Multi-machine cooperative oriented team palletizing method, medium and terminal

Abstract

This invention provides a method, medium, and terminal for multi-machine collaborative plate laying in small groups. The steps include: acquiring information about a welding platform and the base plate to be laid, and preprocessing the coordinates of the base plate to be laid to position it on the welding platform; obtaining a k-th grouping scheme based on the information of the welding platform and the base plate to be laid, wherein the k-th grouping scheme determines the base plates to be laid in each group and their placement attributes; calculating a comprehensive evaluation index value for the k-th grouping scheme, wherein the comprehensive evaluation index value characterizes the area utilization rate and weld uniformity of the k-th grouping scheme, and the weld uniformity characterizes the degree of balance in weld volume among multiple welding operation areas, with one welding operation area corresponding to one machine used for welding; and determining a target grouping scheme based at least on the comprehensive evaluation index value. This method can improve the utilization rate of the welding area and avoid layout conflicts or space waste.

Description

Technical Field

[0001] This invention relates to the field of shipboard group erection board, and in particular to a method, medium and terminal for group erection board erection board for multi-machine collaboration. Background Technology

[0002] In automated welding production scenarios for ship assembly, collaborative operation of multiple machines has become a core mode for overcoming efficiency bottlenecks. It significantly increases production throughput through parallel collaboration of multiple devices, representing a key direction for large-scale production in the industry. However, existing scheduling methods have significant shortcomings, making it difficult to fully leverage operational advantages: On the one hand, batch division relies excessively on manual experience, failing to scientifically plan based on core characteristics such as the planar area and structural form of the assembly, resulting in uneven area distribution across batches. This not only leads to low space utilization of the welding platform but also fails to match the load-bearing capacity of multiple robots, thus affecting the overall production rhythm. On the other hand, weld seam allocation lacks a systematic balancing mechanism, often employing simple sequential allocation methods. This results in significant differences in the amount of weld seams handled by each robot, easily leading to situations where some equipment operates under overload for extended periods while others remain idle, severely restricting production efficiency and equipment lifespan.

[0003] To improve the scheduling and assembly efficiency of ship assembly and production, targeted explorations have emerged in related technical fields. For example, Chinese Patent No. CN119828624A proposes a spatial scheduling method for ship assembly and production operations based on mathematical models and discrete grids. Its core logic is to establish a mathematical model for assembly spatial scheduling, locate feasible layout positions within the site through discrete grid search, and optimize the spatial layout using a multi-rule selection strategy. Ultimately, it achieves collaborative optimization of workers and site resources, balancing computational efficiency and layout quality while overcoming the problem of traditional layout planning easily getting trapped in local optima and causing space waste.

[0004] Another Chinese patent, CN118833364A, discloses a method and system for automatic assembly of ship sub-assemblies, which is based on a three-dimensional model and visual positioning. The method involves importing a three-dimensional model to extract key data of the parts, accurately determining the gripping position, assembly position, and welding edge; using a vision system to scan and position the base plate and the parts to be assembled, and mapping the visual information to the device coordinate system through coordinate system transformation; finally, the gripping device is controlled to complete the gripping and assembly of the parts, and the welding device is driven to perform welding operations, thereby automating the ship sub-assembly process and improving on-site assembly efficiency.

[0005] Although the aforementioned existing technologies have made some progress in spatial scheduling optimization or automated assembly, they still have significant limitations and require manual intervention for adjustment, thus making it difficult to meet the high-efficiency and precise scheduling requirements of welding production. Summary of the Invention

[0006] In view of the shortcomings of the above-mentioned related technologies, the purpose of this invention is to provide a method, medium and terminal for multi-machine collaborative group flooring.

[0007] To achieve the above and other related objectives, the present invention provides a method for multi-machine collaborative group flooring, comprising the following steps:

[0008] Obtain information about the welding platform and the base plate to be laid, and perform coordinate preprocessing on the base plate to be laid in order to position the base plate on the welding platform;

[0009] The k-th grouping scheme is obtained based on the information of the welding operation platform and the base plate to be laid, where k is an integer greater than or equal to 1. The k-th grouping scheme is used to determine the base plates to be laid in each group and the placement attribute information of each base plate to be laid.

