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CN110322570B - Visualization method for disassembling and assembling robot according to planning sequence in virtual reality - Google Patents

Visualization method for disassembling and assembling robot according to planning sequence in virtual reality Download PDF

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CN110322570B
CN110322570B CN201910593815.8A CN201910593815A CN110322570B CN 110322570 B CN110322570 B CN 110322570B CN 201910593815 A CN201910593815 A CN 201910593815A CN 110322570 B CN110322570 B CN 110322570B
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parts
robot model
robot
disassembled
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CN110322570A (en
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贾文友
曹紫阳
刘莉
梁利东
江本赤
苏学满
王子辉
贾昊瑞
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Anhui Polytechnic University
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Abstract

The visual method for disassembling and assembling the robot according to the planning sequence in the virtual reality is characterized in that the planning sequence information comprises the disassembling sequence, the moving direction and the moving speed of modules and parts in a robot model; txt text documents contain the tear down order and the movement direction; the Unity3D engine is open source software; the specific process steps are as follows: planning the disassembly sequence of the robot model; planning the moving direction of the disassembled module and parts; constructing sort text documents of the disassembly sequence and the movement direction; establishing a one-to-one correspondence relationship between the disassembled modules of the robot model and the part numbers and the empty numbers; setting the moving speed of the disassembled module and parts; reading in a sort text document by a Unity3D engine; creating an install and uninstall execution button; visualization of robot model according to plan sequence and termination judgment; and the visualization of the robot model according to the planning sequence and the termination judgment of the robot model obtain the visualization of the dismounting effect of the robot in the virtual scene according to the planning sequence. The robot is simple in concept, convenient to realize and good in visual immersion property when being assembled and disassembled.

Description

虚拟现实中机器人按规划序列拆装的可视化方法Visualization method of robot disassembly and assembly according to planned sequence in virtual reality

技术领域technical field

本发明涉及机器人可视化技术领域，尤其涉及虚拟现实中机器人按规划序列拆装的可视化方法。The invention relates to the technical field of robot visualization, in particular to a visualization method for disassembling and assembling robots according to a planned sequence in virtual reality.

背景技术Background technique

当前互联网+等信息技术的飞速发展，推进了机器人在制造业中的广泛应用。创新和改进机器人一直是学术界与应用界的研究热点，其中必不可少的环节是熟悉机器人各模块和所有零部件的相互装配关系和结构特征。The rapid development of information technology such as the current Internet + has promoted the widespread application of robots in the manufacturing industry. Innovating and improving robots has always been a research hotspot in academia and application circles, and an indispensable link is to be familiar with the mutual assembly relationship and structural characteristics of each module and all parts of the robot.

目前，熟悉机器人各模块和所有零部件的相互装配关系和结构特征方法是直接拆解机器人实体，其一方面是购买机器人实体需要花费高的成本，另一方面是机器人实体拆解后难以还原装配，降低机器人实体重复使用率低而产生大的浪费。At present, the method to be familiar with the mutual assembly relationship and structural characteristics of each module and all parts of the robot is to directly disassemble the robot entity. On the one hand, it costs a lot to purchase the robot entity, and on the other hand, it is difficult to restore the assembly after the robot entity is disassembled. , reducing the low repetition rate of robot entities and resulting in large waste.

发明内容SUMMARY OF THE INVENTION

为了克服现有熟悉机器人各模块和所有零部件的相互装配关系和结构特征方法是直接拆解机器人实体，其一方面是购买机器人实体需要花费高的成本，另一方面是机器人实体拆解后难以还原装配，降低机器人实体重复使用率低而产生大的浪费等缺陷，本发明基于虚拟现实技术，建立可以反复使用的机器人按规划序列拆装的可视化平台，提供一种虚拟现实中机器人按规划序列拆装的可视化方法。In order to overcome the existing familiarity with the mutual assembly relationship and structural characteristics of each module and all parts of the robot, the method is to directly dismantle the robot entity. It restores assembly and reduces defects such as large waste caused by low repetition rate of robot entities. Based on virtual reality technology, the present invention establishes a visual platform for disassembling and assembling robots that can be used repeatedly in a planned sequence, and provides a virtual reality robot in a planned sequence. Visual method of disassembly.

