Automobile part cutting robot operation path planning method

Abstract

The invention relates to the technical field of path planning, in particular to an automobile part cutting robot operation path planning method, which comprises the following steps: determining segmentation point pairs between adjacent contours; in response to the fact that the direction mutation factor between the segmentation point pairs is larger than or equal to an abnormal threshold value, the deceleration duration between the segmentation point pairs is calculated; obtaining the total path length between the segmentation point pairs according to the product of the direction transformation angle between the segmentation point pairs and the actual turning radius; based on the total path length and the deceleration duration between the segmentation point pairs, obtaining the constant speed duration between the segmentation point pairs, and calculating a time cost factor; continuously acquiring time cost factors of segmentation point pairs between other adjacent contours; in the multiple cutting routes of the automobile part contour generated by the heuristic algorithm, the working path of the cutting robot is optimized, and the efficiency of planning the working path by the automobile part cutting robot is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of path planning. More particularly, the present application relates to a method for planning a work path of a cutting robot for automobile parts. BACKGROUND

[0002] The dimensional accuracy requirement of automobile parts is extremely high. The cutting robot can accurately cut according to the profile of the CAD model through pre-set programs and high-precision sensors, and the error can be controlled within microns. In the process of cutting automobile parts, the optimal cutting work path of the laser cutting robot can be planned to complete high-precision and high-efficiency cutting work, thereby ensuring the cutting quality and processing efficiency.

[0003] Currently, when cutting automobile parts, the geometric profile to be cut is first identified from the CAD model and projected onto a 2D plane to extract the closed profile to be cut. Then, according to the laser spot diameter and process parameters, the extracted profile is accurately offset to generate the actual cutting trajectory center line. The cutting sequence is optimized to minimize the idle movement time, and a reasonable cutting-in and cutting-out path is planned to reduce the heat effect and burr. Finally, the path is smoothed and optimized through the traveling salesman problem algorithm to realize the path planning of the robot.

[0004] However, when the conventional traveling salesman problem algorithm optimizes the contour cutting sequence, it may generate some jump paths with the shortest idle distance but not the best. When the robot runs in this area according to the planned route, it may have a sharp acceleration and deceleration, thereby causing vibration, affecting the positioning accuracy and precision of each contour cutting point, and ultimately resulting in a low-quality automobile part product.

[0005] Therefore, how to accurately plan the work path of the cutting robot for automobile parts is a problem to be solved at present. SUMMARY

[0006] To solve the above technical problem of how to accurately plan the work path of the cutting robot for automobile parts, the present application provides a method for planning a work path of a cutting robot for automobile parts, which comprises the following steps: The candidate segmentation points in each profile of the automobile part are acquired, and any two candidate segmentation points between adjacent profiles form a candidate segmentation point pair; the actual turning radius between the candidate segmentation point pairs, the minimum allowable turning radius and the direction transformation angle are acquired, and the ratio of the minimum allowable turning radius to the actual turning radius between the candidate segmentation point pairs is recorded as the direction mutation factor between the candidate segmentation point pairs, so as to determine the segmentation point pair between the adjacent profiles; in response to the direction mutation factor between the segmentation point pair being greater than or equal to an abnormal threshold, the preset safety speed and the actual running speed of the cutting robot are acquired, and the deceleration time length between the segmentation point pair is calculated; the total path length between the segmentation point pair is obtained according to the product of the direction transformation angle and the actual turning radius between the segmentation point pair; the uniform speed time length between the segmentation point pair is obtained based on the total path length and the deceleration time length between the segmentation point pair; the sum of the deceleration time length and the uniform speed time length between the segmentation point pair is taken as the time cost factor; the time cost factors of the segmentation point pairs between other adjacent profiles are continuously acquired; and the cutting robot operation path is determined according to the time cost factors of the segmentation point pairs between the adjacent profiles in the multiple cutting routes of the automobile part profiles generated by the heuristic algorithm.

