Automobile part welding optimal path planning method of multi-robot coordination

An optimal path planning, multi-robot technology, applied in two-dimensional position/channel control and other directions, can solve problems such as premature convergence, loss of diversity of particle swarms, and inability to obtain global optimal solutions, so as to improve welding speed and improve The effect of production efficiency

Active Publication Date: 2017-11-24
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

The PSO algorithm has the ability to quickly search, but it is easy to fall into the local optimal solution, and after several iterations, the pa

Method used

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  • Automobile part welding optimal path planning method of multi-robot coordination
  • Automobile part welding optimal path planning method of multi-robot coordination
  • Automobile part welding optimal path planning method of multi-robot coordination

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Embodiment

[0043] A multi-robot collaborative welding optimal path planning method for auto parts, the method can analyze the welding point information for different welding decorations, and calculate the corresponding welding path. The method specifically includes the following steps:

[0044] S1. The preprocessing step of solder joint information: first, use the visual image processing system to perform image recognition and feature extraction on the required solder joints, and compare with the preset solder joint information to obtain the number and distribution of solder joints.

[0045] In a specific application, the step S1 specifically includes:

[0046] S11. Corresponding to the original decorative parts, the number and position information of each original decorative part is known, and the number and position information of the detected welding points are compared with the original set number and position of the welding points through image processing technology The information...

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Abstract

The invention discloses an automobile part welding optimal path planning method of multi-robot coordination. The method comprises a welding spot information preprocessing step, a welding spot path planning step of a hybrid genetic-particle swarm optimization algorithm based on coevolution and a motion path step in which welding spot path planning information is converted into a welding robot. In the method, a genetic algorithm and a particle swarm optimization algorithm are combined; based on a mutation characteristic of the genetic algorithm, a diversity of a particle swarm during a particle swarm algorithm iteration process and a global search capability can be increased; and a welding path optimal planning problem during an automobile part generation process can be solved.

Description

technical field [0001] The invention relates to the technical field of welding path planning, in particular to a multi-robot collaborative optimal path planning method for auto parts welding. Background technique [0002] my country is a big country in the production and sales of automobiles. Auto parts are the industry with the most breakthrough ability in the auto industry. Research on the production equipment of the auto parts industry has broad application prospects. [0003] The welding robot is the key execution structure of the auto parts welding production line. After obtaining information such as the type of welded parts, the layout of the welding points, and the size of the welding points, the robot selects the appropriate ultrasonic welding head to complete the welding work. Reasonable trajectory planning of welding robots and precise positioning technology of robots are the key technical problems in realizing ultrasonic welding of high-precision auto parts. Ther...

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Application Information

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IPC IPC(8): G05D1/02
Inventor 陈立定谢鹏程
Owner SOUTH CHINA UNIV OF TECH
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