[0010] Calculate the comprehensive evaluation index value of the k-th grouping scheme, wherein the comprehensive evaluation index value is used to characterize the area utilization rate and weld uniformity of the k-th grouping scheme, and the weld uniformity is used to characterize the degree of uniformity of weld volume among multiple welding operation areas, and one welding operation area corresponds to one machine used to perform welding.

[0011] The target grouping scheme should be determined at least based on the comprehensive evaluation index values.

[0012] Optionally, the step of acquiring information about the welding platform and the base plate to be laid, and performing coordinate preprocessing on the base plate to be laid, is as follows: acquiring the identification text, vertex coordinates, and weld line segment coordinate set of the base plate to be laid; and initializing the posture and position of the acquired base plate to be laid based on the vertex coordinates.

[0013] Optionally, the step of initializing the pose and position of the acquired base plate to be laid based on vertex coordinates is as follows: extracting reference points and longest side features to establish a local coordinate system based on the acquired vertex coordinate information of the base plate to be laid; calculating the homogeneous coordinate transformation matrix for the pose initialization of the base plate to be laid based on the local coordinate system; and calculating the initialized vertex coordinates of the base plate to be laid based on the calculated homogeneous transformation matrix for the pose initialization of the base plate to be laid.

[0014] Optionally, the step of obtaining the k-th group based on the information of the welding platform and the base plate to be laid is as follows: sum up the planar areas of each base plate to be laid that have been obtained to obtain the total planar area of ​​the base plates to be laid; calculate the area ratio of the base plates to be laid to the welding platform based on the calculated total planar area of ​​the base plates to be laid; determine the number of groups of the base plates to be laid based on the calculated area ratio; and determine the set of base plates to be laid for each group of base plates to be laid based on the determined number of groups of base plates to be laid using a greedy algorithm based on area balance.

[0015] Optionally, the step of determining the set of base plates to be laid for each base plate group based on the determined number of base plate groups to be laid using a greedy algorithm based on area balancing is as follows: calculate the planar area of ​​each base plate to be laid in the base plate group; sort the base plates to be laid in descending order according to the calculated planar area of ​​each base plate to be laid to form a sequence of base plates to be laid; and group the sorted base plates to be laid using a greedy algorithm.

[0016] Optionally, the step of grouping the sorted slabs to be laid using a greedy algorithm is as follows: create slab groups to be allocated using the calculated number of groups; sequentially place the slabs to be laid in the sequence into the group with the smallest total planar area in the created slab groups to be allocated; update the total planar area of ​​the placed slab groups; repeat the above steps until all slabs to be laid in the sequence are allocated into the slab groups to be allocated.

[0017] Optionally, calculating the comprehensive evaluation index value of the k-th grouping scheme includes: S4.1, obtaining the current vertex coordinates of all batches of base plates to be laid. and the coordinates of the center of rotation S4.2 Set the initial temperature, temperature reduction coefficient, initial comprehensive evaluation index, initial iteration count, and iteration termination count for simulated annealing; S4.3 Initialize the batch iteration count i and the batch iteration count j; S4.4 Select the i-th batch of base plates to be laid from all the divided batches; S4.5 Select the j-th base plate to be laid from the selected batches; S4.6 For the j-th base plate in the i-th batch, its information is as follows: , This indicates the angle of rotation around the center of rotation; S4.7, determine whether the j-th floorboard in the i-th batch of floorboards exceeds the platform boundary. If it exceeds the boundary, proceed to step S4.9; otherwise, proceed to step S4.8; S4.8, determine whether the j-th floorboard in the i-th batch of floorboards exceeds the platform boundary. Does it overlap with an already placed base plate to be laid? If it overlaps, proceed to step S4.9; otherwise, proceed to step S4.12. S4.9: Determine the orientation of the base plate to be laid. ,like Then rotate the base plate to be laid 180 degrees and make it Return to step S4.7, if Then let Execute step S4.10; S4.10, translate the base plate to be laid along the y-axis. Step size: Determine if the step size exceeds the platform boundary. If it does, proceed to step S4.11; otherwise, return to step S4.8. S4.11: Translate the base plate to be laid along the x-axis. Step size: Determine if the step size exceeds the platform boundary. If it does, proceed to step S4.16; otherwise, return to step S4.8. S4.12: Update parameter j, letting... If j is less than the number of base plates to be laid in this batch If the condition is met, return to step S4.5; otherwise, proceed to step S4.13. S4.13: Update parameter i, letting... If j is less than the number of base plates to be laid in this batch If the result is positive, return to step S4.4; otherwise, proceed to step S4.14. S4.14: Calculate the comprehensive evaluation index of the floor slab placement scheme. S4.15: Use simulated annealing to determine the floor slab placement scheme and proceed to step S4.14. S4.16: Update the iteration count. If the iteration count exceeds the termination iteration count, output the optimal floor slab placement scheme and the final fitness score. The algorithm ends and the target grouping scheme is obtained. Otherwise, proceed to step S4.17. S4.17: Design random perturbations to form a new floor slab placement scheme and return to step S4.3.