[0007] The cutting robot work efficiency can be effectively improved by planning the cutting idle path route for the cutting robot. In the process of planning the path, the optimal starting point is selected by generating multiple candidate segmentation points and calculating the direction mutation factor, the robot operation process is reduced due to the stagnation or failure caused by the direction mutation, and the work efficiency of the cutting robot is improved. On this basis, the possibility of the direction mutation is analyzed by the direction mutation factor, the deceleration strategy is triggered in time when the direction mutation is severe, and the time cost factor is calculated, so that the sequence and starting point combination of the entire cutting path can be optimized based on the time cost factor when the idle path of the robot is planned, the idle movement time is reduced, and the automobile part cutting robot operation path planning efficiency is effectively improved.

[0008] According to the automobile part cutting robot operation path planning method provided by the application, the candidate segmentation points in each profile of the automobile part are acquired, including: dividing each profile of the automobile part into a preset number of candidate segmentation points, and the distance between the candidate segmentation points on the same profile is equal.

[0009] According to the automobile part cutting robot operation path planning method provided by the application, the direction transformation angle between the candidate segmentation point pairs is acquired, including: the tangent direction vector angle of the candidate segmentation point pair is taken as the direction transformation angle between the candidate segmentation point pair, and the tangent direction of the candidate segmentation points in the candidate segmentation point pair is counterclockwise.

[0010] The present invention takes into account that the turning radius of the cutting robot is directly related to the turning angle. Therefore, the actual turning radius of the cutting robot on the candidate segmentation point pair is calculated by obtaining the direction change angle between the candidate segmentation point pairs, so that its direction mutation factor can be accurately calculated based on this.

[0011] According to a method for planning an operation path of an automobile parts cutting robot provided by the present invention, a method for obtaining an actual turning radius between candidate segmentation point pairs includes: obtaining the Euclidean distance between the candidate segmentation point pairs, and calculating the actual turning radius between the candidate segmentation point pairs: ; 、 、 Respectively The outline and its The actual turning radius, Euclidean distance, and direction change angle between the i-th set of candidate segmentation point pairs of adjacent contours, is a sine function.

[0012] According to a method for planning an operation path of an automobile parts cutting robot provided by the present invention, a method for obtaining the minimum allowable turning radius between candidate segmentation point pairs includes: ; 、 Respectively The outline and its The minimum allowable turning radius between the i-th group of candidate segmentation point pairs of adjacent contours, the actual running speed of the cutting robot, is the maximum centripetal acceleration of the cutting robot.

[0013] The present invention takes into account that the maximum centripetal acceleration is a comprehensive limit indicator of the robot's mechanical performance and control ability. In order to ensure that the robot's centripetal acceleration does not exceed its performance limit, it is necessary to ensure that it meets the minimum turning radius. Therefore, when calculating the minimum allowable turning radius between candidate segmentation point pairs, the robot's maximum centripetal acceleration is used as a reference to calculate its minimum allowable turning radius, so that the degree of its directional mutation can be accurately evaluated based on the difference between the actual turning radius and the minimum allowable turning radius.

[0014] According to a method for planning an operation path of an automobile parts cutting robot provided by the present invention, determining the segmentation point pairs between adjacent contours includes: using the candidate segmentation point pairs corresponding to the minimum value of the directional mutation factor between the candidate segmentation point pairs of adjacent contours as the segmentation point pairs between the adjacent contours.

[0015] The present invention takes into account that the directional mutation factor between candidate segmentation point pairs is obtained by the ratio of the minimum allowable turning radius to the actual turning radius. Therefore, the candidate segmentation point pair corresponding to the minimum directional mutation factor among all candidate segmentation point pairs is the combination whose actual turning radius best meets the minimum allowable turning radius requirement. Using this combination as the segmentation point pair between adjacent contours can avoid the robot from suddenly turning and stagnating as much as possible.

[0016] According to a method for planning an operation path of an automobile parts cutting robot provided by the present invention, in response to a directional mutation factor between a segmentation point pair being less than an abnormality threshold, the ratio of the Euclidean distance between the segmentation point pair and the actual operating speed of the cutting robot is recorded as the time cost factor of the segmentation point pair.