本发明具体解决其技术问题所采用的技术解决方案是：The technical solution adopted by the present invention to specifically solve the technical problem is:

虚拟现实中机器人按规划序列拆装的可视化方法，包括机器人模型、模块和零部件、拆顺序、移动方向、sort.txt文本文档、Unity 3D引擎、移动速度、机器人模型的拆的可视化、机器人模型的装的可视化、拆的执行按钮、装的执行按钮、可视化虚拟场景中厂房、可视化虚拟场景中工作台、虚拟场景中的机器人按规划序列拆装效果可视化。其中，模块和零部件是指机器人模型分解成不同模块，每个模块由不同零部件组成；规划序列信息包括模块和零部件的拆顺序、移动方向和移动速度；sort.txt文本文档包含规划序列信息中模块和零部件的拆顺序和移动方向；Unity 3D引擎是基于虚拟现实技术实现机器人按规划序列拆装的可视化的开源软件。Visualization method of robot disassembly and assembly according to planning sequence in virtual reality, including robot model, modules and parts, disassembly sequence, moving direction, sort.txt text document, Unity 3D engine, moving speed, visualization of robot model disassembly, robot model The visualization of the installation, the execution button of the disassembly, the execution button of the installation, the visualization of the workshop in the virtual scene, the workbench in the visualization of the virtual scene, and the visualization of the disassembly and assembly effect of the robot in the virtual scene according to the planned sequence. Among them, modules and parts refer to the decomposition of the robot model into different modules, and each module consists of different parts; the planning sequence information includes the disassembly order, moving direction and moving speed of the modules and parts; the sort.txt text file contains the planning sequence The disassembly order and moving direction of modules and components in the information; the Unity 3D engine is an open source software based on virtual reality technology to realize the visualization of robot disassembly and assembly according to the planned sequence.

虚拟现实中机器人按规划序列拆装的可视化方法，具体流程步骤如下：The visualization method of robot disassembly and assembly according to the planned sequence in virtual reality, the specific process steps are as follows:

步骤1，规划机器人模型的拆顺序：分析机器人模型的装顺序，确定机器人模型不同模块的拆顺序，以及同一模块不同零部件的拆顺序，获得机器人模型的可拆模块和零部件的拆顺序；Step 1, plan the disassembly sequence of the robot model: analyze the assembly sequence of the robot model, determine the disassembly sequence of different modules of the robot model, and the disassembly sequence of different parts of the same module, and obtain the disassembly sequence of the detachable modules and parts of the robot model;

步骤2，规划所拆模块和零部件移动方向：根据机器人模型的拆过程中模块和零部件不发生碰撞和干涉，同时考虑所拆零部件在空间的浏览角度，规定和布局所拆模块和零部件移动方向；Step 2: Plan the moving direction of the dismantled modules and parts: According to the disassembly process of the robot model, the modules and parts do not collide and interfere, and at the same time consider the viewing angle of the dismantled parts in space, and specify and layout the dismantled modules and parts. moving direction;

步骤3，构建拆顺序和移动方向的sort.txt文本文档：对机器人模型所拆模块和零部件编号，构建两列sort.txt文本文档数据库信息，第一列是所拆模块和零部件的拆顺序信息，用所拆模块和零部件编号进行排序；第二列是所拆模块和零部件的移动方向信息，用空间坐标的X、Y、Z进行规定；将sort.txt文本文档直接拷贝粘贴至Unity 3D引擎的Project工程方案中，实现sort.txt文本文档导入至Unity3D引擎；Step 3, build the sort.txt text document of the dismantling order and moving direction: for the dismantled modules and parts numbers of the robot model, construct two columns of sort.txt text document database information, the first column is the dismantling of the dismantled modules and parts. The sequence information is sorted by the dismantled modules and part numbers; the second column is the moving direction information of the dismantled modules and parts, which is specified by the X, Y, and Z of the spatial coordinates; directly copy and paste the sort.txt text file To the Project project of the Unity 3D engine, import the sort.txt text file into the Unity3D engine;