[0018] A storage medium storing a computer program that, when executed by a processor, implements the multi-machine collaborative group board laying method as described in any of the preceding claims.

[0019] A terminal includes a processor and a memory; the memory is used to store a computer program; the processor is connected to the memory and is used to execute the computer program stored in the memory, so that the terminal performs the multi-machine collaborative group tiling method as described above.

[0020] As described above, the multi-machine collaborative small-group plate laying method, medium, and terminal of the present invention have the following beneficial effects: the present invention can effectively replace manual experience-based decision-making, reduce batch redundancy, improve the utilization rate of the welding area, thereby shortening robot waiting time, improving overall welding efficiency, and ensuring that all base plates to be laid in each batch can be reasonably arranged in the welding operation platform, avoiding layout conflicts or space waste caused by arbitrary placement by humans. Attached Figure Description

[0021] Figure 1 The diagram shown is a schematic of a small-scale automatic welding platform in an embodiment of the present invention.

[0022] Figure 2 The diagram shows the distribution of the welding operation platform area in an embodiment of the present invention.

[0023] Figure 3 The flowchart shown is a small-group intelligent board laying method based on simulated annealing algorithm in an embodiment of the present invention.

[0024] Figure 4The graph shows the iterative curves of the simulated annealing algorithm.

[0025] Figure 5 The diagram shows the spatial layout of the base plate to be laid, the distribution of welds, and the distribution of weld lengths in each area before optimization in an embodiment of the present invention.

[0026] Figure 6 The diagram shows the optimized spatial layout of the base plate to be laid, the distribution of welds, and the distribution of weld lengths in each area, as described in an embodiment of the present invention. Detailed Implementation

[0027] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0028] In the detailed description of embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged and not to scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In actual fabrication, the three-dimensional spatial dimensions of length, width, and depth should be included.

[0029] For ease of description, spatial relation terms such as “below,” “under,” “lower than,” “below,” “above,” and “upper” may be used herein to describe the relationship between one element or feature shown in the accompanying drawings and other elements or features. It will be understood that these spatial relation terms are intended to include directions other than those depicted in the drawings for the device in use or operation. Furthermore, when a layer is referred to as being “between” two layers, it can be the only layer between the two layers, or there may be one or more layers in between. The phrase “between” as used herein includes both endpoint values.

[0030] In the context of this application, the structure described above the first feature may include embodiments in which the first and second features are formed in direct contact, or embodiments in which additional features are formed between the first and second features, such that the first and second features may not be in direct contact.

[0031] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0032] like Figures 1 to 6 As shown, this embodiment provides a method for multi-machine collaborative group vertical laying of boards, the specific steps of which include:

[0033] S1. Obtain information about the welding platform and the base plate to be laid, and perform coordinate preprocessing on the base plate to be laid in order to position the base plate on the welding platform.

[0034] Welding platform information is obtained from the 3D model of the welding platform. The 2D graphic data of the base plate to be laid can be extracted from the small 3D model. The information obtained from the welding platform includes its length and width. The information obtained from the base plate refers to the 2D graphic data of the small model, which includes identification text, vertex coordinates, and weld line segment sets. The coordinate information obtained from the small model is described based on the global coordinate system, which refers to the coordinate system used when modeling each base plate. To facilitate independent processing of individual small models later, the coordinate information of all base plates to be laid needs to be transformed from the global coordinate system to the local coordinate system. The purpose is to unify the coordinate system of all base plates to be laid on the welding platform. The specific process is as follows:

[0035] S1.1 Obtain the identification text, vertex coordinates, and weld line segment coordinates of the base plate to be laid.

