection of the virtual interactive ray with the collision bodies of each part in the target disassembled assembly.

[0098] In one feasible implementation, in the training demonstration mode after the overall disassembly is completed, the user emits an interactive ray through a VR controller or keyboard and mouse. The interactive ray penetrates the parts in the disassembled target assembly to obtain collision information of all parts hit by the ray within a certain distance.

[0099] S703 sorts the collision results by distance and extracts the part objects to which the colliding bodies belong in turn.

[0100] In this embodiment, a hit collider refers to a collider on a part that is traversed by a virtual interaction ray. A part object refers to the three-dimensional model entity corresponding to the hit collider.

[0101] In one feasible implementation, the intelligent ray interactor sorts all the acquired hit results from near to far, and extracts the corresponding part objects sequentially from near to far, so as to perform subsequent permission verification according to depth order.

[0102] S704, if the part object belongs to any disassembly level and has passed the preset interactivity verification, then the part object is loaded and displayed based on the preset display rendering effect.

[0103] In this embodiment, interactivity verification refers to the verification logic that determines whether a part object belongs to the objects that are allowed to be highlighted or viewed in the current demonstration step during the demonstration mode. Display rendering effect refers to visual feedback such as outline highlighting, color highlighting, floating information labels, or exploded views applied to the selected part.

[0104] In one feasible implementation, during the training demonstration phase, the range of interactive parts is set according to the demonstration progress, such as the disassembly level corresponding to the current demonstration step. Parts that do not belong to the current demonstration step are skipped, and the first part that passes the verification is selected. Highlighting is applied to it or the disassembly process information label of the part is displayed, thereby helping trainees review and observe the disassembly steps.

[0105] Please refer to the following: Figure 8 , Figure 8 This is a schematic diagram comparing the FPS of the rendered image over time with that of the present invention and the traditional collision method, as shown in the figure. Figure 8 The three implementations of this invention are shown, where Coarse represents the coarse collider mode, Fine represents the fine collider mode, and Hybrid represents the hybrid collider mode. The performance difference between these three implementations and the two traditional collision detection methods, Full Box and Full Mesh, over time is illustrated in the frame rate variation. The horizontal axis represents runtime, and the vertical axis represents the frame rate value. A higher frame rate indicates higher computational efficiency and better real-time performance. It can be seen that the frame rate of the three implementations of this invention remains stably maintained in the high range of approximately 90-120 throughout the process, while the frame rate of traditional methods is generally lower than 90. The traditional Full Mesh method even shows a significant drop and large fluctuation in frame rate, reaching a minimum of close to 60, while the traditional Full Box method fluctuates between 65-95 for a long period. Overall, the efficiency of these methods is significantly lower than that of the method of this invention. This demonstrates that compared to traditional collision detection methods, the technical solution of this invention can maintain a higher and more stable frame rate during processing, significantly improving the computational efficiency and real-time performance of collision detection, and effectively reducing computational overhead.

[0106] In summary, this application provides a training demonstration logic based on ray interaction after the overall disassembly is completed. Combined with collision result sorting and interactivity verification, it enables trainees to accurately select target parts and obtain clear visual feedback in review and demonstration scenarios, thereby further improving the comprehensibility and smoothness of training.

[0107] The following will combine Figure 9 This application provides a detailed description of the layered disassembly and interactive control device provided in its embodiments. It should be noted that... Figure 9 The layered disassembly interactive control device in the application is used to execute the present application. Figures 2-7 The methods shown in the embodiments are illustrated for ease of explanation, showing only the parts relevant to the embodiments of this application. For specific technical details not disclosed, please refer to section 2 of this application. Figure 7 In the embodiment shown, the layered disassembly interactive control device 900 may include a disassembly sequence acquisition unit 901, a disassembly sequence decomposition unit 902, a parts assembly generation unit 903, and a disassembly operation execution unit, as detailed below: The disassembly sequence acquisition unit 901 is used to acquire the disassembly level sequence of the assembly to be disassembled. The disassembly level sequence contains multiple disassembly levels. Each disassembly level contains a priority part sequence and a component sequence. The priority part sequence is a sequence of parts with the same priority, and the component sequence is a sequence of parts that do not belong to any priority part sequence. The disassembly sequence decomposition unit 902 is used to determine the first disassembly level of the assembly to be disassembled, determine the first part disassembly sequence of the first disassembly level from the priority part sequence, and determine the second part disassembly sequence of the first disassembly level from the component sequence. Part set generation form 903 is used to generate a first-level interactive part set of the first disassembly level based on the first part disassembly sequence and the second part disassembly sequence; The disassembly operation execution unit 904 is used to perform disassembly operations on the first disassembly level based on the first level interactive part set.