步骤4，建立机器人模型所拆模块和零部件编号与空编号一一对应关系：先将机器人模型导入至Unity 3D引擎中；再在Unity 3D引擎的Tag中创建空编号；根据sort.txt文本文档中第一列是所拆模块和零部件的拆顺序信息，将相同的空编号序号附加给对应的拆模块和零部件，实现机器人模型所拆模块和零部件编号与空编号一一对应关系；Step 4, establish a one-to-one correspondence between the disassembled modules and part numbers of the robot model and the empty numbers: first import the robot model into the Unity 3D engine; then create an empty number in the Tag of the Unity 3D engine; according to the sort.txt text document The first column is the dismantling sequence information of the dismantled modules and parts. The same empty serial number is attached to the corresponding dismantled modules and parts to realize the one-to-one correspondence between the disassembled modules and parts numbers of the robot model and the empty numbers;

步骤5，设置所拆模块和零部件的移动速度：再所拆模块和零部件的拆顺序、移动方向基础上，设置所拆模块和零部件的移动距离和时间，实现所拆模块和零部件的移动速度的设置；实现所拆模块和零部件的移动速度的设置的程序执行语句是obj[i].transform.DOMoveX(distanceX,2)，其中obj[i]是指第i个所拆模块和零部件，transform.DOMoveX是Unity 3D引擎中组件代号，(distanceX,2)是指第i个所拆模块和零部件的移动距离X和时间2，完成规划序列信息中模块和零部件的拆顺序、移动方向和移动速度设置；Step 5: Set the moving speed of the dismantled modules and components: On the basis of the dismantling sequence and moving direction of the dismantled modules and components, set the moving distance and time of the dismantled modules and components to realize the dismantled modules and components. The setting of the moving speed; the program execution statement to realize the setting of the moving speed of the dismantled modules and components is obj[i].transform.DOMoveX(distanceX,2), where obj[i] refers to the i-th dismantled module and components, transform.DOMoveX is the component code in the Unity 3D engine, (distanceX,2) refers to the moving distance X and time 2 of the i-th dismantled module and component, completing the disassembly of the module and component in the planning sequence information Order, movement direction and movement speed settings;

步骤6，Unity 3D引擎读入sort.txt文本文档：构建Unity 3D引擎和sort.txt文本文档链接；构建Unity 3D引擎和sort.txt文本文档链接的程序执行语句是path＝Application.dataPath+"/sort.txt"，其中path＝表示Unity 3D引擎指定读入路径，Application.dataPath是Unity 3D引擎中组件代号，"/sort.txt"是Unity 3D引擎指定读入路径所指向的文件名称是sort.txt；Step 6, the Unity 3D engine reads the sort.txt text document: build the link between the Unity 3D engine and the sort.txt text document; the program execution statement for building the link between the Unity 3D engine and the sort.txt text document is path=Application.dataPath+"/sort .txt", where path= indicates the read-in path specified by the Unity 3D engine, Application.dataPath is the component code in the Unity 3D engine, and "/sort.txt" is the file name pointed to by the specified read-in path of the Unity 3D engine is sort.txt ;

步骤7，创建拆和装的执行按钮：在Unity 3D引擎创建拆的执行按钮、装的执行按钮，对按钮编写程序，实现按钮执行拆和装的功能；Step 7, create the execution button of disassembly and assembly: create the execution button of disassembly and the execution button of assembly in the Unity 3D engine, write a program to the button, and realize the function of disassembly and assembly of the button;

步骤8，机器人模型的按规划序列拆的可视化及其终止判断：判断条件为机器人模型的拆是否遍历所有零部件，如果机器人模型的拆已遍历所有零部件，流程继续往下执行，则执行机器人模型的装的可视化；如果机器人模型的拆未遍历所有零部件，Unity 3D引擎显示机器人模型的按规划序列拆的可视化过程；Unity3D引擎显示机器人模型的按规划序列拆的可视化过程的程序执行语句是for(int i＝0；i<obj.Length；i++)，其中for表示循环语句，int整数型变量设置，obj.Length表示所拆模块和零部件的总数量，(int i＝0；i<obj.Length；i++)表示循环条件；Step 8: Visualization of the dismantling of the robot model according to the planning sequence and its termination judgment: the judgment condition is whether the dismantling of the robot model has traversed all parts and components, if the dismantling of the robot model has traversed all the parts and the process continues to be executed, the robot is executed. Visualization of model assembly; if the robot model is disassembled without traversing all parts, the Unity 3D engine displays the visualization process of the robot model disassembly according to the planning sequence; the program execution statement of the Unity3D engine to display the visualization process of the robot model disassembly according to the planning sequence is: for(int i=0; i<obj.Length; i++), where for represents a loop statement, int integer variable setting, obj.Length represents the total number of dismantled modules and components, (int i=0; i< obj.Length; i++) represents the loop condition;

