A method for planning the work path of an automotive parts cutting robot

Abstract

This invention relates to the field of path planning technology, and more specifically, to a method for planning the operation path of an automotive parts cutting robot. The method includes: determining a pair of dividing points between adjacent contours; calculating the deceleration time between the dividing point pairs in response to a direction change factor between the dividing point pairs being greater than or equal to an anomaly threshold; obtaining the total path length between the dividing point pairs based on the product of the direction change angle between the dividing point pairs and the actual turning radius; obtaining the constant speed time between the dividing point pairs based on the total path length and deceleration time, and calculating a time cost factor; continuing to obtain the time cost factors of dividing point pairs between other adjacent contours; and optimizing the operation path of the cutting robot among multiple cutting routes of automotive parts contours generated by a heuristic algorithm, thereby effectively improving the efficiency of planning the operation path of the automotive parts cutting robot.

Description

Technical Field

[0001] This invention relates to the field of path planning technology. More specifically, this invention relates to a method for planning the operation path of an automotive parts cutting robot. Background Technology

[0002] Automotive parts require extremely high dimensional precision. Cutting robots, using pre-programmed instructions and high-precision sensors, can precisely cut according to the contours of CAD models, with errors controlled to the micrometer level. During the cutting process, by planning the optimal cutting path for the laser cutting robot, high-precision and high-efficiency cutting operations can be completed, thus ensuring both cutting quality and processing efficiency.

[0003] Currently, when cutting automotive parts, the process begins by identifying the geometric contour to be cut from the CAD model and projecting it onto a 2D plane to extract the closed contour. Then, based on the laser spot diameter and process parameters, the extracted contour is precisely offset at equal intervals to generate the actual cutting trajectory centerline. The cutting sequence is optimized to minimize idle travel time, and reasonable entry and exit paths are planned to reduce thermal impact and burrs. Finally, the path is smoothed and optimized using a traveling salesman problem algorithm to achieve robot path planning.

[0004] However, when conventional algorithms for the Traveling Salesman Problem optimize the contour cutting sequence, they may generate some jump paths with the shortest empty distance but not the optimal ones. When the robot runs in this area according to the planned route, it may experience violent acceleration and deceleration, which will cause vibration and affect the accuracy and precision of the positioning of each contour cutting point, ultimately resulting in lower quality automotive parts.

[0005] Therefore, how to accurately plan the operation path of automotive parts cutting robots is an urgent problem to be solved. Summary of the Invention

[0006] To address the aforementioned technical problem of accurately planning the operation path of an automotive parts cutting robot, this invention proposes a method for planning the operation path of an automotive parts cutting robot, which includes the following steps:

[0007] Candidate segmentation points are obtained from each contour of the automotive part. Any two candidate segmentation points between adjacent contours are considered as candidate segmentation point pairs. The actual turning radius, minimum allowable turning radius, and direction change angle between candidate segmentation point pairs are obtained. The ratio of the minimum allowable turning radius to the actual turning radius between candidate segmentation point pairs is recorded as the direction change factor between the candidate segmentation point pairs to determine the segmentation point pairs between adjacent contours. In response to the direction change factor between segmentation point pairs being greater than or equal to an abnormal threshold, the preset safe speed and actual running speed of the cutting robot are obtained, and the deceleration time between the segmentation point pairs is calculated. The total path length between the segmentation point pairs is obtained by multiplying the direction change angle between the segmentation point pairs and the actual turning radius. Based on the total path length and deceleration time between the segmentation point pairs, the constant speed time between the segmentation point pairs is obtained. The sum of the deceleration time and constant speed time between the segmentation point pairs is used as the time cost factor. The time cost factors of segmentation point pairs between other adjacent contours are then obtained. Among the multiple cutting routes of the automotive part contours generated by the heuristic algorithm, the cutting robot's operation path is determined based on the time cost factor of the segmentation point pairs between adjacent contours.

