Discrete block assembly method, device, computer equipment and storage medium

Abstract

The application discloses a discrete block assembling method and device, computer equipment and a storage medium. The method comprises the following steps: constructing a graph structure and a foundation node set based on discrete blocks; calculating the support effect between the target discrete block and the support involved in the graph structure; analyzing the adjacent interlocking degree in the stress direction and the escape direction; performing graph search on the graph structure starting from the current discrete block to obtain a force transmission path from the current discrete block to the foundation node set along the edge; screening the discrete blocks based on the support effect, the interlocking degree and the force transmission path; and assembling the discrete blocks screened. The application considers the support area, the contact direction and the internal force transmission of the force transmission chain, screens out obviously unstable structures and avoids sending obviously unassemblable structures to the downstream. Moreover, the support effect, the interlocking degree and the graph path search can be efficiently completed on the discrete graph, and are suitable for rapid and large-scale screening at the discrete block level.

Description

Technical Field

[0001] This application relates to the fields of computational additive manufacturing assembly verification and structural self-repair technology, and in particular to assembly methods, apparatus, computer equipment and storage media for discrete blocks. Background Technology

[0002] In discrete structural design, 3D printing, modular assembly, and automated disassembly tasks, the common problem is not whether the geometry can be cut, but whether the cut blocks still satisfy basic mechanical stability. In actual engineering, some blocks are connected to other blocks only through a very small contact area, forming singular connections; some blocks, although topologically connected, lack effective support and are prone to breakage or sagging after printing or assembly; some local cantilever structures lack stable force transmission paths and will fail under gravity even if they can be installed.

[0003] To address the above problems, existing technologies typically offer two solutions: First, they judge structural feasibility solely based on geometric connectivity, neglecting internal force transmission. Second, while considering internal force transmission, they employ rigorous physical solutions such as complete contact dynamics, friction cones, and Jacobian constraints, which are theoretically sound but computationally expensive, hindering rapid screening of large-scale candidate structures. Existing structural screening methods either rely solely on geometric connectivity or excessively depend on costly dynamic solutions. Therefore, when dealing with discrete blocks, maintaining static rationality and employing mechanical methods suitable for rapid engineering screening cannot be simultaneously achieved. At the discrete block level, it is impossible to quickly and accurately determine whether a current discrete block is worth continuing to manufacture or assemble. In other words, existing technologies suffer from the technical problem of poor assembly quality when rapidly manufacturing and assembling based on current discrete block screening methods. Summary of the Invention

[0004] This application provides a method, apparatus, computer equipment, and storage medium for assembling discrete blocks, which can solve the technical problem that the assembled finished products produced by rapid manufacturing and assembly based on existing discrete block screening methods are of poor quality.

[0005] In a first aspect, embodiments of this application provide a method for assembling discrete blocks, comprising: In response to the assembly command for discrete blocks, based on the discrete blocks in the preset target discrete block set, a corresponding graph structure and a set of clearly marked foundation nodes are constructed. The graph structure consists of vertices and edges, and the foundation nodes in the set of foundation nodes are obtained by blocks directly connected to the ground, base, or absolute rigid body support marked by the vertices. The support effect is obtained by calculating the contact area between the target discrete block involved in the diagram structure and the stable support body below. The support effect characterizes the sufficiency of the bottom bearing capacity. The force direction and escape direction of the target discrete block are analyzed to obtain the interlocking degree of the surrounding adjacent blocks with respect to the target discrete block. The higher the interlocking degree, the less likely it is to move. Starting from the current discrete block, perform a graph search on the graph structure to obtain the force transmission path from the current discrete block along the edge to the set of foundation nodes; Based on the support effect, the interlocking degree, and the force transmission path, the discrete blocks in the target discrete block set are combined and statically screened to determine whether they pass the static screening. For the failed discrete blocks in the set of failed discrete blocks that failed the static screening, adjacent blocks in the adjacent direction are selected from the neighborhood of the failed discrete block and merged. For the newly merged adjacent blocks, the corresponding new support effect, new interlocking degree, and new force transmission path are determined. The new support effect, the new interlocking degree, and the new force transmission path are recombined and statically screened to determine whether the failed discrete block passes the static screening. The failed discrete blocks that pass the static screening are removed from the set of failed discrete blocks. The failed discrete blocks that fail the static screening are recombined with adjacent blocks in a different adjacent direction, and the recombined static screening is performed again until all failed discrete blocks pass the static screening. A complete assembly is obtained by assembling discrete blocks selected through statics.

[0006] In some embodiments, in response to an assembly command for discrete blocks, a corresponding graph structure and a set of clearly marked foundation nodes are constructed based on discrete blocks in a preset target discrete block set. The graph structure consists of vertices and edges, and the foundation nodes in the set of foundation nodes are obtained by blocks directly connected to the ground, base, or absolutely rigid body support marked by the vertices, including: In response to the assembly command for the discrete blocks, the target discrete block set consisting of multiple discrete blocks and the spatial adjacency and contact relationships between the discrete blocks are obtained; Map the discrete blocks in the target discrete block set to vertices; Based on the spatial adjacency contact relationship, undirected edges are established between discrete blocks that have stable force contact relationships in space, and a corresponding graph structure is obtained based on the undirected edges and the vertices. The undirected edges are not established between discrete blocks that are only in point contact or line contact and cannot transmit effective static forces. Among all the vertices, discrete blocks that are directly connected to the ground, base, or absolute rigid body support are marked and used as the foundation nodes to obtain the foundation node set.

[0007] In some embodiments, the support effect is a support ratio, calculated by measuring the contact area between the target discrete block involved in the graphical structure and the underlying stable support, including: Determine the effective load-bearing contact area between the target discrete block involved in the diagram structure and the underlying stable support; Obtain the bottom projected area of ​​the target discrete block; Calculate the ratio between the effective load-bearing contact area and the bottom projected area to obtain the support ratio corresponding to the target discrete block. The support ratio is between 0 and 1. The larger the support ratio, the more sufficient the bottom load is.

[0008] In some embodiments, the interlocking degree is an interlocking score, which involves analyzing the force direction and escape direction of the target discrete block to obtain the interlocking degree of the surrounding adjacent blocks on the target discrete block, including: The force direction and escape direction of the target discrete block are determined. The force direction includes the direction of gravity and the horizontal direction, and the escape direction includes the opposite direction of insertion or removal during assembly. Based on the graph structure, it is determined whether the adjacent surrounding blocks form an effective geometric barrier to the target discrete block in the direction of force application or the direction of escape. Based on the preset weights corresponding to the force direction or the escape direction, the interlocking component is obtained by weighted summation of the surrounding adjacent blocks that form the geometric barrier.

[0009] In some embodiments, a combined static screening determination is performed on the discrete blocks in the target discrete block set based on the support effect, the interlocking degree, and the force transmission path to determine whether they pass the static screening, including: If the force transmission path does not exist for the current discrete block in the target discrete block set, then the current discrete block is determined to have failed the static screening. If the force transmission path exists, the support effect is determined based on a preset support rate threshold, and the interlocking degree is determined based on a preset interlocking threshold. If both the support effect and the interlocking degree exceed their respective thresholds, then the current discrete block is determined to have passed the static screening.

[0010] In some embodiments, a complete assembly is obtained by assembling discrete blocks selected through statics, including: An assembly sequence is generated based on discrete blocks selected by statics, and assembly operations are performed block by block based on the assembly sequence. After assembling a single discrete block, the stability of the currently assembled partial structure is verified. For the current part of the structure that fails the stability verification, perform assembly rollback, assembly sequence adjustment and local reinforcement of the discrete blocks to handle assembly anomalies until the assembly is completed and all parts pass the stability verification to obtain a complete assembly.

[0011] Secondly, embodiments of this application also provide an assembly apparatus for discrete blocks, the apparatus comprising: The graph structure construction unit is used to respond to the assembly command of discrete blocks, construct the corresponding graph structure and construct the clearly marked set of foundation nodes based on the discrete blocks in the preset target discrete block set. The graph structure consists of vertices and edges, and the foundation nodes in the set of foundation nodes are obtained by blocks that are directly connected to the ground, base or absolute rigid body support marked by the vertex. A support calculation unit is used to calculate the support effect by measuring the contact area between the target discrete block involved in the graph structure and the stable support body below. The support effect characterizes the sufficiency of the bottom bearing capacity. The interlock analysis unit is used to analyze the force direction and escape direction of the target discrete block to obtain the interlock degree of the surrounding adjacent blocks on the target discrete block. The higher the interlock degree, the less likely it is to move. The graph search unit is used to perform a graph search on the graph structure starting from the current discrete block to obtain the force transmission path from the current discrete block along the edge to the set of foundation nodes. A static screening and determination unit is used to perform combined static screening and determination on discrete blocks in the target discrete block set based on the support effect, the interlocking degree and the force transmission path, and to determine whether the static screening is passed. The fusion unit is used to select adjacent blocks in the adjacent direction from the neighborhood of the failed discrete blocks in the set of failed discrete blocks that failed the static screening and merge them; for the newly merged adjacent blocks, determine the corresponding new support effect, new interlocking degree, and new force transmission path; recombine the new support effect, the new interlocking degree, and the new force transmission path to determine whether the failed discrete block has passed the static screening; remove the failed discrete blocks that have passed the static screening from the set of failed discrete blocks; re-merge the failed discrete blocks that have not passed the static screening with adjacent blocks in a different adjacent direction, and re-combine the static screening until all failed discrete blocks have passed the static screening; An assembly unit is used to assemble a complete assembly based on discrete blocks selected by statics.