步骤9，机器人模型的按规划序列装的可视化及其终止判断：判断条件为机器人模型的装是否遍历所有零部件，如果机器人模型的装已遍历所有零部件，机器人模型的按规划序列的拆和装可视化过程终止；如果机器人模型的装未遍历所有零部件，Unity 3D引擎显示机器人模型的按规划序列装的可视化过程；Unity 3D引擎显示机器人模型的按规划序列装的可视化过程的程序执行语句是for(int i＝obj.Length-1；i>＝0；i--)，其中for表示循环语句，int整数型变量设置，obj.Length表示所拆模块和零部件的总数量，(int i＝obj.Length-1；i>＝0；i--)表示循环条件。Step 9: Visualization of the robot model assembly according to the planned sequence and its termination judgment: the judgment condition is whether the assembly of the robot model traverses all the parts, if the assembly of the robot model has traversed all the parts, the disassembly and assembly of the robot model according to the planned sequence The visualization process is terminated; if the installation of the robot model does not traverse all the parts, the Unity 3D engine displays the visualization process of the robot model installed in the planned sequence; the Unity 3D engine displays the visualization process of the robot model installed in the planned sequence. The program execution statement is for (int i=obj.Length-1; i>=0; i--), where for represents a loop statement, int integer variable setting, obj.Length represents the total number of dismantled modules and components, (int i= obj.Length-1; i>=0; i--) represents the loop condition.

本发明的有益效果是，采用虚拟现实中机器人按规划序列拆装的可视化方法，通过建立可以反复使用的机器人按规划序列拆装的可视化平台，解决了目前熟悉机器人各模块和所有零部件的相互装配关系和结构特征方法是直接拆解机器人实体，其一方面是购买机器人实体需要花费高的成本，另一方面是机器人实体拆解后难以还原装配，降低机器人实体重复使用率低而产生大的浪费等问题。它概念简单，实现方便，可视化沉浸性好，适应于机器人结构创新和改进研究和机器人生产制造行业实际需求。The beneficial effect of the invention is that, by adopting the visualization method of disassembling and assembling robots according to the planned sequence in virtual reality, by establishing a visual platform for disassembling and assembling robots according to the planned sequence that can be used repeatedly, the mutual interaction between the modules and all parts and components of the currently familiar robot is solved. The method of assembly relationship and structural features is to directly dismantle the robot entity. On the one hand, the purchase of the robot entity requires a high cost. waste, etc. It is simple in concept, easy to implement, and has good visualization and immersion. It is suitable for the research of robot structure innovation and improvement and the actual needs of the robot manufacturing industry.

附图说明Description of drawings

图1为本发明虚拟现实中机器人按规划序列拆装的可视化方法的流程图；Fig. 1 is the flow chart of the visualization method of disassembling and assembling robot according to planning sequence in virtual reality of the present invention;

图2为本发明虚拟现实中机器人按规划序列拆装的可视化方法的机器人拆过程可视化效果图。FIG. 2 is a visualization effect diagram of the robot disassembly process of the visualization method of the robot disassembly and assembly according to the planned sequence in the virtual reality of the present invention.

图中201.拆的执行按钮，202.装的执行按钮，203.可视化虚拟场景中厂房，204.可视化虚拟场景中工作台，205.虚拟场景中的机器人按规划序列拆装效果可视化。In the figure, 201. Execute button for disassembly, 202. Execute button for installation, 203. Visualize the factory building in the virtual scene, 204. Visualize the workbench in the virtual scene, 205. Visualize the effect of disassembly and assembly of the robot in the virtual scene according to the planned sequence.