[0108] The layered disassembly interactive control device 900 provided in the above embodiments can realize the technical solutions described in the above layered disassembly interactive control method embodiments. The specific implementation principles of each device or unit can be found in the corresponding content in the above layered disassembly interactive control method embodiments, and will not be repeated here.

[0109] like Figure 10 As shown, the present invention also provides an electronic device 1000. The electronic device 1000 includes a disassembly actuator, a processor 1001, a memory 1002, a display 1003, and a data acquisition device 1004. Figure 10 Only some components of the electronic device 1000 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0110] The processor 1001 is used to determine the disassembly level of the assembly to be disassembled, determine the part disassembly sequence corresponding to the disassembly level, and generate a set of interactive parts corresponding to the disassembly level based on the part disassembly sequence.

[0111] Memory 1002 is used to store executable program code.

[0112] Data acquisition unit 1004 is used to acquire the disassembly hierarchy sequence of the assembly to be disassembled.

[0113] The disassembly actuator is used to perform disassembly operations on the disassembly level in response to disassembly trigger commands for the disassembly level, based on the interactive part set.

[0114] In some embodiments, processor 1001 may be a central processing unit (CPU), microprocessor or other data processing chip, used to run program code stored in memory 1002 or process data, such as the layered disassembly interactive control method of the present invention.

[0115] In some embodiments, processor 1001 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 1001 may be local or remote. In some embodiments, processor 1001 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, intranet, multi-cloud, etc., or any combination thereof.

[0116] In some embodiments, memory 1002 may be an internal storage unit of electronic device 1000, such as a hard disk or memory of electronic device 1000. In other embodiments, memory 1002 may also be an external storage device of electronic device 1000, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 1000.

[0117] Furthermore, the memory 1002 may include both internal storage units of the electronic device 1000 and external storage devices. The memory 1002 is used to store application software and various types of data installed on the electronic device 1000.

[0118] In some embodiments, display 1003 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 1003 is used to display information from electronic device 1000 and to display a visual user interface. Components 1001-1003 of electronic device 1000 communicate with each other via a system bus.

[0119] In one embodiment, when the processor 1001 executes the layered disassembly interactive control program in the memory 1002, the following steps can be implemented: Obtain the disassembly hierarchy sequence of the assembly to be disassembled. The disassembly hierarchy sequence contains multiple disassembly levels. Each disassembly level contains a priority part sequence and a component sequence. The priority part sequence is a sequence of parts with the same priority, and the component sequence is a sequence of parts that do not belong to any priority part sequence. Determine the first disassembly level of the assembly to be disassembled, determine the first part disassembly sequence of the first disassembly level from the priority part sequence, and determine the second part disassembly sequence of the first disassembly level from the component sequence; Based on the first part disassembly sequence and the second part disassembly sequence, a first-level interactive part set of the first disassembly level is generated; The disassembly operation of the first disassembly level is performed based on the first-level interactive parts set.

[0120] It should be understood that when the processor 1001 executes the hierarchical disassembly interactive control program in the memory 1002, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0121] Furthermore, the embodiments of the present invention do not specifically limit the type of the electronic device 1000 mentioned. The electronic device 1000 can be a portable electronic device such as a tablet computer, a personal digital assistant (PDA), a wearable device, or a laptop computer. Exemplary embodiments of the portable electronic device include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 1000 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0122] Accordingly, this application also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions of the hierarchical decomposition and interactive control methods provided in the above-described method embodiments.

[0123] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0124] The layered disassembly interactive control method, device, and electronic device provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A hierarchical decomposition and interactive control method, characterized in that, include: Obtain the disassembly hierarchy sequence of the assembly to be disassembled. The disassembly hierarchy sequence contains multiple disassembly levels. Each disassembly level contains a priority parts sequence and a component sequence. The priority parts sequence is a sequence of parts with the same priority. The component sequence is a sequence of parts that do not belong to any of the priority parts sequences. Determine the first disassembly level of the assembly to be disassembled, determine the first part disassembly sequence of the first disassembly level from the priority part sequence, and determine the second part disassembly sequence of the first disassembly level from the component sequence; Based on the first part disassembly sequence and the second part disassembly sequence, a first-level interactive part set of the first disassembly level is generated; The disassembly operation of the first disassembly level is performed based on the first level of interactive parts set.

2. The method according to claim 1, characterized in that, Determining the first disassembly level of the assembly to be disassembled includes: Disable the collision bodies of all parts in the disassembly hierarchy sequence; Based on the disassembly sequence corresponding to the disassembly level sequence, the first level in the assembly to be disassembled that has not been completely disassembled and contains interactive parts is determined as the first disassembly level.