[0012] Thirdly, embodiments of this application also provide a computer device for assembling discrete blocks, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0013] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, can implement the above-described method.

[0014] This application provides a method, apparatus, computer device, and storage medium for assembling discrete blocks. The method includes: responding to an assembly command for discrete blocks, constructing a corresponding graph structure and a clearly marked set of foundation nodes based on discrete blocks in a preset target discrete block set. The graph structure consists of vertices and edges, and the foundation nodes in the set of foundation nodes are obtained by blocks directly connected to the ground, base, or absolutely rigid body support marked by the vertices; calculating the support effect by measuring the contact area between the target discrete block involved in the graph structure and the stable support below, wherein the support effect characterizes the sufficiency of the bottom bearing capacity; analyzing the force direction and escape direction of the target discrete block to obtain the interlocking degree of the surrounding adjacent blocks on the target discrete block, wherein a higher interlocking degree indicates that it is less likely to move; performing a graph search on the graph structure starting from the current discrete block to obtain the force transmission path from the current discrete block along the edge to the set of foundation nodes; based on the... The support effect, interlocking degree, and force transmission path are used to perform a combined static screening judgment on the discrete blocks in the target discrete block set to determine whether they pass the static screening. For the failed discrete blocks in the failed discrete block set that fail the static screening, adjacent blocks in the adjacent direction are selected from the neighborhood of the failed discrete block and merged. For the newly merged adjacent blocks, a new support effect, a new interlocking degree, and a new force transmission path are determined. The new support effect, the new interlocking degree, and the new force transmission path are then combined and statically screened again to determine whether the failed discrete block passes the static screening. The failed discrete blocks that pass the static screening are removed from the failed discrete block set. The failed discrete blocks that fail the static screening are then merged again with adjacent blocks in a different adjacent direction, and the combined static screening judgment is performed again until all failed discrete blocks pass the static screening. A complete assembly is obtained based on the discrete blocks that pass the static screening. This application considers the support area, contact direction, and internal force transmission of the force transmission chain, filtering out obviously unstable structures and quickly identifying weak supports, singular connections, and blocks without force transmission paths, thus avoiding sending obviously unmanufacturable or unassembleable results downstream. Furthermore, support effectiveness, interlocking degree, and graph path search can all be efficiently completed on a discrete graph, suitable for quickly and in large quantities screening at the discrete block level to determine whether the current discrete block is worth continuing to manufacture or assemble. Therefore, it can maintain static rationality while achieving rapid screening, thus solving the technical problem of poor assembly quality in rapid manufacturing and assembly based on existing discrete block screening methods. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A flowchart illustrating the assembly method of discrete blocks provided in an embodiment of this application; Figure 2 A schematic block diagram of an assembly apparatus for discrete blocks provided in an embodiment of this application; Figure 3 A schematic block diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0019] It should also be understood that the terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0020] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0021] In discrete structural design, 3D printing, modular assembly, and automated disassembly tasks, the common problem is not whether the geometry can be cut, but whether the cut blocks still satisfy basic mechanical stability. In actual engineering, some blocks are connected to other blocks only through a very small contact area, forming singular connections; some blocks, although topologically connected, lack effective support and are prone to breakage or sagging after printing or assembly; some local cantilever structures lack stable force transmission paths and will fail under gravity even if they can be installed.

[0022] To address the above problems, existing technologies typically offer two solutions: First, they judge structural feasibility solely based on geometric connectivity, neglecting internal force transmission. Second, while considering internal force transmission, they employ rigorous physical solutions such as complete contact dynamics, friction cones, and Jacobian constraints, which are theoretically sound but computationally expensive, hindering rapid screening of large-scale candidate structures. Existing structural screening methods either rely solely on geometric connectivity or excessively depend on costly dynamic solutions. Therefore, when dealing with discrete blocks, maintaining static rationality and employing mechanical methods suitable for rapid engineering screening cannot be simultaneously achieved. At the discrete block level, it is impossible to quickly and accurately determine whether a current discrete block is worth manufacturing or assembling. In other words, existing technologies suffer from the technical problem of poor assembly quality when rapidly manufacturing and assembling based on current discrete block screening methods.

[0023] To address the aforementioned technical problems, this application proposes a method, apparatus, computer equipment, and storage medium for assembling discrete blocks.

[0024] Figure 1 This is a flowchart illustrating the assembly method of discrete blocks provided in an embodiment of this application. Figure 1 As shown, the method includes the following steps S110-S170: S110. In response to the assembly command for the discrete blocks, based on the discrete blocks in the preset target discrete block set, construct a corresponding graph structure and construct a clearly marked set of foundation nodes. The graph structure consists of vertices and edges. The foundation nodes in the set of foundation nodes are obtained by blocks directly connected to the ground, base, or absolute rigid body support marked by the vertices. First, the discrete assembly in physical space needs to be transformed into an abstract data structure that can be analyzed and traversed by a computer using graph theory. This involves converting the physical engineering object into a graph structure that the computer can traverse and compute. Subsequently, all force transmission path analyses will be based on this graph for path searching.

[0025] S110, including S1101-S1104: S1101. In response to the assembly command for the discrete blocks, obtain the target discrete block set consisting of multiple discrete blocks and the spatial adjacency contact relationship between the discrete blocks; In response to user-input assembly commands or analysis commands triggered by an automatic block segmentation program, a target discrete block set composed of multiple discrete blocks is obtained. Simultaneously, through collision detection algorithms or Boolean operations on a 3D model, the spatial adjacency and contact relationships between all discrete blocks in the target discrete block set are obtained. These spatial adjacency and contact relationships include at least the contact surface position, contact area, and contact normal information of each discrete block in 3D space.

[0026] S1102. Map the discrete blocks in the target discrete block set into vertices; Each discrete block in the target discrete block set is treated as an independent basic unit in graph theory and mapped to a vertex. Each vertex uniquely corresponds to a discrete block and inherits the geometric and physical properties of that discrete block, such as mass, material density, and theoretical projected area at the bottom, so that subsequent steps can directly call and calculate the vertex's properties.

[0027] S1103. Based on the spatial adjacency contact relationship, an undirected edge is established between discrete blocks that have a stable force contact relationship in space, and a corresponding graph structure is obtained based on the undirected edge and the vertex. The undirected edge is not established between discrete blocks that are only in point contact or line contact and cannot transmit effective static force. Based on spatial adjacency and contact relationships, the effectiveness of force application is determined for the contact state between any two discrete blocks. When a stable force-feeding contact relationship is determined between two discrete blocks in space, an undirected edge is established between the corresponding vertices of the two discrete blocks.

[0028] It should be noted that the criteria for determining a stable contact relationship is that the actual contact surface between two discrete blocks has a non-zero area region, and the normal direction of the contact surface can transmit pressure or shear force, that is, the contact can constitute an effective constraint in the static sense.

[0029] Conversely, when two discrete blocks are only in point or line contact, the contact area is zero or close to zero, making it impossible to transmit effective pressure or resist shear deformation in a static system. Therefore, it is determined to be a contact that cannot transmit effective static force, and the undirected edge is not established. This constraint ensures that the graph structure can truly reflect the load-bearing topology of the structure, and not just geometric visual connectivity.

[0030] After traversing all valid contact pairs, the corresponding graph structure G=(V,E) is obtained based on all the vertices and the established undirected edges.

[0031] S1104. Among all the vertices, discrete blocks that are directly connected to the ground, base, or absolute rigid body support are marked and used as the foundation nodes to obtain the foundation node set.

[0032] Based on the aforementioned spatial adjacency relationships, discrete blocks directly connected to the ground, fixed base, or absolutely rigid support structure are identified among all vertices. The vertices corresponding to these discrete blocks are marked as foundation nodes, and all such foundation nodes constitute a foundation node set.

[0033] Specifically, "direct connection" refers to a stable surface contact between the bottom contact surface of the discrete block and the ground or base, and this contact surface can provide fully constrained reaction force support. The set of foundation nodes serves as the endpoint set for subsequent force transmission path analysis, used to determine whether the load of any non-foundation node can be transmitted to the set of foundation nodes Vg along the undirected edges in the graph structure.