[0017] The present invention takes into account that if the directional mutation factor between the segmentation point pairs is less than the abnormal threshold, it means that the actual turning radius fully meets the requirement of the minimum allowable turning radius. Therefore, the robot can run safely and smoothly on this route without slowing down. At this time, the corresponding time cost factor is the ratio of the Euclidean distance between the segmentation point pairs to the actual running speed of the cutting robot.

[0018] According to a method for planning an operation path of an automobile parts cutting robot provided by the present invention, the calculating of the deceleration time between the segmentation point pairs includes: ; 、 Respectively The outline and its The deceleration time between the segmentation points of adjacent contours, the actual running speed of the cutting robot, For the safe speed of the cutting robot, is the maximum centripetal acceleration of the cutting robot.

[0019] According to a method for planning an operation path of an automobile parts cutting robot provided by the present invention, the method obtains the uniform speed duration between the segmentation point pairs based on the total path length and deceleration duration between the segmentation point pairs, including: ; 、 、 Respectively The outline and its The deceleration path length between the segmentation point pairs of adjacent contours, the actual running speed of the cutting robot, and the deceleration time. For the safe speed of the cutting robot, The maximum centripetal acceleration of the cutting robot is obtained, the total length of the path between the segmentation point pairs is subtracted by the length of the deceleration path to obtain the length of the uniform speed path, and the length of the uniform speed path is divided by the safety speed to obtain the length of the uniform speed path.

[0020] According to the automobile part cutting robot operation path planning method provided by the application, the time cost factor of the adjacent contour between the segmentation point pairs is determined to determine the cutting robot operation path, including: taking the time cost factor and the value of each cutting route as the total time cost of the cutting route; and taking the cutting route corresponding to the minimum total time cost as the cutting robot operation path.

[0021] The application has the following beneficial effects: Based on the above technical solution, the automobile part cutting robot operation path planning method provided by the application can effectively improve the working efficiency of the cutting robot by planning the cutting idle path for the cutting robot. In the process of planning the path, the application selects the optimal starting point by generating a plurality of candidate segmentation points and calculating the direction mutation factor thereof, reduces the stagnation or failure of the robot in the operation process caused by the direction mutation, and improves the working efficiency of the cutting robot. On this basis, the application analyzes the possibility of the direction mutation by the direction mutation factor, timely triggers the deceleration strategy when the direction mutation is severe, and calculates the time cost factor, so that the sequence and starting point combination of the entire cutting path can be optimized based on the time cost factor when planning the idle path of the robot, the idle movement time is reduced, and the automobile part cutting robot operation path planning efficiency is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a step flow chart of the automobile part cutting robot operation path planning method according to an embodiment of the application. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are part of the embodiments of the application, rather than all the embodiments of the application.

[0024] Please refer to Figure 1 , Figure 1is a step flow chart of a method for planning a work path of a cutting robot for automobile parts according to an embodiment of the present application. The method obtains a direction mutation factor of all candidate segmentation point pairs between adjacent contours, takes the candidate segmentation point pair corresponding to the minimum value of the direction mutation factor as the segmentation incision point of the group of adjacent contours, can effectively avoid sharp turns in the idle process of the cutting robot, and ensures the continuity and safety of contour processing. In the case of a large minimum value of the direction mutation factor, the actual running speed of the cutting robot is reduced, further avoiding product cutting quality problems caused by excessive speed of the cutting robot at sharp turns, effectively improving the efficiency of the work path planning of the cutting robot for automobile parts, and the method specifically includes the following steps: S1: obtaining candidate segmentation points in each contour of the automobile part, and constructing a candidate segmentation point pair from any two candidate segmentation points between adjacent contours.

[0025] It should be noted that before the cutting robot cuts the contour, the segmentation point between the contour to be cut by the cutting robot and the next adjacent contour thereof needs to be obtained, so as to plan the idle running route of the cutting robot between adjacent contours in advance. Therefore, the embodiment of the present application can obtain the segmentation point pairs between all adjacent contours, determine the running time cost between the segmentation point pairs between all adjacent contours, and take the segmentation route corresponding to the minimum running time cost as the final work path of the cutting robot.

