Task assignment and path planning method for multi-layer som heterogeneous welding robot

Abstract

The invention discloses a task distribution and path planning method for a multi-layer SOM heterogeneous welding robot, which belongs to the field of robot control. The implementation method of the present invention is as follows: establish the first layer of SOM neural network model, train the first layer of SOM neural network model, complete the rough assignment of tasks of the heterogeneous welding robot system, and output the welding task points required by various types of heterogeneous welding robots , to improve the robustness and versatility of heterogeneous welding robot systems. Carry out the path planning of the heterogeneous welding robots in the parallel SOM network on the second layer, so that multiple heterogeneous robots can self-organize and reasonably complete each task of the system, and consider the welding sequence constraints and welding robot interference constraints at the same time to achieve the optimal path cost and output Task assignment and path planning results. According to the output task allocation and path planning results, each heterogeneous welding robot performs welding tasks according to the planning results, improving the efficiency of the heterogeneous welding robot system and meeting the needs of engineering applications.

Description

technical field [0001] The invention relates to a method for task distribution and path planning of a multi-layer SOM heterogeneous welding robot, which belongs to the field of robot control. Background technique [0002] Typical large-scale components such as box girders and trusses are the links with the largest workload in port machinery manufacturing. However, my country's port machinery enterprises still rely entirely on manual work in the key processes of welding, grinding and painting, which has low efficiency, unguaranteed quality, and Due to the harsh environment and other problems, foreign companies have great advantages in manufacturing cost and cycle due to the large amount of research and development and use of intelligent processing equipment such as robots. The heterogeneous welding robot system is one of the key technologies, and the current research on the welding robot system mainly focuses on the research of the single-task welding robot system. In fact, th...

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Problems solved by technology

[0002] Typical large-scale components such as box girders and trusses are the links with the largest workload in port machinery manufacturing. However, my country's port machinery enterprises still rely entirely on manual work in the key processes of welding, grinding and painting, which has low efficiency, unguaranteed quality, and Due to the harsh environment and other problems, foreign companies have great advantages in manufacturing cost and cycle due to the large amount of research and development and use of intelligent processing equipment such as robots.

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