[0034] Through the above steps, the physical assembly is transformed into a sparse graph structure with static semantics, eliminating the virtual contact interference caused by relying solely on geometric connectivity in traditional methods. This provides a reliable data preprocessing scheme for subsequent high-efficiency and low-cost static screening of discrete structures.

[0035] S120. The contact area between the target discrete block involved in the diagram structure and the stable support body below is calculated to obtain the support effect, which characterizes the sufficiency of the bottom bearing capacity. After completing the construction of the graph structure G=(V,E) and marking the foundation node set Vg, the static index quantification calculation is performed one by one for each discrete block, i.e. each vertex, in the target discrete block set.

[0036] First, the support effect, referred to as the support ratio, is calculated for each target discrete block to measure the sufficiency of its bottom bearing capacity in the direction of gravity.

[0037] S120 includes S1201-S1203: S1201. Determine the effective load-bearing contact area between the target discrete block involved in the diagram structure and the underlying stable support; Determine the effective load-bearing contact area between the target discrete block to be calculated and the stable support below it.

[0038] Specifically, the underlying stable support includes the foundation blocks in the foundation node set, or other discrete blocks in the graph structure that have a stable force-bearing contact relationship with the target discrete block and are located in its bottom neighborhood. The effective load-bearing contact area Asupport(Bi) is determined by counting only the area of ​​all contact surfaces in the bottom region of the target discrete block that are actually in contact with the top surface of the underlying stable support and whose normal direction is upward, i.e., that can provide normal support reaction force against gravity.

[0039] It should be noted that areas with only geometric point or line contact are excluded from the calculation of the effective load-bearing contact area because their contact area is zero or close to zero, and therefore cannot provide effective load-bearing reaction force at the static level. This area data can be obtained through spatial Boolean intersection operations of a 3D model, contact surface projection segmentation algorithms, or finite element contact surface extraction tools.

[0040] S1202, Obtain the bottom projected area of ​​the target discrete block; Specifically, the bottom projected area Abottom(Bi) is defined as the total area of ​​the projected region obtained by projecting the target discrete block orthogonally onto the horizontal reference plane along the direction of gravity, i.e., vertically downward. This projected area characterizes the theoretical coverage range of the discrete block on the horizontal plane and is a reference area related to load-bearing capacity.

[0041] In actual engineering implementation, the bottom projected area can be calculated by the convex hull projection of the bottom surface of the three-dimensional mesh model of the target discrete block, and the bottom projected area is always greater than zero.

[0042] S1203. Calculate the ratio between the effective load-bearing contact area and the bottom projected area to obtain the support ratio corresponding to the target discrete block. The support ratio is between 0 and 1. The larger the support ratio, the more sufficient the bottom load is.

[0043] The ratio between the effective load-bearing contact area and the bottom projected area is calculated to obtain the support ratio corresponding to the target discrete block.

[0044] Specifically, the support ratio S(Bi) is calculated according to the following formula: S(Bi)=Asupport(Bi) / Abottom(Bi)

[0045] Where Asupport(Bi) is the effective load-bearing contact area, and Abottom(Bi) is the bottom projected area.

[0046] Since the effective load-bearing contact area cannot exceed the bottom projected area, the numerical range of the support ratio S(Bi) is limited to: 0 ≤ S(Bi) ≤ 1.

[0047] The magnitude of the support ratio directly characterizes the sufficiency of the bottom support of the target discrete block. The larger the support ratio, the higher the proportion of the bottom area of ​​the discrete block is stably supported, the more sufficient the bottom support, and the more stable the structure. Conversely, the smaller the support ratio, the more the bottom area of ​​the discrete block is suspended or only relies on a very small edge overlap, which is a weakly supported high-risk block.

[0048] In a preferred embodiment, the calculated support ratio S(Bi) will be stored and associated with the vertex identifier of the target discrete block as a quantitative input parameter for subsequent combined static screening.

[0049] S130. Analyze the force direction and escape direction of the target discrete block to obtain the interlocking degree of the surrounding adjacent blocks on the target discrete block. The higher the interlocking degree, the less likely it is to move. After constructing the graph structure G=(V,E) and calculating the support ratio S(Bi) of each discrete block, the interlocking degree of each target discrete block is further calculated, and the interlocking degree is called the interlocking score. This measures the ability of the discrete block to resist slippage, rotation, or detachment when subjected to external disturbances such as gravity, assembly contact, or vibration. The interlocking score characterizes the geometric resistance strength of adjacent blocks to the target block in multiple key directions.

[0050] S130 includes S1301-S1303: S1301. Determine the force direction and escape direction of the target discrete block. The force direction includes the gravity direction and the horizontal direction, and the escape direction includes the opposite direction of the insertion or removal of the assembly. The set of key directions to be examined during the static analysis and assembly of the target discrete block is determined. These key directions include two main categories: force directions and escape directions. Specifically, the force directions include at least: The direction of gravity, vertically downward, is used to assess whether adjacent blocks can prevent the target discrete block from sliding downward or falling under its own weight. The horizontal direction, including multiple directions within the horizontal plane such as +X, -X, +Y, and -Y, is used to evaluate whether adjacent blocks can prevent the target discrete block from sliding horizontally under lateral contact or vibration.

[0051] The escape direction includes the opposite direction of insertion or removal when the target discrete block detaches from the overall structure during assembly or disassembly. For example, if a discrete block is removed vertically upwards, the escape direction is vertically upwards; if it is inserted horizontally, the escape direction is the opposite of that horizontal direction.

[0052] In a preferred embodiment, the set of critical directions D can be expanded or simplified according to the specific engineering scenario. For example, oblique disturbance directions at specific angles can be added to accommodate the analysis needs of irregular assemblies. The number and type of each direction are preset by engineers based on the actual assembly process and stress conditions.

[0053] S1302. Based on the graph structure, determine whether the adjacent surrounding blocks form an effective geometric barrier to the target discrete block in the force direction or the escape direction. Based on the constructed graph structure G=(V,E), the set N(Bi) of all surrounding adjacent blocks that are adjacent to the current target discrete block Bi is determined. For each direction d in the key direction set D, it is determined whether each of the surrounding adjacent blocks Bj forms an effective geometric barrier to the target discrete block Bi in direction d.

[0054] Effective geometric blocking refers to the presence of a contact surface between the surrounding adjacent block Bj and the target discrete block Bi in direction d, and the projection component of the normal of the contact surface in direction d is greater than zero. That is, the contact surface can provide a reverse constraint force along direction d, preventing Bi from displacing along direction d.

[0055] If the aforementioned effective obstruction exists, the constraint contribution value is defined as 1; otherwise, it is defined as 0. It should be noted that if two blocks are in contact in a direction but the normal of the contact surface is perpendicular to the direction, that is, only tangential contact, and cannot provide normal obstruction, then they do not constitute the aforementioned effective geometric obstruction, and the corresponding constraint contribution value is 0.

[0056] S1303. Based on the preset weights corresponding to the force direction or the escape direction, the surrounding adjacent blocks forming the geometric barrier are weighted and summed to obtain the interlocking component.

[0057] Based on the preset weight wd corresponding to each direction d in the key direction set D, the interlocking score of the target discrete block Bi is calculated by weighted summation of all surrounding adjacent blocks that are determined to form the effective geometric barrier.

[0058] Specifically, the interlocking sub-I(Bi) is calculated according to the following formula: Where D is the set of critical directions; wd is the preset weight corresponding to direction d, and different weight values ​​can be set for different directions according to the importance of the project. For example, the weight of the gravity direction can be set higher than that of the horizontal direction to reflect the dominant role of gravity in static stability; N(Bi) is the set of adjacent blocks of the target discrete block Bi in the graph structure; cj,d is the determined constraint contribution value, which takes the value of 0 or 1. The value of the interlock score I(Bi) directly reflects the total geometric constraint strength of the target discrete block on the set of critical directions: the higher the interlock score, the stronger the degree to which the discrete block is stuck by adjacent blocks in multiple critical directions, and the less likely it is to slip, rotate or accidentally detach; conversely, the lower the interlock score, the more topologically connected the discrete block is but geometrically insufficient, belonging to a block with high slip risk.

[0059] In a preferred embodiment, the calculated interlocking fraction I (Bi) will be stored and associated with the vertex identifier of the target discrete block as a quantitative input parameter for subsequent combined static screening.