[0026] It should be further noted that, in order to avoid the situation that the curve path between the selected segmentation point pairs between adjacent contours appears a sharp turn, causing the cutting robot to stop during running, when selecting the segmentation point pairs between adjacent contours, all candidate segmentation points on each contour need to be obtained first, the candidate segmentation points on adjacent contours are arranged and combined into candidate segmentation point pairs, the situation that the running path between all candidate segmentation point pairs appears a sharp turn is analyzed, the optimal starting point is selected, and the direction mutation is reduced, so that the segmentation point pairs between adjacent contours are accurately obtained.

[0027] Therefore, the embodiment of the present application can obtain the contour closest to the starting position of the cutting robot as a starting contour, and determine the segmentation point pairs between the starting contour and the next adjacent contour closest thereto. It can be understood that, in order to improve the work efficiency, the work route of the cutting robot is usually set to be one-way and not returned, therefore, after the first contour and the next adjacent contour closest thereto are obtained, the running direction of the cutting robot can also be determined, that is, the direction from the first contour to the next adjacent contour closest thereto.

[0028] For example, in the embodiment of the present application, obtaining the candidate segmentation points in each contour of the automobile part includes: dividing each contour of the automobile part into a preset number of candidate segmentation points, and the distance between the candidate segmentation points on the same contour is equal.

[0029] The preset number of candidate segmentation points can be set to 20 points, and can be set according to actual needs.

[0030] Specifically, when determining the candidate segmentation points on each contour, the contour edge can be extracted first, and the contour edge is divided into a preset number of candidate segmentation points, which are points that can be cut by the cutting robot. When constructing the candidate segmentation point pair, one candidate segmentation point is obtained from each contour to form a candidate segmentation point pair, and through permutation and combination, all candidate segmentation point groups between adjacent contours are finally obtained.

[0031] It can be understood that, by obtaining the degree of change in the direction of the cutting robot laser head when the cutting robot moves from one segmentation point to another segmentation point in the candidate segmentation point group, the best segmentation point pair can be selected, so that the idle path of the cutting robot can be converted from a straight line to a circular arc transition, thereby being smoother and reducing mechanical vibration. In automobile parts, the size of the adjacent contours can be quite different, so when obtaining the degree of change in the direction between the candidate segmentation point pairs, the actual turning radius between the candidate segmentation point pairs can be obtained first, and the minimum allowable turning radius is compared based on the minimum allowable turning radius of the cutting robot. The direction mutation factor between each candidate segmentation point pair can be accurately obtained, so that the best segmentation point pair can be accurately determined from all candidate segmentation point pairs, that is, the following step is executed.

[0032] S2: Obtain the actual turning radius, the minimum allowable turning radius and the direction transformation angle between the candidate segmentation point pairs, and record the ratio of the minimum allowable turning radius to the actual turning radius between the candidate segmentation point pairs as the direction mutation factor between the candidate segmentation point pairs, to determine the segmentation point pair between the adjacent contours.

[0033] The actual turning radius represents the radius of the circular path from one candidate segmentation point to another candidate segmentation point in the candidate segmentation point pair. The larger the value, the smoother the path and the smaller the turning amplitude. The minimum allowable turning radius is calculated according to the device parameters of the cutting robot, and represents the minimum acceptable turning radius of the cutting robot.

[0034] For example, in the embodiment of the present application, the direction transformation angle between the candidate segmentation point pairs is obtained in the following manner: the tangent direction vector angle of the candidate segmentation point pair is taken as the direction transformation angle between the candidate segmentation point pair, wherein the tangent direction of the candidate segmentation point in the candidate segmentation point pair is counterclockwise.

[0035] The specific steps of obtaining the direction transformation angle through the tangent direction vector angle of the candidate segmentation point pair can be obtained through the vector angle formula, which is not described herein.

[0036] For example, in an embodiment of the present invention, a method for obtaining an actual turning radius between candidate segmentation point pairs includes: obtaining a Euclidean distance between candidate segmentation point pairs, and calculating the actual turning radius between candidate segmentation point pairs: ; For the The outline and its The actual turning radius between the i-th set of candidate segmentation point pairs of adjacent contours, For the The outline and its The Euclidean distance between the i-th set of candidate segmentation point pairs of adjacent contours, For the The outline and its The direction transformation angle between the i-th set of candidate segmentation point pairs of adjacent contours is: is a sine function.