[0036] S1.2 Initialize the pose and position of the obtained base plate to be laid based on the vertex coordinates.

[0037] First, the vertex coordinates of the acquired base plate to be laid are extracted to obtain the reference point features and the longest side features. Then, with the reference point as the origin of the local coordinate system and the direction of the longest side as the x-axis direction of the local coordinate system, the transformation matrix from the global coordinate system to the local coordinate system is calculated. Finally, the calculated transformation matrix is ​​used to transform the coordinate information of the base plate to be laid from the global coordinate system to the local coordinate system. The specific process is as follows:

[0038] S1.2.1. Based on the obtained vertex coordinate information of the base plate to be laid, extract the reference point and the longest side feature to establish a local coordinate system.

[0039] If the base plate to be laid has fewer than 3 vertices, there is a problem extracting data from the small model, and the small model should be deleted. When the base plate to be laid has more than 3 vertices, its longest side and reference point are determined by the convex hull of the base plate. The convex hull of the base plate is the convex hull of the planar polygon formed by all the vertices of the base plate.

[0040] In this embodiment, all tests were conducted on strong frame group assemblies, whose bottom projections are mostly near-right triangles. To ensure that the reference point is the intersection of the two shorter sides of the triangle, the included angle between any two sides of the three sides of the convex hull is calculated. When the included angle is located at... When defining the range, these two sides are the two shorter sides out of the three sides. The longest side is selected as the longest side, and the starting point of the longest side is taken as the reference point. Wherein, This represents the angle threshold. The formula for calculating the included angle between two sides of the convex hull is:

[0041]

[0042] in, Represents the interior angles of two sides; Represents the first edge Axial components; Indicates the second edge Axial components; Represents the first edge Axial components; Indicates the second edge Axial components.

[0043] S1.2.2 Calculate the homogeneous coordinate transformation matrix for initializing the pose of the base plate to be laid based on the local coordinate system.

[0044] The homogeneous coordinate transformation matrix for initializing the pose of the base plate consists of two parts: a rotation matrix and a translation vector. The rotation matrix is ​​calculated based on the characteristics of the longest edge vector, i.e.:

[0045]

[0046]

[0047]

[0048] in, Represents the longest edge vector to the global coordinate system The included angle of the axis; Represents the longest edge vector in the global coordinate system Axis coordinate components; Represents the longest edge vector in the global coordinate system Axis coordinate components; This represents the rotation matrix used for attitude initialization.

[0049] The translation vector is calculated by subtracting the coordinates of the reference point in the global coordinate system from the coordinates of the origin of the global coordinate system, i.e.:

[0050]

[0051]

[0052]

[0053] in, Represents the translation vector; Represents the translation vector Axial components; Represents the translation vector Axial components; Indicates the reference point in the global coordinate system Axial components; Indicates the reference point in the global coordinate system Axial components.

[0054] The homogeneous coordinate transformation matrix can be obtained from the calculated rotation matrix and translation vector, that is:

[0055]

[0056] in, This represents the homogeneous transformation matrix for initializing the pose of the base plate to be laid.

[0057] S1.2.3. Based on the homogeneous transformation matrix of the initial pose of the base plate to be laid, calculate the vertex coordinates of the base plate to be laid after initialization.

[0058] Initialized vertex coordinates of the base plate to be laid ( The result is obtained from the homogeneous transformation matrix initialized by the calculated pose of the base plate to be laid, i.e.:

[0059]

[0060] in, This represents the coordinates of the vertices of the base plate to be laid before initialization. ; This indicates the number of base plates to be laid.

[0061] S2. Obtain the k-th grouping scheme based on the information of the welding operation platform and the base plate to be laid, where k is an integer greater than or equal to 1. The k-th grouping scheme is used to determine the base plates to be laid in each group and the placement attribute information of each base plate to be laid. The specific steps are as follows.