[0060] By simultaneously examining geometrical obstruction in the gravity direction, horizontal direction, and escape direction, the ability of discrete blocks to resist displacement in real-world engineering environments such as self-weight, assembly contact, and disassembly operations can be comprehensively evaluated, avoiding the evaluation blind spots caused by considering only a single direction. The directional weights are adjustable to adapt to different engineering scenarios: different weight coefficients can be set for each direction, allowing for flexible adaptation to different process scenarios. For example, in additive manufacturing processes, the weight of the gravity direction can be increased to highlight the importance of bottom support; in modular assembly scenarios, the weight of the escape direction can be increased to focus on the post-assembly pull-out resistance. The introduction of contact surface normal projection as a criterion for determining effective geometrical obstruction ensures that interlocking only considers contact pairs that truly provide directional constraints, avoiding the defect of traditional geometrical connectivity criteria that misjudges contacts providing only tangential friction as anti-slip constraints.

[0061] The output continuous value I(Bi) can be directly compared with the preset threshold of the project, providing a clear judgment boundary for the next step of combined static screening, so that the screening results are repeatable and objective.

[0062] S140. Starting from the current discrete block, perform a graph search on the graph structure to obtain the force transmission path from the current discrete block along the edge to the set of foundation nodes. After completing the construction of the graph structure G=(V,E) and the labeling of the foundation node set Vg, the force transmission path index of each target discrete block is further calculated to measure whether the discrete block has a complete force transmission link, thereby determining whether it belongs to a potential suspended or weak cantilever structure.

[0063] Starting from the vertex corresponding to the current discrete block to be determined, perform a graph search on the graph structure G=(V,E) to determine whether there exists a path from the current discrete block along the edge set E to any node in the set of foundation nodes Vg.

[0064] Specifically, graph search can be implemented using either a depth-first search algorithm or a breadth-first search algorithm. The starting node of the graph search is the vertex corresponding to the current target discrete block Bi, and the termination condition is finding any ground node belonging to the set of ground nodes Vg, or traversing all vertices reachable from Bi.

[0065] The physical meaning of the force transmission path is that if the load of the target discrete block can be transmitted step by step to any one of the foundation nodes in the foundation node set Vg along the stable force contact relationship in the graph structure, it means that the discrete block has a complete force transmission chain, and its load can be ultimately transmitted to the ground or fixed base; conversely, if there is no connecting path between the target discrete block and the foundation node set, it means that although the block may have local contact with other blocks, the connected subgraph in which it is located is not connected to the foundation bearing link as a whole, and belongs to a suspended structure without a complete force transmission path.

[0066] When the graph search successfully finds at least one path from the current target discrete block to any node in the set of foundation nodes, the force transmission path index L(Bi) = 1, indicating that the discrete block has a valid force transmission path; when the graph search has traversed all reachable vertices but has not reached any foundation node, the force transmission path index is 0, indicating that the discrete block does not have a complete force transmission path.

[0067] In a preferred embodiment, to improve computational efficiency, the graph search can terminate immediately after discovering the first path to the base node, without needing to traverse all reachable vertices, thereby reducing the time complexity of a single decision. For scenarios requiring batch processing of large-scale candidate structure sets, a disjoint-set data structure can be used to preprocess all vertices offline, calculate the root node of the connected component to which each vertex belongs in one go, and then quickly complete the batch determination of L(Bi) by checking whether the connected component to which each vertex belongs contains the base node.

[0068] In another implementation, a simplified determination method equivalent to the complete graph search can be used for approximation processing. For example, the determination can be based on the adjacency continuity of the graph structure, or on the adjacency relationship between the connected component where the target discrete block is located and the foundation node. The above simplified methods are all equivalent alternatives to the force transmission path determination described in this invention and still fall within the protection scope of this invention. The calculated force transmission path index L(Bi) will be stored and associated with the vertex identifier of the target discrete block as a quantitative input parameter for subsequent combined static screening determination.

[0069] The force transmission path determination does not only consider the local contact status of the current block itself, but also examines whether it is truly connected to the foundation bearing link within the overall structural diagram. This global criterion can identify suspended or weakly cantilevered structures that appear stable locally but have no overall force transmission outlet, thus compensating for the overall structural connectivity instability cases that cannot be covered by considering only the bottom area for the support ratio and only the neighborhood constraints for the interlocking components.

[0070] The time complexity of graph search algorithms can be efficiently achieved on discrete graphs; if offline preprocessing schemes such as disjoint-set data structures are used, the batch determination of force transmission paths for all vertices can be completed in near linear time. Compared with the complete contact dynamics solution, the computational cost is significantly reduced, making it suitable for rapid static screening of a large number of candidate structures.

[0071] The support ratio assesses stability from the perspective of bottom bearing area, the interlocking mechanism assesses stability from the perspective of neighborhood geometric constraints, and the force transmission path assesses stability from the perspective of overall structural connectivity. These three mechanisms cover three different levels: whether the load-bearing capacity is sufficient, whether the neighborhood is securely locked, and whether the overall force transmission is closed. When used in combination, they can comprehensively identify various explicit instability modes.

[0072] S150. Based on the support effect, the interlocking degree and the force transmission path, perform a combined static screening judgment on the discrete blocks in the target discrete block set to determine whether they pass the static screening. Further, a combined static screening judgment is performed on each discrete block in the target discrete block set. The judgment adopts a step-by-step serial logic, taking the force transmission path as a prerequisite, and using the support ratio and interlocking as quantitative judgment criteria, and finally outputs a clear conclusion on whether each discrete block passes the static screening.

[0073] S150 includes S1501-S1503: S1501. For the current discrete block in the target discrete block set, if the force transmission path does not exist, it is determined that the current discrete block has not passed the static screening. For the current discrete block Bi in the target discrete block set, the calculated force transmission path index L(Bi) is first obtained. If L(Bi)=0, that is, the current discrete block does not have a force transmission path to any node in the foundation node set Vg, then the current discrete block is directly determined to have failed the static screening and is marked as a high-risk block. The subsequent support rate determination and interlocking determination are no longer performed.

[0074] If a block is completely disconnected from the foundation node set in the structural diagram, then the entire connected substructure containing that block is in a floating state, and its load cannot be transferred to the ground or foundation through any stable force-bearing contact chain. In this case, regardless of the size of the block's local support area or the strength of its neighborhood interlocking, it is statically unstable and does not meet the basic conditions for continuing into subsequent manufacturing or assembly stages. Therefore, using force transmission path determination as the first priority screening condition can quickly eliminate fundamentally unstable blocks at the structural topology level, avoiding the waste of subsequent computational resources.

[0075] S1502. If the force transmission path exists, the support effect is determined based on a preset support rate threshold, and the interlocking degree is determined based on a preset interlocking threshold. If the force transmission path index L(Bi)=1, that is, there is a force transmission path to the set of foundation nodes in the current discrete block, then the quantitative determination of support rate and interlocking score will continue.

[0076] Specifically, based on the support rate threshold and interlocking threshold pre-set by engineers according to factors such as material properties, printing process, structural type, and safety factor, the following two independent quantitative judgments are performed respectively: The support rate is compared with a support rate threshold. If the support rate exceeds the threshold, the support effect of the current discrete block is determined to be satisfactory; otherwise, the support effect is determined to be unsatisfactory.

[0077] The interlock score is compared with an interlock score threshold. If the interlock score exceeds the threshold, the interlock level of the current discrete block is determined to meet the standard; otherwise, the interlock level is determined to be unqualified.

[0078] It should be noted that the values ​​of the support ratio threshold and the interlocking sub-threshold depend on the specific engineering application scenario. For example, in additive manufacturing scenarios, the support ratio threshold can be set to a value between 0.3 and 0.5, specifically depending on the tensile strength and interlayer bonding force of the printing material; in modular assembly scenarios, the setting of the interlocking sub-threshold needs to comprehensively consider the weight configuration in each direction and the expected disturbance load during assembly operations. The threshold can be calibrated offline by engineers based on actual working conditions, or determined through a combination of experimental testing and simulation verification, without specific numerical limitations.

[0079] S1503. If both the support effect and the interlocking degree exceed their respective thresholds, then the current discrete block is determined to have passed the static screening.

[0080] Based on the results of the support effect assessment and the interlocking degree assessment, a final combined assessment is performed: If the support effect and the interlocking degree meet the standards, then the current discrete block is determined to have passed the static screening and is marked as a statically acceptable stable block.

[0081] If the support effect or interlocking degree is not up to standard, the current discrete block is determined to have failed the static screening and is marked as a high-risk block.

[0082] After evaluating each discrete block in the target discrete block set, the present invention divides the target discrete block set into two disjoint subsets: the pass set, which includes all stable blocks that pass the static screening; and the failure set, which includes all high-risk blocks that fail the static screening. The failure set will be sent to the subsequent structure-priority fusion self-healing process as input for the repair process, while the pass set will directly enter the subsequent manufacturing or assembly stage.