[0008] This invention effectively improves the working efficiency of a cutting robot by planning its cutting idle path. During path planning, the invention generates multiple candidate segmentation points and calculates their directional change factors to select the optimal starting point, reducing stagnation or malfunctions caused by directional changes during robot operation and thus improving efficiency. Furthermore, the invention analyzes the probability of directional changes using the directional change factor, triggering a deceleration strategy when a drastic change occurs and calculating its time cost factor. This allows the planning of the robot's idle path to optimize the sequence and starting point combination of the entire cutting path based on the time cost factor, reducing idle travel time and effectively improving the path planning efficiency of automotive parts cutting robots.

[0009] According to the present invention, a method for planning the operation path of an automotive parts cutting robot is provided to obtain candidate segmentation points in each contour of an automotive part, including: dividing each contour of the automotive part into a preset number of candidate segmentation points, wherein the distance between candidate segmentation points on the same contour is equal.

[0010] According to the present invention, a method for planning the operation path of an automotive parts cutting robot includes obtaining the direction transformation angle between candidate segmentation point pairs by taking the angle between the tangent direction vectors of the candidate segmentation point pairs as the direction transformation angle between the candidate segmentation point pairs, wherein the tangent directions of the candidate segmentation points in the candidate segmentation point pairs are all counterclockwise positive directions.

[0011] This invention takes into account that the turning radius of the cutting robot is directly related to the turning angle. Therefore, by obtaining the directional transformation angle between candidate segmentation point pairs, the actual turning radius of the cutting robot on the candidate segmentation point pair can be calculated, so that its directional change factor can be accurately calculated based on this.

[0012] According to the present invention, a method for planning the working path of an automotive parts cutting robot includes obtaining the actual turning radius between candidate splitting point pairs by: obtaining the Euclidean distance between candidate splitting point pairs and calculating the actual turning radius between candidate splitting point pairs.

[0013] ;

[0014] , , The first The first contour and its second The actual turning radius, Euclidean distance, and direction transformation angle between the i-th candidate segmentation point pairs of adjacent contours. It is a sine function.

[0015] According to the present invention, a method for planning the operation path of an automotive parts cutting robot includes obtaining the minimum allowable turning radius between candidate splitting point pairs, comprising:

[0016] ;

[0017] , The first The first contour and its second The minimum allowable turning radius between the i-th pair of candidate segmentation points of adjacent contours, and the actual running speed of the cutting robot. This represents the maximum centripetal acceleration of the cutting robot.

[0018] This invention takes into account that the maximum centripetal acceleration is a comprehensive limit index of the robot's mechanical performance and control capability. 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 minimum allowable turning radius is calculated based on the robot's maximum centripetal acceleration, so that the degree of directional change can be accurately evaluated based on the difference between the actual turning radius and the minimum allowable turning radius.

[0019] According to the present invention, a method for planning the operation path of an automotive parts cutting robot, the step of determining the split point pair between adjacent contours includes: taking the candidate split point pair corresponding to the minimum value of the direction change factor between the candidate split point pairs of adjacent contours as the split point pair between the adjacent contours.

[0020] The present invention takes into account that the directional change 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 change 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 sudden turning and stopping as much as possible.

[0021] According to the present invention, a method for planning the operation path of an automotive parts cutting robot is provided. In response to the fact that the directional mutation factor between the split point pairs is less than the abnormal threshold, the ratio of the Euclidean distance between the split point pairs to the actual running speed of the cutting robot is recorded as the time cost factor of the split point pair.

[0022] This invention takes into account that if the directional change 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 deceleration. 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.

[0023] According to the present invention, a method for planning the working path of an automotive parts cutting robot includes calculating the deceleration time between the pair of cutting points, comprising:

[0024] ;

[0025] , The first The first contour and its second The deceleration time between the segmentation points of adjacent contours and the actual operating speed of the cutting robot. To ensure the safe speed of the cutting robot, This represents the maximum centripetal acceleration of the cutting robot.

