Truss assembly sequence planning method based on parallel tree search

Abstract

The invention proposes a truss assembly sequence planning method based on parallel tree search, and the method comprises the following steps: S1, generating an undirected graph according to a target truss structure, endowing each rod piece with a corresponding weight, and storing the weights in a main mode of parallel tree search; S2, establishing a plurality of sub-modes and corresponding root nodes according to the truss structure, expanding a multi-way tree by each sub-mode, and generating leaf nodes layer by layer; S3, judging whether the optimal solution of each sub-mode conflicts or not, and performing a selection decision by a judgment mechanism in the main mode; S4, enabling each sub-mode to return the obtained optimal leaf node information to the main mode, and enabling the main mode to set the serial numbers corresponding to the connected rod pieces to be in an unreadable state; S5, when the sub-modes are gradually expanded to a non-extensible rod piece list, judging whether the target truss structure is completely expanded or not by the main mode, and thus judging whether a search program is ended or not. According to the method, the truss parallel assembly sequence meeting the stability requirement can be quickly and effectively obtained.

Description

technical field [0001] The invention relates to the technical field of multi-robot collaborative assembly, in particular to a truss assembly sequence planning method based on parallel tree search. Background technique [0002] At present, industrial robots have gradually replaced humans to complete boring and dangerous tasks in the production process. However, with the sharp increase in the demand for human manufacturing applications, a single robot has a single operation function and low efficiency, which gradually cannot meet the needs of production operations. Therefore, the development of the theory and application of multi-robot collaboration has become inevitable. At the same time, with the advent of the 5G era of low-latency, high-speed, and massive data, communication efficiency and barriers have been further broken down, accelerating the continuous improvement of multi-robot applications in terms of interoperability, autonomy, and human-machine collaboration. For t...

AI Technical Summary

Problems solved by technology

However, with the sharp increase in the demand for human manufacturing applications, a single robot has a single operation function and low efficiency, which gradually cannot meet the needs of production operations. Therefore, the development of the theory and application of multi-robot collaboration has become inevitable.

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