[0083] In a preferred embodiment, for each discrete block in the target discrete block set that is determined to be a failure, the reason for its failure is also recorded, such as missing force transmission path, insufficient support rate or insufficient interlocking. The reason for failure is associated with the corresponding block identifier and stored so that the subsequent repair process can select a repair strategy in a targeted manner.

[0084] In another preferred embodiment, when the target discrete block set contains a large number of candidate blocks, the screening and judgment process is performed in a block-by-block independent judgment manner, and the judgment results of each block do not affect each other.

[0085] S160: For the failed discrete blocks in the set of failed discrete blocks that failed the static screening, select adjacent blocks in the adjacent direction from the neighborhood of the failed discrete block and merge them; for the newly merged adjacent blocks, determine the corresponding new support effect, new interlocking degree, and new force transmission path; recombine the static screening judgment on the new support effect, the new interlocking degree, and the new force transmission path to determine whether the failed discrete block passes the static screening; remove the failed discrete blocks that pass the static screening from the set of failed discrete blocks; re-merge the failed discrete blocks that failed the static screening with adjacent blocks in a different adjacent direction, and re-combine the static screening judgment until all failed discrete blocks pass the static screening; After completing the combined static screening and judgment, for each failed discrete block in the failure set that fails the static screening, it is not simply discarded or an alarm is triggered, but a structure-priority fusion self-repair process is initiated. The self-repair process merges the failed discrete block with the stable block in its adjacent direction to form a new block, and re-executes the three index calculations and combined screening and judgment on the new block, gradually transforming the failed block into a passable block in an iterative manner.

[0086] For the failed discrete blocks in the set of failed discrete blocks that failed the static screening, adjacent blocks in the adjacent direction are selected from the neighborhood of the failed discrete block and merged; for the current failed discrete block in the set of failed discrete blocks, an adjacent block in the adjacent direction is selected from the neighborhood of the failed discrete block and merged to construct a new merged block body Bnew.

[0087] Specifically, the adjacency direction refers to the spatial direction in the graph structure G=(V,E) when a failed discrete block establishes a connection with its adjacent block Bj through an edge. The adjacency direction may include multiple spatial orientations such as above, below, left, right, front, and back, or it may be defined based on the normal direction of the contact surface between discrete blocks.

[0088] When selecting adjacent blocks, they can be selected according to a preset priority order. In a preferred embodiment, the priority order is as follows: first, stable blocks that have passed the static screening are selected as merging objects; second, blocks that have not passed the screening but have strong contact constraints with the current failed block are selected; under the same conditions, adjacent blocks with higher support ratios or interlocking sub-indicators are selected as merging objects to increase the probability that the new block after merging will pass the screening.

[0089] In another preferred embodiment, when the failed discrete block has multiple possible adjacency directions, they are sorted according to the weight or historical repair success rate of each direction, and different merging directions are tried in turn until a merging scheme that can make the new block pass the screening is found.

[0090] For newly merged adjacent blocks, determine the corresponding new support effect, new interlocking degree, and new force transmission path; for newly constructed merged blocks, redetermine their corresponding new support effect, new interlocking degree, and new force transmission path.

[0091] Specifically, the determination methods for the new support effect (new support ratio), new interlocking degree (new interlocking fraction), and new force transmission path are the same as those described above, and will not be explained in detail here.

[0092] Starting from the vertex corresponding to the newly merged block, a graph search is re-executed on the graph structure to determine whether there is a path from the newly merged block to any node in the foundation node set, thereby obtaining a new force transmission path index.

[0093] It should be noted that the set of adjacent blocks of the newly merged block may change. This is because the merge operation combines two originally independent blocks into a new block unit. The contact relationships between the original two blocks and other surrounding blocks will be merged into the set of adjacency relationships of the newly merged block. Therefore, the index calculation needs to be re-executed on the updated graph structure.

[0094] The new support effect, the new interlocking degree, and the new force transmission path are recombined and statically screened to determine whether the failed discrete block passes the static screening. For the obtained new support ratio, new interlocking fraction, and new force transmission path index, the judgment is re-executed according to the combined statics screening judgment logic. If the failed discrete block still fails the statics screening, other repair solutions need to be tried.

[0095] Failed discrete blocks that pass the static screening are removed from the set of failed discrete blocks. When a new merged block is determined to pass the static screening, the corresponding failed discrete block is removed from the set of failed discrete blocks. Specifically, the entry corresponding to the failed discrete block is deleted from the set of failed discrete blocks, and the new merged block Bnew is included in the pass set Vpass as a statically acceptable stable block to participate in subsequent manufacturing or assembly processes. At the same time, the graph structure G=(V,E) is updated, replacing the vertices corresponding to the original two blocks Bfail and Bj with the new vertices corresponding to the new merged block Bnew, and merging all adjacent edges of the original two blocks into the adjacent edges of the new vertex.

[0096] Failed discrete blocks that did not pass the static screening are re-merged with adjacent blocks in a different adjacency direction, and the combined static screening is performed again until all failed discrete blocks pass the static screening.

[0097] If the newly merged block still fails the static screening, the failed discrete block is not removed. Instead, the merging, recalculation, and judgment process of steps A1 to A3 is re-executed with adjacent blocks in a different adjacency direction than the previous attempt.

[0098] Specifically, if the failed discrete block has multiple adjacent blocks in adjacent directions, such as upper adjacent blocks, lower adjacent blocks, left adjacent blocks, right adjacent blocks, etc., and the currently tried directions have failed to make the new block pass the screening, then adjacent blocks in other untried adjacent directions are selected for merging attempts in turn. Each attempt re-executes the merging in step A1, the index recalculation in step A2, and the re-determination in step A3.

[0099] The iterative process continues until the failed discrete block passes the static screening and is removed from the set of failed discrete blocks, or until all adjacent directions of the failed discrete block have been tried but it still fails the screening.

[0100] In a preferred embodiment, if all adjacent directions of the failed discrete block have been tried but still fail to pass the screening, a multi-level merging strategy is further attempted. That is, the failed discrete block is first merged with an adjacent block, and then the merged new block is merged with its new adjacent block to construct a larger range of merged blocks, further increasing the bottom support area and geometric constraint strength.

[0101] In another preferred embodiment, when the set of failed discrete blocks contains multiple failed discrete blocks, they are classified according to the cause of failure of each block, with priority given to blocks with insufficient support ratio, followed by blocks with insufficient interlocking ratio, and finally blocks with missing force transmission paths. This classification and processing method helps to improve the overall repair efficiency.

[0102] When all failed discrete blocks in the set of failed discrete blocks are successfully removed, the structure priority fusion self-repair process ends, and at this time all blocks in the target set of discrete blocks have met the static stability condition.

[0103] In a preferred embodiment, if, after trying all possible adjacent directions, there are still blocks in the set of failed discrete blocks that cannot be repaired, a preset termination rule is triggered, that is, the block is marked as unrepairable and an alarm message is output for manual intervention, or it is handled according to the engineering preset fallback strategy.

[0104] This embodiment transforms failed blocks into usable structures instead of simply discarding them. When a discrete block fails the static screening, it is merged with its adjacent blocks to improve its bottom support area, neighborhood geometric constraints, and force transmission path connectivity at the physical structural level. This transforms unusable blocks into stable blocks through structural reorganization, improving the overall structure's manufacturability and material utilization. Each fusion avoids secondary instability issues that might result from arbitrary merging based on subjective experience. If fusion fails in one direction, it only tries other adjacent directions, rather than starting from scratch or resolving the entire structure. Since the repair operation is limited to the local neighborhood of the failed block, blocks that have passed the screening are unaffected, and the overall computational cost is controllable. It achieves a fully automated conversion from the original set of discrete blocks to a set of statically stable structures, eliminating the need for manual block-by-block inspection and intervention, making it suitable for automated processing scenarios involving large-scale candidate structures.

[0105] S170. Assemble the discrete blocks selected by statics to obtain a complete assembly.

[0106] S170 includes S1701-S1703: After completing the structural priority fusion and self-healing process, all discrete blocks in the target discrete block set have met the static stability conditions. At this point, the target discrete block set has the basic conditions to enter the actual assembly stage. This further ensures the overall structural stability during and after assembly.

[0107] S1701. Generate an assembly sequence based on the discrete blocks selected by statics, and perform assembly operations block by block based on the assembly sequence; For all discrete blocks in the set, an assembly sequence is generated based on the graph structure. Specifically, the generation of the assembly sequence follows a priority constraint rule from bottom to top and from foundation to cantilever. Any discrete block must be assembled later than any of its underlying supporting blocks along the force transmission path in the graph structure. This constraint ensures that during assembly, the supporting structure beneath each newly installed block already exists when it is installed in place, thus avoiding temporary cantilever states during assembly.