[0062] S2.1. Sum the planar areas of each of the obtained base slabs to be laid to obtain the total planar area of ​​the base slabs to be laid, that is:

[0063]

[0064] in, This represents the total planar area of ​​all the floor slabs to be laid; This indicates the first of all the base plates to be laid. The flat area of ​​the base plate to be laid. .

[0065] S2.2. Based on the total planar area of ​​the base plate to be laid, calculate the area ratio between the base plate to be laid and the welding platform.

[0066] The area ratio of the base plate to be laid to the welding platform is the ratio of the total planar area of ​​the base plate to the area of ​​the welding platform, that is:

[0067]

[0068] in, This indicates the ratio of the area of ​​the base plate to be laid to the area of ​​the welding platform; The area of ​​the welding platform is calculated from its length and width, i.e.:

[0069]

[0070] in, Indicates the length of the welding platform; This indicates the width of the welding platform.

[0071] S2.3 Determine the number of groups to be laid for the base slab based on the calculated area ratio.

[0072] The number of groups for laying the base plate can be adjusted according to custom parameters, namely:

[0073]

[0074] in, This indicates the number of groups to be laid on the base plate; This represents a custom parameter that adjusts the number of groups; its value range is... , This is the floor symbol.

[0075] S2.4. Based on the determined number of groups of base plates to be laid, use a greedy algorithm based on area balancing to determine the set of base plates to be laid for each group of base plates to be laid.

[0076] First, calculate the planar area of ​​each floor slab to be laid. Then, based on the calculated planar area of ​​each floor slab, sort the floor slabs in descending order. Finally, use a greedy algorithm to group the sorted floor slabs to make the planar areas of the groups as balanced as possible. The specific process is as follows:

[0077] S2.4.1 Calculate the planar area of ​​each base plate in the base plate group to be laid.

[0078] The plane of each slab to be laid is a polygon. Calculate the area of ​​the plane of each slab in group m using the polygon area calculation formula. ,Right now:

[0079]

[0080]

[0081]

[0082] in, This indicates the mth group of the base slab to be laid. The flat area of ​​the base plate to be laid. , Indicates the number of base plates to be laid; This indicates the first of all the base plates to be laid. The polygonal plane of the base plate to be laid. The coordinates of each vertex Axial components; This indicates the first of all the base plates to be laid. The polygonal plane of the base plate to be laid. The coordinates of each vertex Axial components; This indicates the first of all the base plates to be laid. The number of vertices of a polygonal plane to be laid.

[0083] S2.4.2. Based on the calculated planar area of ​​each base slab to be laid, sort the base slabs in descending order. In this embodiment, a classic sorting algorithm such as quicksort is used to sort the base slabs in descending order of their planar areas, forming a sequence of base slabs to be laid. .

[0084] S2.4.3. Use a greedy algorithm to group the sorted base plates to be laid.

[0085] First use the calculated number of groups Create a group of base plates to be assigned Then, the first slab in the sequence to be laid was selected. A baseboard awaits installation. Place it into the smallest available base plate group. In, and update The total planar area, until .in ; Indicates selecting up to the th When there are multiple base slab groups with the smallest total floor area, the base slab group with the smallest total floor area is selected by default. The specific process is as follows:

[0086] S2.4.3.1. Create the base plate groups to be assigned using the calculated number of groups. Create a group of base plates to be assigned ,Right now:

[0087]

[0088] S2.4.3.2. Sequentially place the base plates to be laid from the sequence of base plates to be laid into the group with the smallest total planar area in the created group of base plates to be assigned.

[0089] Select the sequence of base plates to be laid Place the base plate group with the smallest total floor area into the allocation group. In, that is:

[0090]

[0091] S2.4.3.3, Update the total planar area of ​​the placed base plate group to be assigned. Update The total planar area, i.e.:

[0092]

[0093] in, This indicates the established group of base plates to be allocated; This indicates that the index value in the established base plate group to be assigned is... The base plate assembly to be laid.

[0094] S2.4.3.4. Repeat the above steps until all the base plates in the sequence to be laid are assigned to the base plate group to be assigned.