[0037] In this calculation method, when Larger and When it is smaller, it indicates The outline and its The distance between the i-th group of candidate segmentation point pairs of adjacent contours is far and the direction change is small. At this time, the robot can turn smoothly with a larger radius, so the corresponding actual turning radius is larger; otherwise, it means that the robot needs to make a sharp turn, so the corresponding actual turning radius is smaller.

[0038] It's understood that the minimum allowable turning radius of a cutting robot is determined by the robot's own device parameters, which can be found in the device's specifications. This minimum allowable turning radius can be calculated using the device's maximum centripetal acceleration and its actual operating speed. Maximum centripetal acceleration is a comprehensive indicator of the robot's mechanical performance and controllability. When the robot's actual operating speed is fixed, to ensure the robot's centripetal acceleration does not exceed its performance limit, it must meet the minimum turning radius. Otherwise, the robot's performance may be exceeded, causing mechanical failure.

[0039] For example, in an embodiment of the present invention, a method for obtaining the minimum allowable turning radius between candidate segmentation point pairs includes: ; For the The outline and its The minimum allowed turning radius between the i-th set of candidate segmentation point pairs of adjacent contours, For the The outline and its an actual running speed of the cutting robot between the i-th pair of candidate split points of the adjacent contour, a maximum centripetal acceleration of the cutting robot.

[0040] According to the above steps, the minimum allowable turning radius and the actual turning radius between all pairs of candidate split points between adjacent contours can be obtained, and the degree of direction mutation between the pairs of candidate split points can be accurately obtained by the ratio of the two. If the ratio is greater than or equal to 1, it means that the minimum allowable turning radius is greater than or equal to the actual turning radius, the actual turning radius is too small to meet the minimum allowable turning radius, and a fault may occur. Conversely, if the ratio is less than 1, it means that the minimum allowable turning radius is less than the actual turning radius, and the actual turning radius can meet the minimum allowable turning radius, and the robot can run normally.

[0041] Therefore, the embodiment of the present application can obtain the pair of candidate split points with the minimum direction mutation factor between the pairs of candidate split points on the adjacent contours as the pair of candidate split points with the minimum mutation degree on the group of adjacent contours, to evaluate the route turning mutation degree between the group of adjacent contours.

[0042] For example, in the embodiment of the present application, determining the pair of split points between the adjacent contours comprises: taking the pair of candidate split points corresponding to the minimum direction mutation factor between the pairs of candidate split points of the adjacent contours as the pair of split points between the adjacent contours.

[0043] It can be understood that if the direction mutation factor of the pair of split points between the adjacent contours is less than the abnormal threshold, it means that the robot can run stably. Conversely, even the best candidate split point on the group of adjacent contours cannot meet the mechanical requirements of the robot, resulting in problems such as mechanical overload, control misalignment, etc. For such pairs of split points that may cause mechanical failure, the idle path of the robot needs to be slowed down to reduce the possibility of mechanical failure, that is, the following steps are continued to be executed.

[0044] S3: In response to the direction mutation factor between the pair of split points being greater than or equal to the abnormal threshold, calculating the deceleration duration and the uniform speed duration between the pair of split points, and taking the sum of the deceleration duration and the uniform speed duration between the pair of split points as the time cost factor of the pair of split points.

[0045] It should be noted that according to the above steps, the pair of segmentation points with the direction mutation factor greater than or equal to the abnormal threshold value can be obtained, and if the laser head moves from a cutting point of one contour to a cutting point of another contour, the actual turning radius is insufficient, which can cause mechanical vibration or unstable path. In order to avoid mechanical failure, when planning the cutting idle path of the robot, it is necessary to decelerate in this path to reduce the actual running speed of the cutting robot to the safe speed of the equipment to smoothly transition the direction change, and to ensure the operation efficiency of the cutting robot as much as possible while ensuring the safe operation of the cutting robot.