[0108] In a preferred embodiment, the assembly sequence is generated by performing a topological sort on the graph structure. Specifically, starting with the foundation blocks of the foundation node set, the assembly priority of each block is determined layer by layer according to a breadth-first order expanding outward from the foundation nodes. For blocks without dependencies, parallel assembly can be performed to improve efficiency. Following the generated assembly sequence, each discrete block is sequentially installed to its target location.

[0109] S1702. After assembling a single discrete block, verify the stability of the currently assembled part of the structure. After assembling each discrete block, dynamic stability verification is performed on the currently assembled portion of the structure to ensure that the intermediate state after each assembly step meets the static stability conditions. Only the support ratio, interlocking components, and force transmission paths of the locally adjacent blocks affected by the newly installed block are recalculated, without requiring a global recalculation of all assembled blocks. The affected block includes itself and all adjacent blocks.

[0110] S1703. For the current part of the structure that has not passed the stability verification, perform assembly rollback of some discrete blocks, assembly sequence adjustment and local reinforcement assembly anomaly handling until the assembly is completed and all have passed the stability verification, and obtain a complete assembly.

[0111] If any affected block fails the screening in the intermediate state, the assembly anomaly handling mechanism is triggered. It should be noted that this step verifies the overall stability of a portion of the assembly during the assembly process. Its purpose is to identify temporary instability caused by improper assembly sequence and ensure the safety of the entire assembly process.

[0112] When an intermediate state of the current assembly step is detected to have failed stability verification, the assembly exception handling mechanism is triggered.

[0113] Specifically, the exception handling includes at least one of the following optional strategies: Reverting and retrying involves reverting the currently assembled block to its pre-assembly state, attempting to adjust the assembly posture, insertion speed, or assembly path, and then re-executing the assembly operation. Adjusting the assembly sequence involves pausing the assembly of the current block and assembling an adjacent, yet-to-be-installed support block first to improve support conditions or interlock constraints before re-attempting installation. Local reinforcement involves adding temporary auxiliary supports or connectors between the block and adjacent blocks to improve stability in the intermediate state; these temporary auxiliary supports are removed after the subsequent blocks are installed. If none of these methods resolve the current anomaly, a manual intervention alarm is triggered, requiring operator intervention.

[0114] This application provides a method, apparatus, computer device, and storage medium for assembling discrete blocks. The method includes: responding to an assembly command for discrete blocks, constructing a corresponding graph structure and a clearly marked set of foundation nodes based on discrete blocks in a preset target discrete block set. The graph structure consists of vertices and edges, and the foundation nodes in the set of foundation nodes are obtained by blocks directly connected to the ground, base, or absolutely rigid body support marked by the vertices; calculating the support effect by measuring the contact area between the target discrete block involved in the graph structure and the stable support below, wherein the support effect characterizes the sufficiency of the bottom bearing capacity; analyzing the force direction and escape direction of the target discrete block to obtain the interlocking degree of the surrounding adjacent blocks on the target discrete block, wherein a higher interlocking degree indicates that it is less likely to move; performing a graph search on the graph structure starting from the current discrete block to obtain the force transmission path from the current discrete block along the edge to the set of foundation nodes; based on the... The support effect, interlocking degree, and force transmission path are used to perform a combined static screening judgment on the discrete blocks in the target discrete block set to determine whether they pass the static screening. For the failed discrete blocks in the failed discrete block set that fail the static screening, adjacent blocks in the adjacent direction are selected from the neighborhood of the failed discrete block and merged. For the newly merged adjacent blocks, a new support effect, a new interlocking degree, and a new force transmission path are determined. The new support effect, the new interlocking degree, and the new force transmission path are then combined and statically screened again to determine whether the failed discrete block passes the static screening. The failed discrete blocks that pass the static screening are removed from the failed discrete block set. The failed discrete blocks that fail the static screening are then merged again with adjacent blocks in a different adjacent direction, and the combined static screening judgment is performed again until all failed discrete blocks pass the static screening. A complete assembly is obtained based on the discrete blocks that pass the static screening. This application considers the support area, contact direction, and internal force transmission of the force transmission chain, filtering out obviously unstable structures and quickly identifying weak supports, singular connections, and blocks without force transmission paths, thus avoiding sending obviously unmanufacturable or unassembleable results downstream. Furthermore, support effectiveness, interlocking degree, and graph path search can all be efficiently completed on a discrete graph, suitable for quickly and in large quantities screening at the discrete block level to determine whether the current discrete block is worth continuing to manufacture or assemble. Therefore, it can maintain static rationality while achieving rapid screening, thus solving the technical problem of poor assembly quality in rapid manufacturing and assembly based on existing discrete block screening methods.

[0115] Figure 2 This is a schematic block diagram of an assembly apparatus for discrete blocks provided in an embodiment of this application. Figure 2As shown, corresponding to the above method, this application also provides a discrete block assembly apparatus 600, which can be configured in terminals such as desktop computers, tablet computers, and laptop computers. For details, please refer to... Figure 2 The assembly device 600 for the discrete block includes a graph structure construction unit 601, a support calculation unit 602, an interlock analysis unit 603, a graph search unit 604, a static screening and judgment unit 605, and an assembly unit 607, wherein: Graph structure construction unit 601 is used to respond to assembly instructions for discrete blocks, construct a corresponding graph structure and a clearly marked set of foundation nodes based on discrete blocks in a preset target discrete block set. The graph structure consists of vertices and edges, and the foundation nodes in the set of foundation nodes are obtained by blocks directly connected to the ground, base or absolute rigid body support marked by the vertices. The support calculation unit 602 is used to calculate the support effect by calculating the contact area between the target discrete block involved in the graph structure and the stable support body below. The support effect characterizes the sufficiency of the bottom bearing capacity. Interlock analysis unit 603 is used to analyze the force direction and escape direction of the target discrete block to obtain the interlock degree of the surrounding adjacent blocks on the target discrete block. The higher the interlock degree, the less likely it is to move. Graph search unit 604 is used to perform graph search on the graph structure starting from the current discrete block to obtain the force transmission path from the current discrete block along the edge to the set of foundation nodes; The static screening and determination unit 605 is used to perform combined static screening and determination on the discrete blocks in the target discrete block set based on the support effect, the interlocking degree and the force transmission path, and to determine whether the static screening is passed. The fusion unit 606 is used to select adjacent blocks in the adjacent direction from the neighborhood of the failed discrete blocks in the set of failed discrete blocks that have failed the static screening and merge them; for the newly merged adjacent blocks, determine the corresponding new support effect, new interlocking degree, and new force transmission path; recombine the new support effect, the new interlocking degree, and the new force transmission path to determine whether the failed discrete block has passed the static screening; remove the failed discrete blocks that have passed the static screening from the set of failed discrete blocks; re-merge the failed discrete blocks that have not passed the static screening with adjacent blocks in a different adjacent direction, and re-combine the static screening until all failed discrete blocks have passed the static screening; Assembly unit 607 is used to assemble a complete assembly based on discrete blocks selected by statics.

[0116] In some embodiments, the graph structure construction unit 601, in response to an assembly instruction for discrete blocks, constructs a corresponding graph structure and a clearly marked set of foundation nodes based on discrete blocks in a preset target set of discrete blocks. The graph structure consists of vertices and edges, and the foundation nodes in the set of foundation nodes are obtained by blocks directly connected to the ground, base, or absolutely rigid body support marked by the vertices. Specifically, it is used for: In response to the assembly command for the discrete blocks, the target discrete block set consisting of multiple discrete blocks and the spatial adjacency and contact relationships between the discrete blocks are obtained; Map the discrete blocks in the target discrete block set to vertices; Based on the spatial adjacency contact relationship, undirected edges are established between discrete blocks that have stable force contact relationships in space, and a corresponding graph structure is obtained based on the undirected edges and the vertices. The undirected edges are not established between discrete blocks that are only in point contact or line contact and cannot transmit effective static forces. Among all the vertices, discrete blocks that are directly connected to the ground, base, or absolute rigid body support are marked and used as the foundation nodes to obtain the foundation node set.

[0117] In some embodiments, the support effect is a support ratio. The support calculation unit 602 calculates the support effect by performing calculations on the contact area between the target discrete block involved in the graph structure and the underlying stable support body. Specifically, it is used for: Determine the effective load-bearing contact area between the target discrete block involved in the diagram structure and the underlying stable support; Obtain the bottom projected area of ​​the target discrete block; Calculate the ratio between the effective load-bearing contact area and the bottom projected area to obtain the support ratio corresponding to the target discrete block. The support ratio is between 0 and 1. The larger the support ratio, the more sufficient the bottom load is.