[0095] In this embodiment, the determination Does the value satisfy the condition of being greater than? If the conditions are not met, return to step S2.4.3.2; if the conditions are met, execution ends, and the bottom plate sequence is awaited. All the slabs to be laid have been allocated to the slab group. In the corresponding group.

[0096] S3. Calculate the comprehensive evaluation index value of the k-th grouping scheme, wherein the comprehensive evaluation index value is used to characterize the area utilization rate and weld uniformity of the k-th grouping scheme, and the weld uniformity is used to characterize the degree of uniformity of weld quantity among multiple welding operation areas. One welding operation area corresponds to one machine used to perform welding. In this embodiment, there are four welding operation areas.

[0097] The formula for calculating the comprehensive evaluation index of the grouping scheme for the foundation slab to be laid is as follows:

[0098]

[0099]

[0100]

[0101]

[0102] The above-mentioned index formula is a comprehensive indicator for evaluating the area utilization rate and weld uniformity of the grouping scheme of the base plate to be laid.

[0103] in, This represents the fitness score of the grouping scheme; This indicates the area utilization rate of the grouping scheme; This indicates the degree of uniformity of the weld seams in the four independent welding areas of the welding platform under this grouping scheme; and These are the weighting parameters of the comprehensive evaluation indicators, and the preferred ones are... =0.7, =0.3, which can be adjusted according to the actual situation. Indicates the first The total planar area of ​​the batch of base plates to be laid; Indicates the batch quantity; This indicates the percentage of weld seams in a specific area among the four areas of the welding platform; This indicates the weld length in a specific area among the four zones of the welding platform for laying the base plate. This indicates the total weld length of the base plate to be laid on the welding platform.

[0104] S4. Determine the target grouping scheme based at least on the comprehensive evaluation index values.

[0105] S4.1 Obtain the current vertex coordinates of all batches of substrates to be laid. Coordinates of the center of rotation ;

[0106] S4.2 Set the initial temperature T for simulated annealing and the temperature reduction factor. Initial comprehensive evaluation indicators The initial number of iterations, g, and the maximum number of iterations, maxG;

[0107] S4.3 Initialize the batch iteration count i and the small group batch iteration count j;

[0108] S4.4. Among all the batches of base plates to be laid, select the i-th batch of base plates to be laid;

[0109] S4.5 Select the j-th base plate from the selected batch of base plates to be laid;

[0110] S4.6. For the j-th slab in the i-th batch of slabs to be laid, its information is as follows: ,in, This represents the angle of rotation around the center of rotation, initialized to 0.

[0111] S4.7 Determine the j-th slab in the i-th batch of slabs to be laid. Check if it exceeds the platform boundary. If it does, proceed to step S4.9; otherwise, proceed to step S4.8.

[0112] The conditions for determining whether the platform boundary has been exceeded are as follows:

[0113]

[0114] in, This represents the x-axis components of the coordinates of multiple vertices of the j-th vertices in the i-th batch of slabs to be laid. This represents the y-axis components of the coordinates of multiple vertices of the j-th vertices in the i-th batch of slabs to be laid; This represents the maximum value of the x-axis component of the welding platform; This represents the maximum value of the y-axis component of the welding platform; This represents the minimum value of the x-axis component of the welding platform. This represents the minimum value of the y-axis component of the welding platform;

[0115] S4.8 Determine the j-th slab in the i-th batch of slabs to be laid. Check if it overlaps with the already placed one. If it overlaps, proceed to step S4.9; otherwise, proceed to step S4.12.

[0116] The conditions for determining whether they overlap are as follows:

[0117]

[0118]

[0119] in, and Let represent the two vertices of any edge of the j-th base plate in the i-th batch of base plates to be laid; and Let represent the two vertices of any edge of the (j+1)th base plate in the i-th batch of base plates to be laid; It represents the normal vector that is perpendicular to the direction vector of the j-th base plate in the i-th batch of base plates to be laid; It represents the normal vector perpendicular to the direction vector of the side corresponding to the (j+1)th base plate in the i-th batch of base plates to be laid; The operation represents the dot product of two vectors;

[0120] S4.9 Determine the posture of the base plate to be laid. ,like Then rotate the base plate to be laid 180 degrees and make it Return to step S4.7; if Then let Proceed to step S4.10;

[0121] S4.10, Translate the base plate to be laid along the y-axis. Step size: Determine if the platform boundary is exceeded. If it is exceeded, proceed to step S4.11; otherwise, return to step S4.8.