3. The method according to claim 1, characterized in that, After determining the first disassembly level of the assembly to be disassembled, the method further includes: The collision objects of the parts in the first disassembly level are activated, and the collision objects of the parts in the second disassembly level are deactivated. The disassembly level of the second disassembly level is different from that of the first disassembly level.

4. The method according to claim 1, characterized in that, The step of determining the first part disassembly sequence of the first disassembly level from the priority part sequence and determining the second part disassembly sequence of the first disassembly level from the component sequence includes: Obtain the scheduling status of the first priority part sequence corresponding to the first disassembly level; If the scheduling state of the first priority part sequence is unscheduled, then a first part disassembly sequence is generated based on all parts in the first priority part sequence. If the first priority part sequence does not exist and / or the scheduling state is in the scheduling completed state, then the parts in the scattered parts sequence that have a contact relationship with the first part disassembly sequence are integrated to obtain the second part disassembly sequence.

5. The method according to claim 1, characterized in that, The step of generating a first-level interactive parts set based on the first parts disassembly sequence and the second parts disassembly sequence includes: Based on the contact state of the parts in the first part disassembly sequence and / or the second part disassembly sequence, the collision state of the parts in the first part disassembly sequence and / or the second part disassembly sequence is set as a first collision body state or a second collision body state. A first-level set of interactive parts is generated based on the parts in the first collider state and / or the second collider state.

6. The method according to claim 1, characterized in that, The step of performing the disassembly operation on the first disassembly level based on the first level of interactive parts set includes: Obtain the disassembly type of the first disassembly level; If the disassembly type is single-piece disassembly, then after the first disassembly level is disassembled, it is moved to the target position along the preset separation direction; If the disassembly type is synchronous group disassembly, then after the first disassembly level is disassembled, each part in the first disassembly level is moved together to the target position to obtain a disassembled part group.

7. The method according to claim 1, characterized in that, After performing the disassembly operation on the first disassembly level based on the first-level interactive parts set, the method further includes: Obtain the disassembly status of the first disassembly level; If the disassembly status of the first disassembly level is the disassembly completed state, then update the contact status of the remaining parts in the disassembly level sequence, wherein the remaining parts are parts not included in the first level interactive parts set. The collision state of the remaining parts is updated based on the contact state of the parts, and the collision state includes a first collision state and a second collision state.

8. The method according to claim 1, characterized in that, After performing the disassembly operation on the first disassembly level based on the first-level interactive parts set, the method further includes: Obtain a target disassembled assembly, wherein the target disassembled assembly is a disassembled assembly generated after performing an overall disassembly operation on the assembly to be disassembled; In response to the interactive operation command, the collision result generated by the virtual interactive ray acting on the target disassembled assembly is obtained; The collision results are sorted by distance, and the part objects to which the colliding bodies belong are extracted in sequence. If the part object belongs to any disassembly level and passes the preset interactivity check, then the part object is loaded and displayed based on the preset display rendering effect.

9. A layered disassembly and interactive control device, characterized in that, The device includes: The disassembly sequence acquisition unit is used to acquire the disassembly level sequence of the assembly to be disassembled. The disassembly level sequence includes multiple disassembly levels. Each disassembly level includes a priority part sequence and a component sequence. The priority part sequence is a sequence of parts with the same priority. The component sequence is a sequence of parts that do not belong to any of the priority part sequences. The disassembly sequence decomposition unit is used to determine the first disassembly level of the assembly to be disassembled, determine the first part disassembly sequence of the first disassembly level from the priority part sequence, and determine the second part disassembly sequence of the first disassembly level from the component sequence. A parts set generation unit is used to generate a first-level interactive parts set of the first disassembly level based on the first parts disassembly sequence and the second parts disassembly sequence. The disassembly operation execution unit is used to perform disassembly operations on the first disassembly level based on the first level of interactive parts set.

10. An electronic device, characterized in that, The electronic device includes a data acquisition unit, a memory, a processor, and a disassembly actuator, wherein, The data acquisition device is used to acquire the disassembly hierarchy sequence of the assembly to be disassembled; The memory is used to store executable program code; The processor is configured to determine the disassembly level of the assembly to be disassembled, determine the part disassembly sequence corresponding to the disassembly level, and generate an interactive part set corresponding to the disassembly level based on the part disassembly sequence. The disassembly actuator is used to perform disassembly operations on the disassembly level based on the interactive parts set in response to the disassembly trigger command for the disassembly level.

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