Automatic welding path planning method for antenna array surface
An antenna array and path planning technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problem that the real-time performance and accuracy cannot be met at the same time, the welding path cannot be planned in real time, and the program runs for a long time. And other issues
Active Publication Date: 2019-06-21
BEIJING INST OF RADIO MEASUREMENT
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Problems solved by technology
Its disadvantage is that the amount of calculation is large when planning large-scale problems, the program runs for a long time, and the welding path cannot be planned in real time
[0008] However, none of the above methods in practical applications can meet the requirements of real-time and accuracy at the same time. Therefore, in the automatic welding task of antenna arrays, a method that can quickly and accurately solve large-scale welding path planning problems is needed, namely , it is necessary to provide an automatic welding path planning method for the antenna array
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[0080] In order to illustrate the present invention more clearly, the present invention will be further described below in conjunction with preferred embodiments and accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. Those skilled in the art should understand that the content specifically described below is illustrative rather than restrictive, and should not limit the protection scope of the present invention.
[0081] Such as figure 1 As shown, the present invention discloses an automatic welding path planning method for an antenna array, which includes calculating the coordinates and welding angles of each pad based on the antenna array photo, where multiple solder pads are displayed in the antenna array photo; The array is divided into multiple sub-areas; welding paths are planned for each sub-area; and welding paths between the sub-areas in the antenna array are planned to obtain the welding paths of the antenna array.
[008...
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The invention discloses an automatic welding path planning method for an antenna array surface. The automatic welding path planning method comprises the steps that coordinates and the welding angle ofeach bonding pad are calculated based on antenna array surface photos; the antenna array surface is divided into a plurality of sub-regions; a welding path is planned for each sub-region; and weldingpaths among the sub-regions in the antenna array surface are planned, and thus the welding paths of the antenna array surface are obtained. The large-scale antenna array surface is decomposed into the small-scale sub-regions, the welding path of each sub-region is optimized in parallel, then the paths of the sub-regions are connected to obtain the welding path of the whole array surface, automatic welding path planning is achieved, and the problem of welding path planning of the large-scale array surface can be quickly solved. The automatic welding path planning method can be realized on a control computer of a welding robot, other hardware equipment does not need to be additionally arranged, the speed is high, universality is high, and the maintenance cost is low.
Description
technical field [0001] The invention relates to a path planning method. More specifically, it relates to an automatic welding path planning method for an antenna array. Background technique [0002] In the production process of the antenna array, there are thousands of irregularly arranged solder joints. Using manual welding is not only time-consuming and laborious, but also the welding quality is difficult to guarantee. Compared with manual welding, robot welding has high quality and good consistency, which can greatly reduce welding costs. In particular, recently, an automatic welding robot that uses computer vision technology to determine the position of the welding point has appeared. The robot can determine the position of the welding pad and the angle of welding by taking pictures of the welding pad to achieve unmanned welding. With the continuous development of robot technology, there are more and more business scenarios where robots are used for automatic welding i...
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Inventor 刘金祥
Owner BEIJING INST OF RADIO MEASUREMENT