[0122] S4.11. Translate the base plate to be laid along the x-axis. Step size: Determine if the platform boundary is exceeded. If it is exceeded, proceed to step S4.16; otherwise, return to step S4.8.

[0123] S4.12, Update parameter j, let If j is less than the number of base plates to be laid in this batch If the condition is met, return to step S4.5; otherwise, proceed to step S4.13.

[0124] S4.13, Update parameter i, let If j is less than the number of base plates to be laid in this batch If the condition is met, return to step S4.4; otherwise, proceed to step S4.14.

[0125] S4.14 Calculate the comprehensive evaluation index of the slab placement scheme;

[0126] S4.15. Use simulated annealing to determine the placement scheme of the base plate to be laid, and execute step S4.14;

[0127] The probability of accepting the current iteration's base plate placement scheme is:

[0128]

[0129] in, Let be the temperature coefficient. If the placement scheme of the base plate to be laid in this iteration is accepted, then let If the current iteration's floor plan placement scheme is not accepted, the scheme will be reverted to the previous iteration's scheme, and the current scheme will not be retained.

[0130] S4.16 Update the iteration count. If the iteration count exceeds the termination iteration count, output the optimal placement scheme of the base plate to be laid and the final fitness score, and the algorithm ends; otherwise, execute step S4.17.

[0131] S4.17. Design random disturbances to form a new placement scheme for the base plate to be laid, and return to step S4.3.

[0132] The added random perturbation involves exchanging two base plates from different random batches to form a new base plate placement scheme.

[0133] This embodiment also discloses a storage medium storing a computer program, which, when executed by a processor, implements the above-described multi-machine collaborative group board laying method.

[0134] This embodiment also discloses a terminal, which includes a processor and a memory; the memory is used to store computer programs; the processor is connected to the memory and is used to execute the computer programs stored in the memory, so that the terminal executes the above-described multi-machine collaborative group tiling method.

[0135] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for multi-machine collaborative group vertical laying of boards, characterized by the following steps: include: Obtain information about the welding platform and the base plate to be laid, and perform coordinate preprocessing on the base plate to be laid in order to position the base plate on the welding platform; The k-th grouping scheme is obtained based on the information of the welding operation platform and the base plate to be laid, where k is an integer greater than or equal to 1. The k-th grouping scheme is used to determine the base plates to be laid in each group and the placement attribute information of each base plate to be laid. Calculate the comprehensive evaluation index value of the k-th grouping scheme, wherein the comprehensive evaluation index value is used to characterize the area utilization rate and weld uniformity of the k-th grouping scheme, and the weld uniformity is used to characterize the degree of uniformity of weld volume among multiple welding operation areas, and one welding operation area corresponds to one machine used to perform welding. The target grouping scheme should be determined at least based on the comprehensive evaluation index values.

2. The method for multi-machine collaborative group flooring as described in claim 1, characterized in that: The steps of acquiring information about the welding platform and the base plate to be laid, and performing coordinate preprocessing on the base plate to be laid are as follows: acquiring the identification text, vertex coordinates, and weld line segment coordinate set of the base plate to be laid; and initializing the posture and position of the acquired base plate to be laid based on the vertex coordinates.

3. The method for multi-machine collaborative group vertical laying of boards according to claim 2, characterized in that: The steps for initializing the pose and position of the acquired base plate based on vertex coordinates are as follows: extract the reference point and longest side features to establish a local coordinate system based on the acquired vertex coordinate information of the base plate; calculate the homogeneous coordinate transformation matrix for the pose initialization of the base plate based on the local coordinate system; and calculate the initialized vertex coordinates of the base plate based on the calculated homogeneous transformation matrix for the pose initialization of the base plate.

4. The method for multi-machine collaborative group flooring as described in claim 1, characterized in that: The k-th grouping scheme is obtained based on the information of the welding operation platform and the base plate to be laid: the plane area of ​​each base plate to be laid that has been obtained is accumulated to obtain the total plane area of ​​the base plate to be laid; Based on the total planar area of ​​the base plate to be laid, calculate the area ratio between the base plate to be laid and the welding platform. The number of groups to be laid for the base slab is determined based on the calculated area ratio; Based on the determined number of groups of base plates to be laid, a greedy algorithm based on area balancing is used to determine the set of base plates to be laid for each group.