[0026] According to the present invention, a method for planning the operation path of an automotive parts cutting robot includes obtaining the uniform speed duration between a pair of cutting points based on the total path length and deceleration time between the pairs of cutting points, comprising:

[0027] ;

[0028] , , The first The first contour and its second The deceleration path length between the dividing points of adjacent contours, the actual operating speed of the cutting robot, and the deceleration time. To ensure the safe speed of the cutting robot, The maximum centripetal acceleration of the cutting robot is given; the deceleration path length is subtracted from the total path length between the split point pairs to obtain the uniform speed path length; the uniform speed duration between the split point pairs is obtained by the ratio of the uniform speed path length to the safe speed.

[0029] According to the present invention, a method for planning the operation path of an automotive parts cutting robot is provided. The step of determining the operation path of the cutting robot based on the time cost factor of the split point pairs between adjacent contours includes: taking the sum of the time cost factors 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 operation path of the cutting robot.

[0030] The present invention has the following beneficial effects:

[0031] Based on the above technical solution, this invention provides a method for planning the work path of an automotive parts cutting robot. By planning the cutting idle route for the cutting robot, the working efficiency of the cutting robot can be effectively improved. During the path planning process, this invention generates multiple candidate segmentation points and calculates their directional change factors to select the optimal starting point, reducing stagnation or malfunctions caused by directional changes during robot operation, thus improving the working efficiency of the cutting robot. Furthermore, this invention analyzes the probability of directional changes using the directional change factor. When a directional change is severe, a deceleration strategy is triggered in a timely manner, and its time cost factor is calculated. This allows the sequence and starting point combination of the entire cutting path to be optimized based on the time cost factor when planning the robot's idle path, reducing idle travel time and effectively improving the work path planning efficiency of the automotive parts cutting robot. Attached Figure Description

[0032] Figure 1 This is a flowchart illustrating the steps of a method for planning the working path of an automotive parts cutting robot according to an embodiment of the present invention. Detailed Implementation

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0034] Please see Figure 1 , Figure 1This is a flowchart illustrating the steps of a path planning method for an automotive parts cutting robot according to an embodiment of the present invention. This method obtains the directional abrupt change factor of all candidate segmentation point pairs between adjacent contours, and uses the candidate segmentation point pair corresponding to the minimum directional abrupt change factor as the segmentation entry point for that group of adjacent contours. This effectively avoids sharp turns during the cutting robot's idle journey, ensuring the continuity and safety of contour processing. Furthermore, when the minimum directional abrupt change factor is large, the cutting robot's speed is reduced according to its actual operating speed, further avoiding product cutting quality problems caused by excessive speed at sharp bends. This effectively improves the efficiency of the automotive parts cutting robot's path planning. The method specifically includes the following steps:

[0035] S1: Obtain candidate segmentation points in each contour of the automotive part, and form a candidate segmentation point pair between any two candidate segmentation points between adjacent contours.

[0036] It should be noted that before the cutting robot cuts the contour, it is necessary to first obtain the dividing points between the contour to be cut and its next adjacent contour, so as to plan the idle running route of the cutting robot between adjacent contours in advance. Therefore, in this embodiment of the invention, the dividing point pairs between all adjacent contours can be obtained first, the running time cost between the dividing point pairs between all adjacent contours can be determined, and the dividing route corresponding to the minimum running time cost can be used as the final working path of the cutting robot.

[0037] It should be further explained that, in order to avoid the cutting robot from stalling during operation due to sharp turns in the curved path between the selected segmentation point pairs between adjacent contours, when selecting the segmentation point pairs between adjacent contours, it is necessary to first obtain all candidate segmentation points on each contour, arrange and combine the candidate segmentation points on adjacent contours into candidate segmentation point pairs, analyze the situation of sharp turns in the running path between all candidate segmentation point pairs, select the optimal starting point, reduce the sudden change in direction, and thus accurately obtain the segmentation point pairs between adjacent contours.