[0046] Wherein, the abnormal threshold value can be set to 0.7, which can be set according to actual needs. It can be understood that although the above steps can obtain the direction mutation factor of the pair of segmentation points through the ratio of the minimum allowed turning radius to the actual turning radius between the pair of segmentation points, when determining whether it needs to be decelerated, a certain safety range needs to be reserved, so when setting the abnormal threshold value, the abnormal threshold value can be made as small as possible. Less than 1.

[0047] For example, the safe speed of the cutting robot is the upper limit of the speed of the laser cutting machine that can maintain stable motion during turning and does not exceed the maximum centripetal acceleration, which is a preset value and can be obtained through the equipment specification parameter, and the present embodiment does not make too many limitations.

[0048] For example, in the present embodiment, the total length of the path between the pair of segmentation points can be obtained according to the product of the direction transformation angle between the pair of segmentation points and the actual turning radius. By obtaining the preset safe speed and the actual running speed of the cutting robot, the deceleration duration between the pair of segmentation points is calculated; based on the total length of the path between the pair of segmentation points, the deceleration duration, the uniform speed duration between the pair of segmentation points is obtained.

[0049] For example, in the present embodiment, the deceleration duration between the pair of segmentation points is calculated, including: ; For the deceleration duration between the pair of segmentation points of the first contour and the first adjacent contour thereof, For the deceleration duration between the pair of segmentation points of the first contour and the first adjacent contour thereof, For the actual running speed of the cutting robot between the pair of segmentation points of the first contour and the first adjacent contour thereof, For the actual running speed of the cutting robot between the pair of segmentation points of the first contour and the first adjacent contour thereof, For the safe speed of the cutting robot, For the safe speed of the cutting robot, For the safe speed of the cutting robot, For the safe speed of the cutting robot,

[0050] In this calculation method, the maximum centripetal acceleration of the cutting robot is used as the upper limit of acceleration during the deceleration process to avoid mechanical shock caused by sudden deceleration. Therefore, the deceleration time is the time required to complete the transition from the actual operating speed to the safe speed without exceeding the maximum acceleration of the robot.

[0051] For example, in an embodiment of the present invention, obtaining the deceleration path length between the segmentation point pairs includes: ; For the The outline and its The length of the deceleration path between the segmentation point pairs of adjacent contours, For the The outline and its The actual running speed of the cutting robot between the segmentation points of adjacent contours, For the The outline and its The deceleration time between the segmentation points of adjacent contours, is the maximum centripetal acceleration of the cutting robot, is the integral variable, representing time, Indicates time Perform integration.

[0052] The lower limit is 0 and the upper limit is , That is, the time it takes for the actual operating speed of the robot to reach the safe speed during the deceleration process.

[0053] For example, the total path length between the segmentation point pair is subtracted from the deceleration path length to obtain the uniform path length; the uniform duration between the segmentation point pair can be obtained by the ratio of the uniform path length to the safe speed.

[0054] Therefore, the time cost factor of the segmentation point pair finally obtained is the sum of the deceleration time and the uniform speed time between the segmentation point pair.

[0055] It can be understood that when the directional mutation factor between the segmentation point pairs is less than the abnormal threshold, it means that the robot can operate normally. At this time, its time cost factor can be obtained by the distance between the segmentation point pairs and the running speed of the robot.

[0056] For example, in an embodiment of the present invention, in response to the directional mutation factor between the segmentation point pair being less than the abnormal threshold, the ratio of the Euclidean distance between the segmentation point pair and the actual operating speed of the cutting robot is recorded as the time cost factor of the segmentation point pair.

[0057] It can be understood that the segmentation point of each contour is the starting point and the ending point, so when the segmentation point pair of the next set of adjacent contours is determined, if the segmentation point of one of the next set of adjacent contours has been determined in the calculation of the segmentation point set of the current adjacent contour, the contour shared by the current adjacent contour and the next set of adjacent contours is recorded as a target contour, and when the segmentation point pair of the next set of adjacent contours is obtained, the segmentation point of the target contour in the current adjacent contour is taken as the candidate segmentation point of the target contour in the next set of adjacent contours, which is the only candidate segmentation point, and finally all candidate segmentation point pairs in the next set of adjacent contours are obtained.