[0118] In some embodiments, the interlocking degree is an interlocking score. The interlocking analysis unit 603 analyzes the force direction and escape direction of the target discrete block to obtain the interlocking degree of the surrounding adjacent blocks on the target discrete block, specifically for: The force direction and escape direction of the target discrete block are determined. The force direction includes the direction of gravity and the horizontal direction, and the escape direction includes the opposite direction of insertion or removal during assembly. Based on the graph structure, it is determined whether the adjacent surrounding blocks form an effective geometric barrier to the target discrete block in the direction of force application or the direction of escape. Based on the preset weights corresponding to the force direction or the escape direction, the interlocking component is obtained by weighted summation of the surrounding adjacent blocks that form the geometric barrier.

[0119] In some embodiments, the static screening and determination unit 605 performs a combined static screening and determination on discrete blocks in the target discrete block set based on the support effect, the interlocking degree, and the force transmission path to determine whether the static screening is passed. Specifically, this is used to: If the force transmission path does not exist for the current discrete block in the target discrete block set, then the current discrete block is determined to have failed the static screening. If the force transmission path exists, the support effect is determined based on a preset support rate threshold, and the interlocking degree is determined based on a preset interlocking threshold. If both the support effect and the interlocking degree exceed their respective thresholds, then the current discrete block is determined to have passed the static screening.

[0120] In some embodiments, assembly unit 607 performs assembly based on discrete blocks selected by statics to obtain a complete assembly, specifically for: An assembly sequence is generated based on discrete blocks selected by statics, and assembly operations are performed block by block based on the assembly sequence. After assembling a single discrete block, the stability of the currently assembled partial structure is verified. For the current part of the structure that fails the stability verification, perform assembly rollback, assembly sequence adjustment and local reinforcement of the discrete blocks to handle assembly anomalies until the assembly is completed and all parts pass the stability verification to obtain a complete assembly.

[0121] In summary, embodiments of this application provide a method, apparatus, computer device, and storage medium for assembling discrete blocks. The method includes: responding to an assembly command for discrete blocks, constructing a corresponding graph structure and a set of clearly marked foundation nodes based on discrete blocks in a preset target discrete block set. The graph structure consists of vertices and edges, and the foundation nodes in the set of foundation nodes are obtained by blocks directly connected to the ground, base, or absolutely rigid body support marked by the vertices; calculating the support effect by analyzing the contact area between the target discrete block involved in the graph structure and the stable support below, wherein the support effect characterizes the sufficiency of the bottom bearing capacity; analyzing the force direction and escape direction of the target discrete block to obtain the interlocking degree of the surrounding adjacent blocks on the target discrete block, wherein a higher interlocking degree indicates that it is less likely to move; performing a graph search on the graph structure starting from the current discrete block to obtain the force transmission path from the current discrete block along the edge to the set of foundation nodes; and based on the assembly command for discrete blocks, constructing a corresponding graph structure and a set of clearly marked foundation nodes based on the target discrete block. The support effect, interlocking degree, and force transmission path are used to perform a combined static screening judgment on the discrete blocks in the target discrete block set to determine whether they pass the static screening. For the failed discrete blocks in the failed discrete block set that fail the static screening, adjacent blocks in the adjacent direction are selected from the neighborhood of the failed discrete blocks and merged. For the newly merged adjacent blocks, a new support effect, a new interlocking degree, and a new force transmission path are determined. The new support effect, the new interlocking degree, and the new force transmission path are recombined and statically screened to determine whether the failed discrete blocks pass the static screening. The failed discrete blocks that pass the static screening are removed from the failed discrete block set. The failed discrete blocks that fail the static screening are re-merged with adjacent blocks in a different adjacent direction, and the combined static screening judgment is performed again until all failed discrete blocks pass the static screening. Based on the discrete blocks that pass the static screening, a complete assembly is obtained. This application considers the support area, contact direction, and internal force transmission of the force transmission chain, filtering out obviously unstable structures and quickly identifying weak supports, singular connections, and blocks without force transmission paths, thus avoiding sending obviously unmanufacturable or unassembleable results downstream. Furthermore, support effectiveness, interlocking degree, and graph path search can all be efficiently completed on a discrete graph, suitable for quickly and in large quantities screening at the discrete block level to determine whether the current discrete block is worth continuing to manufacture or assemble. Therefore, it can maintain static rationality while achieving rapid screening, thus solving the technical problem of poor assembly quality in rapid manufacturing and assembly based on existing discrete block screening methods.

[0122] It should be noted that those skilled in the art can clearly understand that the assembly device for the discrete blocks and the specific implementation process of each unit can be referred to the corresponding descriptions in the foregoing method embodiments. For the sake of convenience and brevity, they will not be repeated here.

[0123] The assembly apparatus for the aforementioned discrete blocks can be implemented as a computer program, which can be used in, for example... Figure 3 It runs on the computer device shown.

[0124] Please see Figure 3 , Figure 3 This is a schematic block diagram of a computer device 700 provided in an embodiment of this application. The computer device 700 can be a terminal or a server. The terminal can be an electronic device with communication functions, such as a smartphone, tablet, laptop, desktop computer, personal digital assistant, or wearable device. The server can be a standalone server or a server cluster composed of multiple servers.

[0125] See Figure 3 The computer device 700 includes a processor 702, a memory, and a network interface 705 connected via a system bus 701. The memory may include a non-volatile storage medium 703 and internal memory 704.

[0126] The non-volatile storage medium 703 may store an operating system 7031 and a computer program 7032. The computer program 7032 includes program instructions that, when executed, cause the processor 702 to perform a method for assembling discrete blocks.

[0127] The processor 702 provides computing and control capabilities to support the operation of the entire computer device 700.

[0128] The internal memory 704 provides an environment for the execution of the computer program 7032 in the non-volatile storage medium 703. When the computer program 7032 is executed by the processor 702, the processor 702 can execute a method for assembling discrete blocks.

[0129] This network interface 705 is used for network communication with other devices. Those skilled in the art will understand that... Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device 700 to which the present application is applied. The specific computer device 700 may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0130] The processor 702 is used to run the computer program 7032 stored in the memory to perform the following steps: In response to the assembly command for discrete blocks, based on the discrete blocks in the preset target discrete block set, a corresponding graph structure and a set of clearly marked foundation nodes are constructed. The graph structure consists of vertices and edges, and the foundation nodes in the set of foundation nodes are obtained by blocks directly connected to the ground, base, or absolute rigid body support marked by the vertices. The support effect is obtained by calculating the contact area between the target discrete block involved in the diagram structure and the stable support body below. The support effect characterizes the sufficiency of the bottom bearing capacity. The force direction and escape direction of the target discrete block are analyzed to obtain the interlocking degree of the surrounding adjacent blocks with respect to the target discrete block. The higher the interlocking degree, the less likely it is to move. Starting from the current discrete block, perform a graph search on the graph structure to obtain the force transmission path from the current discrete block along the edge to the set of foundation nodes; Based on the support effect, the interlocking degree, and the force transmission path, the discrete blocks in the target discrete block set are combined and statically screened to determine whether they pass the static screening. For the failed discrete blocks in the set of failed discrete blocks that failed the static screening, adjacent blocks in the adjacent direction are selected from the neighborhood of the failed discrete block and merged. For the newly merged adjacent blocks, the corresponding new support effect, new interlocking degree, and new force transmission path are determined. The new support effect, the new interlocking degree, and the new force transmission path are recombined and statically screened to determine whether the failed discrete block passes the static screening. The failed discrete blocks that pass the static screening are removed from the set of failed discrete blocks. The failed discrete blocks that fail the static screening are recombined with adjacent blocks in a different adjacent direction, and the recombined static screening is performed again until all failed discrete blocks pass the static screening. A complete assembly is obtained by assembling discrete blocks selected through statics.

[0131] It should be understood that in the embodiments of this application, the processor 702 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0132] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program includes program instructions and can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0133] It should be noted that the specific embodiments are merely illustrative examples intended to aid in understanding the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention. The scope of protection of this application is determined by the contents of the claims. Specific embodiments, parameter ranges, or technical features described in the specification should not be construed as undue limitation or expansion of the scope of protection of the claims. The technical effects described in the specification are only used to illustrate the innovation of the present invention. Any technical solution that does not simultaneously possess all the technical features of the present invention, even if it claims to solve the same technical problem, does not fall within the scope of protection of the present invention.

