Method for optimizing full-node traversal path

Abstract

The invention provides a method for quickly optimizing a full-node traversal path at a high speed to finally generate a one-way node queue path. The method comprises the following steps of: firstly constructing node network according to the actual problem to be solved, wherein the network can be full network and the path expense is recorded by sides among the nodes; then constructing a minimum generation tree for all nodes and building a queue for all branches and end points on the generation tree; and then cutting off each branch to the nodes having the branches through the tentative algorithm, searching an end point pair with shortest distance according to the end point queue and connecting the end points after cutting off each branch until all branches on the original minimum generation tree are cut off and all nodes are connected to a one-way queue. When a new end point connection is established, the method also provides a detection mechanism to prevent a node queue forming a ringdue to the new connection so as to avoid the loss of the node in a path. In addition, the invention also comprises a transverse or longitudinal prior path as the backup for optimizing the path so as to improve the reliability of the whole method.

Description

technical field [0001] The invention belongs to the field of path planning, and is particularly applicable to full-node traversal path planning without special regulations on sources and sinks, and its model can be applied to practical problems such as SMT (surface mount technology) automatic detection path planning. Background technique [0002] Path planning is an abstract data model, and its prototype can be a planning problem in any field. Taking automatic detection as an example, in the field of industrial automation, many automatic detection processes are aimed at multiple detection points in a plane For inspection, since most devices work serially, it is necessary to check another node after checking one node. A well-optimized path can obviously save time and improve inspection efficiency. [0003] Taking the automatic optical inspection (AOI) of solder joints in the SMT field as an example, the working method of most inspection equipment is to move the X and Y axes t...

AI Technical Summary

Problems solved by technology

These commonly used methods are similar to the optimal traversal path when the detection points are sufficiently dense, but when the node network is not very dense or even sparse, it will bring a lot of waste, such as figure 2 the situation shown

In the actual inspection process, since the shape and size of the inspected circuit board often change, and the layout of the components on the circuit board is not fixed, it is basically impossible to obtain the optimal path for the fixed S-shaped path and the spiral path. approximation of

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