具体实施方式Detailed ways

下面结合附图和实施例对本发明专利作进一步地说明：Below in conjunction with accompanying drawing and embodiment, the patent of the present invention is further described:

本发明所提供的虚拟现实中机器人按规划序列拆装的可视化方法，包括机器人模型、模块和零部件、拆顺序、移动方向、sort.txt文本文档、Unity 3D引擎、移动速度、机器人模型的拆的可视化、机器人模型的装的可视化、拆的执行按钮201、装的执行按钮202、可视化虚拟场景中厂房203、可视化虚拟场景中工作台204、虚拟场景中的机器人按规划序列拆装效果可视化205。其中，模块和零部件是指机器人模型分解成不同模块，每个模块由不同零部件组成；规划序列信息包括模块和零部件的拆顺序、移动方向和移动速度；sort.txt文本文档包含规划序列信息中模块和零部件的拆顺序和移动方向；Unity 3D引擎是基于虚拟现实技术实现机器人按规划序列拆装的可视化的开源软件。The visualization method for disassembling and assembling a robot according to a planned sequence in a virtual reality provided by the present invention includes a robot model, modules and parts, disassembly sequence, moving direction, sort.txt text document, Unity 3D engine, moving speed, and disassembly of the robot model. Visualization of the robot model, installation visualization of the robot model, disassembly execution button 201, installation execution button 202, visualization of the workshop in the virtual scene 203, visualization of the workbench in the virtual scene 204, and visualization of the disassembly and assembly effect of the robot in the virtual scene according to the planned sequence 205 . Among them, modules and parts refer to the decomposition of the robot model into different modules, and each module consists of different parts; the planning sequence information includes the disassembly order, moving direction and moving speed of the modules and parts; the sort.txt text file contains the planning sequence The disassembly order and moving direction of modules and components in the information; the Unity 3D engine is an open source software based on virtual reality technology to realize the visualization of robot disassembly and assembly according to the planned sequence.

虚拟现实中机器人按规划序列拆装的可视化方法，具体流程步骤如下：The visualization method of robot disassembly and assembly according to the planned sequence in virtual reality, the specific process steps are as follows:

步骤1，规划机器人模型的拆顺序：分析机器人模型的装顺序，确定机器人模型不同模块的拆顺序，以及同一模块不同零部件的拆顺序，获得机器人模型的可拆模块和零部件的拆顺序；Step 1, plan the disassembly sequence of the robot model: analyze the assembly sequence of the robot model, determine the disassembly sequence of different modules of the robot model, and the disassembly sequence of different parts of the same module, and obtain the disassembly sequence of the detachable modules and parts of the robot model;

步骤2，规划所拆模块和零部件移动方向：根据机器人模型的拆过程中模块和零部件不发生碰撞和干涉，同时考虑所拆零部件在空间的浏览角度，规定和布局所拆模块和零部件移动方向；Step 2: Plan the moving direction of the dismantled modules and parts: According to the disassembly process of the robot model, the modules and parts do not collide and interfere, and at the same time consider the viewing angle of the dismantled parts in space, and specify and layout the dismantled modules and parts. moving direction;

步骤3，构建拆顺序和移动方向的sort.txt文本文档：对机器人模型所拆模块和零部件编号，构建两列sort.txt文本文档数据库信息，第一列是所拆模块和零部件的拆顺序信息，用所拆模块和零部件编号进行排序；第二列是所拆模块和零部件的移动方向信息，用空间坐标的X、Y、Z进行规定；将sort.txt文本文档直接拷贝粘贴至Unity 3D引擎的Project工程方案中，实现sort.txt文本文档导入至Unity3D引擎；Step 3, build the sort.txt text document of the dismantling order and moving direction: for the dismantled modules and parts numbers of the robot model, construct two columns of sort.txt text document database information, the first column is the dismantling of the dismantled modules and parts. The sequence information is sorted by the dismantled modules and part numbers; the second column is the moving direction information of the dismantled modules and parts, which is specified by the X, Y, and Z of the spatial coordinates; directly copy and paste the sort.txt text file To the Project project of the Unity 3D engine, import the sort.txt text file into the Unity3D engine;