[0134] Therefore, this application also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When executed by a processor, the program instructions cause the processor to perform the following steps: In response to the assembly command for discrete blocks, based on the discrete blocks in the preset target discrete block set, a corresponding graph structure and a set of clearly marked foundation nodes are constructed. The graph structure consists of vertices and edges, and the foundation nodes in the set of foundation nodes are obtained by blocks directly connected to the ground, base, or absolute rigid body support marked by the vertices. The support effect is obtained by calculating the contact area between the target discrete block involved in the diagram structure and the stable support body below. The support effect characterizes the sufficiency of the bottom bearing capacity. The force direction and escape direction of the target discrete block are analyzed to obtain the interlocking degree of the surrounding adjacent blocks with respect to the target discrete block. The higher the interlocking degree, the less likely it is to move. Starting from the current discrete block, perform a graph search on the graph structure to obtain the force transmission path from the current discrete block along the edge to the set of foundation nodes; Based on the support effect, the interlocking degree, and the force transmission path, the discrete blocks in the target discrete block set are combined and statically screened to determine whether they pass the static screening. For the failed discrete blocks in the set of failed discrete blocks that failed the static screening, adjacent blocks in the adjacent direction are selected from the neighborhood of the failed discrete block and merged. For the newly merged adjacent blocks, the corresponding new support effect, new interlocking degree, and new force transmission path are determined. The new support effect, the new interlocking degree, and the new force transmission path are recombined and statically screened to determine whether the failed discrete block passes the static screening. The failed discrete blocks that pass the static screening are removed from the set of failed discrete blocks. The failed discrete blocks that fail the static screening are recombined with adjacent blocks in a different adjacent direction, and the recombined static screening is performed again until all failed discrete blocks pass the static screening. A complete assembly is obtained by assembling discrete blocks selected through statics.

[0135] The storage medium can be any computer-readable storage medium that can store program code, such as a USB flash drive, external hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0136] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0137] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0138] The steps in the methods of this application embodiment can be adjusted, merged, or deleted according to actual needs. The units in the apparatus of this application embodiment can be merged, divided, or deleted according to actual needs. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0139] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application.

[0140] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for assembling discrete blocks, characterized in that, The method includes: In response to the assembly command for discrete blocks, based on the discrete blocks in the preset target discrete block set, a corresponding graph structure and a set of clearly marked foundation nodes are constructed. The graph structure consists of vertices and edges, and the foundation nodes in the set of foundation nodes are obtained by blocks directly connected to the ground, base, or absolute rigid body support marked by the vertices. The support effect is obtained by calculating the contact area between the target discrete block involved in the diagram structure and the stable support body below. The support effect characterizes the sufficiency of the bottom bearing capacity. The force direction and escape direction of the target discrete block are analyzed to obtain the interlocking degree of the surrounding adjacent blocks on the target discrete block. The higher the interlocking degree, the less likely it is to move. Starting from the current discrete block, perform a graph search on the graph structure to obtain the force transmission path from the current discrete block along the edge to the set of foundation nodes; Based on the support effect, the interlocking degree, and the force transmission path, the discrete blocks in the target discrete block set are combined and statically screened to determine whether they pass the static screening. For the failed discrete blocks in the set of failed discrete blocks that failed the static screening, adjacent blocks in the adjacent direction are selected from the neighborhood of the failed discrete block and merged. For the newly merged adjacent blocks, the corresponding new support effect, new interlocking degree, and new force transmission path are determined. The new support effect, the new interlocking degree, and the new force transmission path are recombined and statically screened to determine whether the failed discrete block passes the static screening. The failed discrete blocks that pass the static screening are removed from the set of failed discrete blocks. The failed discrete blocks that fail the static screening are recombined with adjacent blocks in a different adjacent direction, and the recombined static screening is performed again until all failed discrete blocks pass the static screening. A complete assembly is obtained by assembling discrete blocks selected through statics.

2. The method according to claim 1, characterized in that, In response to the assembly command for discrete blocks, based on the discrete blocks in the preset target discrete block set, a corresponding graph structure and a set of clearly marked foundation nodes are constructed. The graph structure consists of vertices and edges, and the foundation nodes in the set of foundation nodes are obtained by blocks directly connected to the ground, base, or absolutely rigid body support marked by the vertices, including: In response to the assembly command for the discrete blocks, the target discrete block set consisting of multiple discrete blocks and the spatial adjacency and contact relationships between the discrete blocks are obtained; Map the discrete blocks in the target discrete block set to vertices; Based on the spatial adjacency contact relationship, undirected edges are established between discrete blocks that have stable force contact relationships in space, and a corresponding graph structure is obtained based on the undirected edges and the vertices. The undirected edges are not established between discrete blocks that are only in point contact or line contact and cannot transmit effective static forces. Among all the vertices, discrete blocks that are directly connected to the ground, base, or absolute rigid body support are marked and used as the foundation nodes to obtain the foundation node set.

3. The method according to claim 1, characterized in that, The support effect is the support ratio, which is calculated by measuring the contact area between the target discrete block involved in the graph structure and the stable support body below. This includes: Determine the effective load-bearing contact area between the target discrete block involved in the diagram structure and the underlying stable support; Obtain the bottom projected area of ​​the target discrete block; The ratio between the effective load-bearing contact area and the bottom projected area is calculated to obtain the support ratio corresponding to the target discrete block. The support ratio is between 0 and 1, and the larger the support ratio, the more sufficient the bottom load is.

4. The method according to claim 1, characterized in that, The interlocking degree is defined as an interlocking score. By analyzing the force direction and escape direction of the target discrete block, the interlocking degree of the surrounding adjacent blocks with respect to the target discrete block is obtained, including: The force direction and escape direction of the target discrete block are determined. The force direction includes the direction of gravity and the horizontal direction, and the escape direction includes the opposite direction of insertion or removal during assembly. Based on the graph structure, it is determined whether the adjacent surrounding blocks form an effective geometric barrier to the target discrete block in the direction of force application or the direction of escape. Based on the preset weights corresponding to the force direction or the escape direction, the interlocking component is obtained by weighted summation of the surrounding adjacent blocks that form the geometric barrier.

5. The method according to claim 1, characterized in that, Based on the support effect, the interlocking degree, and the force transmission path, a combined static screening judgment is performed on the discrete blocks in the target discrete block set to determine whether they pass the static screening, including: If the force transmission path does not exist for the current discrete block in the target discrete block set, then the current discrete block is determined to have failed the static screening. If the force transmission path exists, the support effect is determined based on a preset support rate threshold, and the interlocking degree is determined based on a preset interlocking threshold. If both the support effect and the interlocking degree exceed their respective thresholds, then the current discrete block is determined to have passed the static screening.

6. The method according to claim 1, characterized in that, A complete assembly is obtained by assembling discrete blocks selected through statics, including: An assembly sequence is generated based on discrete blocks selected by statics, and assembly operations are performed block by block based on the assembly sequence. After assembling a single discrete block, the stability of the currently assembled partial structure is verified. For the current part of the structure that fails the stability verification, perform assembly rollback, assembly sequence adjustment and local reinforcement of the discrete blocks to handle assembly anomalies until the assembly is completed and all parts pass the stability verification to obtain a complete assembly.

7. An assembly apparatus for discrete blocks, characterized in that, The device includes: The graph structure construction unit is used to respond to the assembly command of discrete blocks, construct the corresponding graph structure and construct the clearly marked set of foundation nodes based on the discrete blocks in the preset target discrete block set. The graph structure consists of vertices and edges, and the foundation nodes in the set of foundation nodes are obtained by blocks that are directly connected to the ground, base or absolute rigid body support marked by the vertex. A support calculation unit is used to calculate the support effect by measuring the contact area between the target discrete block involved in the graph structure and the stable support body below. The support effect characterizes the sufficiency of the bottom bearing capacity. The interlock analysis unit is used to analyze the force direction and escape direction of the target discrete block to obtain the interlock degree of the surrounding adjacent blocks on the target discrete block. The higher the interlock degree, the less likely it is to move. The graph search unit is used to perform a graph search on the graph structure starting from the current discrete block to obtain the force transmission path from the current discrete block along the edge to the set of foundation nodes. A static screening and determination unit is used to perform combined static screening and determination on discrete blocks in the target discrete block set based on the support effect, the interlocking degree and the force transmission path, and to determine whether the static screening is passed. The fusion unit is used to select adjacent blocks in the adjacent direction from the neighborhood of the failed discrete blocks in the set of failed discrete blocks that failed the static screening and merge them; for the newly merged adjacent blocks, determine the corresponding new support effect, new interlocking degree, and new force transmission path; recombine the new support effect, the new interlocking degree, and the new force transmission path to determine whether the failed discrete block has passed the static screening; remove the failed discrete blocks that have passed the static screening from the set of failed discrete blocks; re-merge the failed discrete blocks that have not passed the static screening with adjacent blocks in a different adjacent direction, and re-combine the static screening until all failed discrete blocks have passed the static screening; An assembly unit is used to assemble a complete assembly based on discrete blocks selected by statics.

8. A computer device for assembling discrete blocks, characterized in that, The method includes a memory, a processor, and an assembly program for discrete blocks stored in the memory and executable on the processor. The processor executes the assembly program for the discrete blocks to implement the steps of the assembly method for discrete blocks according to any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores a program for implementing a method for assembling discrete blocks, and the program for implementing the method for assembling discrete blocks is executed by a processor to implement the steps of the method for assembling discrete blocks as described in any one of claims 1 to 6.

Images