[0038] Therefore, in this embodiment of the invention, the contour closest to the starting position of the cutting robot can be obtained as the starting contour, and the splitting point pair between the starting contour and its next closest adjacent contour can be determined. It is understood that, to improve operational efficiency, the cutting robot's operating path is usually set to unidirectional and non-returning. Therefore, after obtaining the first contour and its next closest adjacent contour, the running direction of the cutting robot can also be determined, i.e., the direction from the first contour to its next closest adjacent contour.

[0039] For example, in an embodiment of the present invention, obtaining candidate segmentation points in each contour of an automotive part includes: dividing each contour of the automotive part into a preset number of candidate segmentation points, wherein the distance between candidate segmentation points on the same contour is equal.

[0040] The preset number of candidate segmentation points can be set to 20 points; the specific number can be set according to actual needs.

[0041] Specifically, when determining candidate segmentation points on each contour, the contour edge can be extracted first, and the contour edge can be divided into a preset number of candidate segmentation points. These candidate segmentation points are the points that the cutting robot may cut into the contour. When constructing candidate segmentation point pairs, one candidate segmentation point is obtained from each of the two contours to form a candidate segmentation point pair. After permutation and combination, all candidate segmentation point groups between adjacent contours are finally obtained.

[0042] Understandably, by acquiring the degree of drastic change in the direction of the cutting robot's laser head as it moves from one segmentation point to another in the candidate segmentation point group, the optimal segmentation point pair can be selected. This allows the cutting robot's idle path to transition from a straight line to an arc, resulting in a smoother path and reduced mechanical vibration. However, in automotive parts, the differences in the shape and size of adjacent contours can be significant. Therefore, when acquiring the degree of drastic change in direction between candidate segmentation point pairs, the actual turning radius between the candidate segmentation point pairs can be obtained first. By comparing this with the minimum allowable turning radius of the cutting robot, the directional abrupt change factor between each group of candidate segmentation point pairs can be accurately obtained. This allows for the accurate determination of the optimal segmentation point pair from all candidate segmentation point pairs, leading to the continuation of the following steps.

[0043] S2: Obtain the actual turning radius, minimum allowable turning radius, and direction change angle between candidate segmentation point pairs. Record the ratio of the minimum allowable turning radius to the actual turning radius between candidate segmentation point pairs as the direction change factor between the candidate segmentation point pairs to determine the segmentation point pairs between adjacent contours.

[0044] The actual turning radius represents the radius of the arc path from one candidate segmentation point to another within a candidate segmentation point pair. A larger value indicates a smoother path and a smaller turning radius. The minimum allowable turning radius is calculated based on the cutting robot's equipment parameters and represents the minimum acceptable turning radius for the cutting robot.

[0045] For example, in an embodiment of the present invention, the method for obtaining the direction transformation angle between candidate segmentation point pairs includes: taking the angle between the tangent direction vectors of the candidate segmentation point pairs as the direction transformation angle between the candidate segmentation point pairs, wherein the tangent directions of the candidate segmentation points in the candidate segmentation point pairs are all counterclockwise positive directions.

[0046] The specific steps for obtaining the direction transformation angle through the angle between the tangent direction vectors of the candidate segmentation point pair can be obtained through the vector angle formula, and will not be elaborated here in this embodiment of the invention.

[0047] For example, in an embodiment of the present invention, the method for obtaining the actual turning radius between candidate segmentation point pairs includes: obtaining the Euclidean distance between candidate segmentation point pairs and calculating the actual turning radius between candidate segmentation point pairs.

[0048] ;

[0049] For the first The first contour and its second The actual turning radius between the i-th pair of candidate segmentation points of adjacent contours. For the first The first contour and its second The Euclidean distance between the i-th candidate segmentation point pairs of adjacent contours. For the first The first contour and its second The directional transformation angle between the i-th pair of candidate segmentation points of adjacent contours. It is a sine function.

[0050] In this calculation method, when Larger and When it is smaller, it indicates the first The first contour and its second When the distance between the i-th candidate segmentation point pairs of adjacent contours is large and the direction changes little, the robot can turn smoothly with a large radius, so the corresponding actual turning radius is large; conversely, it means that the robot needs to make a sharp turn, so the corresponding actual turning radius is small.