步骤4，建立机器人模型所拆模块和零部件编号与空编号一一对应关系：先将机器人模型导入至Unity 3D引擎中；再在Unity 3D引擎的Tag中创建空编号；根据sort.txt文本文档中第一列是所拆模块和零部件的拆顺序信息，将相同的空编号序号附加给对应的拆模块和零部件，实现机器人模型所拆模块和零部件编号与空编号一一对应关系；Step 4, establish a one-to-one correspondence between the disassembled modules and part numbers of the robot model and the empty numbers: first import the robot model into the Unity 3D engine; then create an empty number in the Tag of the Unity 3D engine; according to the sort.txt text document The first column is the dismantling sequence information of the dismantled modules and parts. The same empty serial number is attached to the corresponding dismantled modules and parts to realize the one-to-one correspondence between the disassembled modules and parts numbers of the robot model and the empty numbers;

步骤5，设置所拆模块和零部件的移动速度：再所拆模块和零部件的拆顺序、移动方向基础上，设置所拆模块和零部件的移动距离和时间，实现所拆模块和零部件的移动速度的设置；实现所拆模块和零部件的移动速度的设置的程序执行语句是obj[i].transform.DOMoveX(distanceX,2)，其中obj[i]是指第i个所拆模块和零部件，transform.DOMoveX是Unity 3D引擎中组件代号，(distanceX,2)是指第i个所拆模块和零部件的移动距离X和时间2，完成规划序列信息中模块和零部件的拆顺序、移动方向和移动速度设置；Step 5: Set the moving speed of the dismantled modules and components: On the basis of the dismantling sequence and moving direction of the dismantled modules and components, set the moving distance and time of the dismantled modules and components to realize the dismantled modules and components. The setting of the moving speed; the program execution statement to realize the setting of the moving speed of the dismantled modules and components is obj[i].transform.DOMoveX(distanceX,2), where obj[i] refers to the i-th dismantled module and components, transform.DOMoveX is the component code in the Unity 3D engine, (distanceX,2) refers to the moving distance X and time 2 of the i-th dismantled module and component, completing the disassembly of the module and component in the planning sequence information Order, movement direction and movement speed settings;

步骤6，Unity 3D引擎读入sort.txt文本文档：构建Unity 3D引擎和sort.txt文本文档链接；构建Unity 3D引擎和sort.txt文本文档链接的程序执行语句是path＝Application.dataPath+"/sort.txt"，其中path＝表示Unity 3D引擎指定读入路径，Application.dataPath是Unity 3D引擎中组件代号，"/sort.txt"是Unity 3D引擎指定读入路径所指向的文件名称是sort.txt；Step 6, the Unity 3D engine reads the sort.txt text document: build the link between the Unity 3D engine and the sort.txt text document; the program execution statement for building the link between the Unity 3D engine and the sort.txt text document is path=Application.dataPath+"/sort .txt", where path= indicates the read-in path specified by the Unity 3D engine, Application.dataPath is the component code in the Unity 3D engine, and "/sort.txt" is the file name pointed to by the specified read-in path of the Unity 3D engine is sort.txt ;

步骤7，创建拆和装的执行按钮：在Unity 3D引擎创建拆的执行按钮201、装的执行按钮202，对按钮编写程序，实现按钮执行拆和装的功能；Step 7, create the execution button of disassembly and assembly: create the execution button 201 of disassembly and the execution button 202 of installation in the Unity 3D engine, write a program to the button, and realize the function of the button to carry out disassembly and assembly;

步骤8，机器人模型的按规划序列拆的可视化及其终止判断：判断条件为机器人模型的拆是否遍历所有零部件，如果机器人模型的拆已遍历所有零部件，流程继续往下执行，则执行机器人模型的装的可视化；如果机器人模型的拆未遍历所有零部件，Unity 3D引擎显示机器人模型的按规划序列拆的可视化过程；Unity3D引擎显示机器人模型的按规划序列拆的可视化过程的程序执行语句是for(int i＝0；i<obj.Length；i++)，其中for表示循环语句，int整数型变量设置，obj.Length表示所拆模块和零部件的总数量，(int i＝0；i<obj.Length；i++)表示循环条件；Step 8: Visualization of the dismantling of the robot model according to the planning sequence and its termination judgment: the judgment condition is whether the dismantling of the robot model has traversed all parts and components, if the dismantling of the robot model has traversed all the parts and the process continues to be executed, the robot is executed. Visualization of model assembly; if the robot model is disassembled without traversing all parts, the Unity 3D engine displays the visualization process of the robot model disassembly according to the planning sequence; the program execution statement of the Unity3D engine to display the visualization process of the robot model disassembly according to the planning sequence is: for(int i=0; i<obj.Length; i++), where for represents a loop statement, int integer variable setting, obj.Length represents the total number of dismantled modules and components, (int i=0; i< obj.Length; i++) represents the loop condition;