[0058] For example, if the first set of adjacent contours is the first contour and the second contour, and the segmentation point set is the third candidate segmentation point in the first contour and the third candidate segmentation point in the second contour. The second set of adjacent contours is the second contour and the third contour, and the segmentation point of the second contour in the first set of adjacent contours is the third candidate segmentation point, so in the candidate segmentation point pair of the second set of adjacent contours, only the third candidate segmentation point of the second contour is used to form a candidate segmentation point pair with each candidate segmentation point in the third contour.

[0059] After obtaining the candidate segmentation point set of the new adjacent contour, the above steps are repeated to obtain the segmentation point pair in the new adjacent contour and calculate the time cost factor thereof, and finally the time cost factors of the segmentation point pairs of all adjacent contours are obtained. By optimizing the path selection mode of the robot through the time cost factors of the segmentation point pairs of the adjacent contours, the efficiency of the cutting robot operation can be effectively improved.

[0060] S4: obtaining the time cost factors of the segmentation point pairs between other adjacent contours; in the plurality of cutting routes of the automobile part contour generated by the heuristic algorithm, the cutting robot operation path is determined according to the time cost factors of the segmentation point pairs between the adjacent contours.

[0061] Specifically, the heuristic algorithm randomly generates a plurality of cutting routes as initial routes under the parameter limitation and process requirement of the cutting robot, and the selection probability of the cutting route is weighted by the time cost factors of the segmentation point pairs between the adjacent contours, that is, the lower the time cost factor, the higher the path selection probability.

[0062] The step of generating the plurality of cutting routes of the automobile part contour according to the heuristic algorithm can be realized by the prior art, and the embodiment of the present application will not be repeated here.

[0063] For example, in the embodiment of the present application, the cutting robot operation path is determined according to the time cost factors of the segmentation point pairs between the adjacent contours, which includes: taking the time cost factor and the value of each cutting route as the total time cost of the cutting route; and taking the cutting route corresponding to the minimum total time cost as the cutting robot operation path.

[0064] It can be seen that in the embodiment of the present application, when the work path of the automobile part cutting robot is planned, candidate segmentation points in each contour of the automobile part can be obtained, any two candidate segmentation points between adjacent contours form a candidate segmentation point pair; the actual turning radius, the minimum allowable turning radius and the direction transformation angle between the candidate segmentation point pairs are obtained, the ratio of the minimum allowable turning radius to the actual turning radius between the candidate segmentation point pairs is recorded as the direction mutation factor between the candidate segmentation point pairs, to determine the segmentation point pair between adjacent contours; in response to the direction mutation factor between the segmentation point pair being greater than or equal to an abnormal threshold, the preset safety speed and the actual running speed of the cutting robot are obtained, the deceleration time length between the segmentation point pair is calculated; the total path length between the segmentation point pair is obtained according to the product of the direction transformation angle and the actual turning radius between the segmentation point pair; based on the total path length and the deceleration time length between the segmentation point pair, the uniform speed time length between the segmentation point pair is obtained; the sum of the deceleration time length and the uniform speed time length between the segmentation point pair is taken as the time cost factor; the time cost factors of the segmentation point pairs between other adjacent contours are continuously obtained; in the multiple cutting routes of the automobile part contour generated by the heuristic algorithm, the work path of the cutting robot is determined according to the time cost factors of the segmentation point pairs between adjacent contours, effectively improving the efficiency of the work path planning of the automobile part cutting robot.

[0065] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for planning an operation path of an automobile parts cutting robot, characterized in that: include: Obtain candidate segmentation points in each contour of the automobile part, and form a candidate segmentation point pair from any two candidate segmentation points between adjacent contours; Obtain the actual turning radius, minimum allowable turning radius, and direction change angle between candidate segmentation point pairs, and record the ratio of the minimum allowable turning radius to the actual turning radius between candidate segmentation point pairs as the direction mutation factor between the candidate segmentation point pairs to determine the segmentation point pairs between adjacent contours; In response to a directional mutation factor between a pair of segmentation points being greater than or equal to an abnormal threshold, a preset safety speed and an actual operating speed of the cutting robot are obtained, and a deceleration duration between the pair of segmentation points is calculated; a total path length between the pair of segmentation points is obtained based on the product of a directional change angle between the pair of segmentation points and an actual turning radius; and a uniform speed duration between the pair of segmentation points is obtained based on the total path length and the deceleration duration between the pair of segmentation points. The sum of the deceleration time and the uniform speed time between the split point pair is used as the time cost factor; Continue to obtain the time cost factors of the segmentation point pairs between other adjacent contours; in the multiple cutting routes of the automobile part contour generated by the heuristic algorithm, determine the cutting robot operation path according to the time cost factors of the segmentation point pairs between adjacent contours.