5. The method for multi-machine collaborative group vertical laying of panels according to claim 4, characterized in that: The step of determining the set of base plates to be laid for each base plate group based on the determined number of base plate groups to be laid using a greedy algorithm based on area balance is as follows: calculate the planar area of ​​each base plate to be laid in the base plate group. Based on the calculated planar area of ​​each base plate to be laid, the base plates to be laid are sorted in descending order to form a sequence of base plates to be laid; a greedy algorithm is then used to group the sorted base plates to be laid.

6. The method for multi-machine collaborative group vertical laying of panels according to claim 5, characterized in that: The steps for grouping the sorted base plates to be laid using a greedy algorithm are as follows: create a group of base plates to be assigned using the calculated number of groups; Place the slabs to be laid from the sequence of slabs to be laid into the group with the smallest total planar area in the created group of slabs to be assigned. Update the total planar area of ​​the placed base plate groups; repeat the above steps until all base plates in the base plate sequence are assigned to the base plate groups.

7. The method for multi-machine collaborative group vertical laying of boards according to claim 1, characterized in that: The calculation of the comprehensive evaluation index value of the k-th grouping scheme includes: S4.1, obtaining the current vertex coordinates of all batches of the base plate to be laid. and the coordinates of the center of rotation S4.2 Set the initial temperature, temperature reduction coefficient, initial comprehensive evaluation index, initial iteration count, and iteration termination count for simulated annealing; S4.3 Initialize the batch iteration count i and the batch iteration count j; S4.4 Select the i-th batch of base plates to be laid from all the divided batches; S4.5 Select the j-th base plate to be laid from the selected batches; S4.6 For the j-th base plate in the i-th batch, its information is as follows: , This indicates the angle of rotation around the center of rotation; S4.7, determine whether the j-th floorboard in the i-th batch of floorboards exceeds the platform boundary. If it exceeds the boundary, proceed to step S4.9; otherwise, proceed to step S4.8; S4.8, determine whether the j-th floorboard in the i-th batch of floorboards exceeds the platform boundary. Does it overlap with an already placed base plate to be laid? If it overlaps, proceed to step S4.9; otherwise, proceed to step S4.

12. S4.9: Determine the orientation of the base plate to be laid. ,like Then rotate the base plate to be laid 180 degrees and make it Return to step S4.7, if Then let Execute step S4.10; S4.10, translate the base plate to be laid along the y-axis. Step size: Determine if the step size exceeds the platform boundary. If it does, proceed to step S4.11; otherwise, return to step S4.

8. S4.11: Translate the base plate to be laid along the x-axis. Step size: Determine if the step size exceeds the platform boundary. If it does, proceed to step S4.16; otherwise, return to step S4.

8. S4.12: Update parameter j, letting... If j is less than the number of base plates to be laid in this batch If the condition is met, return to step S4.5; otherwise, proceed to step S4.

13. S4.13: Update parameter i, letting... If j is less than the number of base plates to be laid in this batch If the result is positive, return to step S4.4; otherwise, proceed to step S4.

14. S4.14: Calculate the comprehensive evaluation index of the floor slab placement scheme. S4.15: Use simulated annealing to determine the floor slab placement scheme and proceed to step S4.

14. S4.16: Update the iteration count. If the iteration count exceeds the termination iteration count, output the optimal floor slab placement scheme and the final fitness score. The algorithm ends and the target grouping scheme is obtained. Otherwise, proceed to step S4.

17. S4.17: Design random perturbations to form a new floor slab placement scheme and return to step S4.

3.

8. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, implements the multi-machine collaborative group board laying method as described in any one of claims 1 to 7.

9. A terminal, characterized in that: The terminal includes a processor and a memory; the memory is used to store computer programs; the processor is connected to the memory and is used to execute the computer programs stored in the memory, so that the terminal executes the multi-machine collaborative group board laying method according to any one of claims 1 to 7.

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