步骤9，机器人模型的按规划序列装的可视化及其终止判断：判断条件为机器人模型的装是否遍历所有零部件，如果机器人模型的装已遍历所有零部件，机器人模型的按规划序列的拆和装可视化过程终止；如果机器人模型的装未遍历所有零部件，Unity 3D引擎显示机器人模型的按规划序列装的可视化过程；Unity 3D引擎显示机器人模型的按规划序列装的可视化过程的程序执行语句是for(int i＝obj.Length-1；i>＝0；i--)，其中for表示循环语句，int整数型变量设置，obj.Length表示所拆模块和零部件的总数量，(int i＝obj.Length-1；i>＝0；i--)表示循环条件。Step 9: Visualization of the robot model assembly according to the planned sequence and its termination judgment: the judgment condition is whether the assembly of the robot model traverses all the parts, if the assembly of the robot model has traversed all the parts, the disassembly and assembly of the robot model according to the planned sequence The visualization process is terminated; if the installation of the robot model does not traverse all the parts, the Unity 3D engine displays the visualization process of the robot model installed in the planned sequence; the Unity 3D engine displays the visualization process of the robot model installed in the planned sequence. The program execution statement is for (int i=obj.Length-1; i>=0; i--), where for represents a loop statement, int integer variable setting, obj.Length represents the total number of dismantled modules and components, (int i= obj.Length-1; i>=0; i--) represents the loop condition.

每当需要可视化虚拟现实中机器人按规划序列拆装时，机器人模型放置可视化虚拟场景中厂房203的可视化虚拟场景中工作台204上，分别点击拆的执行按钮201、装的执行按钮202，根据机器人模型的拆的可视化及其终止判断和机器人模型的装的可视化及其终止判断，获得虚拟场景中的机器人按规划序列拆装效果可视化205，附图2。Whenever the robot in the visualized virtual reality needs to be disassembled and assembled according to the planned sequence, the robot model is placed on the workbench 204 in the visualized virtual scene of the workshop 203 in the visualized virtual scene. The visualization of the disassembly of the model and its termination judgment and the visualization of the installation of the robot model and its termination judgment, the visualization of the disassembly and assembly effect of the robot in the virtual scene according to the planned sequence is obtained 205 , FIG. 2 .

Claims (5)