2. The method for planning an operation path of an automobile parts cutting robot according to claim 1, characterized in that: Obtain candidate segmentation points in each contour of the automobile part, including: Each contour of the automobile part is divided into a preset number of candidate segmentation points, and the distances between the candidate segmentation points on the same contour are equal.

3. The method for planning an operation path of an automobile parts cutting robot according to claim 1, wherein: Methods for obtaining the directional transformation angle between candidate segmentation point pairs include: The angle between the tangent direction vectors of the candidate segmentation point pair is used as the direction transformation angle between the candidate segmentation point pair, wherein the tangent directions of the candidate segmentation points in the candidate segmentation point pair are all counterclockwise positive directions.

4. The method for planning an operation path of an automobile parts cutting robot according to claim 3, wherein: The actual turning radius between candidate segmentation point pairs is obtained by: Get the Euclidean distance between candidate segmentation point pairs and calculate the actual turning radius between candidate segmentation point pairs: ； 、 、 Respectively The outline and its The actual turning radius, Euclidean distance, and direction change angle between the i-th set of candidate segmentation point pairs of adjacent contours, is a sine function.

5. The method for planning an operation path of an automobile parts cutting robot according to claim 1, characterized in that: The method for obtaining the minimum allowable turning radius between candidate segmentation point pairs includes: ； 、 Respectively The outline and its The minimum allowable turning radius between the i-th group of candidate segmentation point pairs of adjacent contours, the actual running speed of the cutting robot, is the maximum centripetal acceleration of the cutting robot.

6. The method for planning an operation path of an automobile parts cutting robot according to claim 1, characterized in that: Determining the segmentation point pairs between adjacent contours includes: The candidate segmentation point pair corresponding to the minimum value of the directional mutation factor between the candidate segmentation point pairs of adjacent contours is used as the segmentation point pair between the adjacent contours.

7. The method for planning an operation path of an automobile parts cutting robot according to claim 1, characterized in that: In response to the directional mutation factor between the segmentation point pairs being less than the abnormal threshold, the ratio of the Euclidean distance between the segmentation point pairs to the actual running speed of the cutting robot is recorded as the time cost factor of the segmentation point pairs.

8. The method for planning an operation path of an automobile parts cutting robot according to claim 1, characterized in that: Calculating the deceleration duration between the segmentation point pairs includes: ； 、 Respectively The outline and its The deceleration time between the segmentation points of adjacent contours and the actual running speed of the cutting robot, For the safe speed of the cutting robot, is the maximum centripetal acceleration of the cutting robot.

9. The method for planning an operation path of an automobile parts cutting robot according to claim 1, wherein: The method of obtaining the uniform speed duration between the segmentation point pairs based on the total path length and the deceleration duration between the segmentation point pairs includes: ； 、 、 Respectively The outline and its The deceleration path length between the segmentation point pairs of adjacent contours, the actual running speed of the cutting robot, and the deceleration time. For the safe speed of the cutting robot, is the maximum centripetal acceleration of the cutting robot; The total length of the path between the segmentation point pairs is subtracted from the deceleration path length to obtain the uniform path length; the uniform duration between the segmentation point pairs is obtained by the ratio of the uniform path length to the safe speed.

10. The method for planning an operation path of an automobile parts cutting robot according to claim 7, characterized in that: The step of determining the cutting robot operation path according to the time cost factor of the segmentation point pairs between adjacent contours includes: The time cost factor and value of each cutting route are taken as the total time cost of the cutting route; the cutting route corresponding to the minimum total time cost is taken as the operation path of the cutting robot.

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