1. A visualization method for disassembling and assembling a robot according to a planning sequence in virtual reality comprises a robot model, modules and parts, a disassembling sequence, a moving direction, a sort text document, a Unity3D engine, a moving speed, the disassembling visualization of the robot model, the assembling visualization of the robot model, an disassembling execution button (201), an assembling execution button (202), a factory building (203) in a visual virtual scene, a workbench (204) in the visual virtual scene, and the disassembling and assembling effect visualization (205) of the robot in the virtual scene according to the planning sequence, and is characterized in that the modules and the parts mean that the robot model is decomposed into different modules, and each module consists of different parts; the planning sequence information comprises the disassembly sequence, the moving direction and the moving speed of the modules and the parts; the text document of the text comprises the disassembly sequence and the movement direction of the modules and the parts in the planning sequence information; the Unity3D engine is visual open source software for realizing robot disassembly and assembly according to a planning sequence based on a virtual reality technology; a visualization method for disassembling and assembling a robot according to a planning sequence in virtual reality comprises the following specific flow steps:
step 1, planning the disassembly sequence of the robot model: analyzing the assembling sequence of the robot model, determining the disassembling sequence of different modules of the robot model and the disassembling sequence of different parts of the same module, and obtaining the disassembling sequence of the detachable modules and the parts of the robot model;
step 2, planning the moving direction of the disassembled module and the parts: according to the method, collision and interference do not occur between the modules and parts in the detaching process of the robot model, and the moving directions of the detached modules and the parts are regulated and laid out by considering the browsing angle of the detached parts in space;
and 3, constructing a sort text document with the disassembly sequence and the movement direction: numbering modules and parts disassembled from a robot model, constructing two lines of sort text document database information, wherein the first line is the disassembling sequence information of the disassembled modules and the parts, and sequencing the disassembled modules and the parts by using the numbers; the second column is the moving direction information of the removed module and the component, and is defined by X, Y, Z of space coordinates; directly copying and pasting the sort text document into a Project engineering scheme of a Unity3D engine to realize that the sort text document is imported into the Unity3D engine;
step 4, establishing a one-to-one corresponding relation between the disassembled modules of the robot model and the part numbers and the empty numbers: firstly, importing a robot model into a Unity3D engine; creating a null number in the Tag of the Unity3D engine; according to the fact that the first column in the sort text document is the dismounting sequence information of the dismounted module and the part, the same empty number serial number is attached to the corresponding dismounted module and the part, and the one-to-one correspondence relationship between the serial numbers of the dismounted module and the part of the robot model and the empty number is realized;
step 5, setting the moving speed of the disassembled module and parts: then on the basis of the disassembly sequence and the movement direction of the disassembled module and the parts, the movement distance and the movement time of the disassembled module and the parts are set, so that the setting of the movement speed of the disassembled module and the parts is realized;
step 6, reading in a sort text document by the Unity3D engine: constructing a Unity3D engine and a sort text document link;
step 7, creating an uninstalled and installed execution button: creating a disassembled execution button 201 and an assembled execution button 202 in a Unity3D engine, compiling a program for the buttons, and realizing the functions of disassembling and assembling the buttons;
step 8, visualization and termination judgment of the robot model according to the planned sequence: judging whether the robot model is disassembled to traverse all parts or not, and if the robot model is disassembled to traverse all parts and the flow continues to be executed downwards, executing visualization of the robot model; if the robot model is disassembled without traversing all parts, the Unity3D engine displays the visualization process of the robot model disassembled according to the planning sequence;
step 9, visualization and termination judgment of the robot model according to the planning sequence: judging whether the robot model is assembled to traverse all parts or not, and if the robot model is assembled to traverse all parts, terminating the visual assembling and disassembling process of the robot model according to the planning sequence; if the robot model is not loaded across all parts, the Unity3D engine displays a visualization process of the robot model loaded in a planned sequence.
2. The visualization method for disassembling and assembling the robot according to the planned sequence in the virtual reality according to claim 1, wherein the program execution statement for implementing the setting of the moving speed of the disassembled module and the component is obj [ i ] transform.DOMoveX (distanceX,2), where obj [ i ] is the ith disassembled module and component, transform.DOMoveX is the component code in the Unity3D engine, (distanceX,2) is the moving distance X and time 2 of the ith disassembled module and component, and the disassembling sequence, moving direction and moving speed setting of the module and the component in the planned sequence information are completed.
3. The method as claimed in claim 1, wherein the program execution statement for constructing the link between the Unity3D engine and the text document of sort is path ═ application.
4. The visualization method for disassembling and assembling the robot according to the planned sequence in the virtual reality according to claim 1, wherein the program execution statement of the visualization process of the Unity3D engine for displaying the robot model according to the planned sequence is for (int i ═ 0; i < obj.length; i + +), wherein for represents a loop statement, int integer variable setting, obj.length represents the total number of disassembled modules and parts, (int i ═ 0; i < obj.length; i + +) represents a loop condition.
5. The visualization method for disassembling and assembling the robot according to the planned sequence in the virtual reality according to claim 1, wherein the program execution statement of the visualization process of the Unity3D engine displaying the robot model according to the planned sequence is for (int i) obj.length-1; i > -0; i) -, where for represents a loop statement, int integer variable setting, obj.length represents the total number of disassembled modules and parts, (int i) obj.length-1; i > -0; i- -) represents a loop condition.
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