[0051] Understandably, the minimum permissible turning radius of a cutting robot is determined by its own equipment parameters, which can be obtained from the equipment specifications. Specifically, the minimum permissible turning radius can be calculated using the maximum centripetal acceleration and the actual operating speed of the equipment. The maximum centripetal acceleration is a comprehensive limit indicator of the robot's mechanical performance and control capabilities. When the robot's actual operating speed is fixed, to ensure that the robot's centripetal acceleration does not exceed its performance limits, it is necessary to ensure that it meets the minimum turning radius; otherwise, it may exceed the robot's own performance limits, causing mechanical failure.

[0052] For example, in an embodiment of the present invention, the method for obtaining the minimum permissible turning radius between candidate segmentation point pairs includes:

[0053] ;

[0054] For the first The first contour and its second The minimum allowable turning radius between the i-th pair of candidate segmentation points of adjacent contours. For the first The first contour and its second The actual running speed of the cutting robot between the i-th pair of candidate segmentation points of adjacent contours. This represents the maximum centripetal acceleration of the cutting robot.

[0055] Based on the above steps, the minimum allowable turning radius and the actual turning radius between all candidate segmentation point pairs between adjacent contours can be obtained. The ratio of the two can accurately determine the degree of directional change between candidate segmentation point pairs. 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. If the actual turning radius is too small, it cannot meet the minimum allowable turning radius and may cause a malfunction. Conversely, if the ratio is less than 1, it means that the minimum allowable turning radius is less than the actual turning radius. If the actual turning radius meets the minimum allowable turning radius, the robot can operate normally.

[0056] Therefore, in this embodiment of the invention, the candidate segment point pair with the minimum directional abrupt change factor between candidate segment point pairs on adjacent contours can be obtained as the candidate segment point pair with the minimum abrupt change degree on this set of adjacent contours, so as to evaluate the degree of abrupt change in route turning between this set of adjacent contours.

[0057] For example, in an embodiment of the present invention, determining the split point pair between adjacent contours includes: taking the candidate split point pair corresponding to the minimum value of the directional mutation factor between the candidate split point pairs of adjacent contours as the split point pair between the adjacent contours.

[0058] Understandably, if the direction mutation factor of the segmentation point pair between adjacent contours is less than the abnormal threshold, it means that the robot can operate stably; otherwise, it means that even the best candidate segmentation point on this set of adjacent contours cannot meet the mechanical requirements of the robot, which may lead to problems such as mechanical overload and control inaccuracy. For such segmentation point pairs that may cause mechanical failure, it is necessary to slow down the robot's idle path to reduce the possibility of mechanical failure, that is, continue to execute the following steps.

[0059] S3: In response to the direction change factor between the split point pairs being greater than or equal to the abnormal threshold, calculate the deceleration duration and constant speed duration between the split point pairs, and use the sum of the deceleration duration and constant speed duration between the split point pairs as the time cost factor of the split point pairs.

[0060] It should be noted that, based on the above steps, the segmentation point pairs with a directional abrupt change factor greater than or equal to the abnormal threshold can be obtained. If the actual turning radius is insufficient when the laser head moves from a cutting point on one contour to a cutting point on another contour, it may lead to mechanical vibration or path instability. To avoid mechanical failure, when planning the robot's cutting idle path, it is necessary to decelerate first on this path, reducing the actual operating speed of the cutting robot to the equipment's safe speed to smoothly transition the directional change. This ensures that the cutting robot operates at a safe speed while maximizing its operational efficiency.

[0061] The anomaly threshold can be set to 0.7, but the specific value can be adjusted according to actual needs. It is understandable that although the above steps can obtain the directional abrupt change factor by the ratio of the minimum allowable turning radius between the split point pairs to the actual turning radius, a safety margin needs to be reserved when determining whether deceleration is required. Therefore, when setting the anomaly threshold, it should be kept as low as possible, ideally less than 1.

[0062] For example, the safe speed of the cutting robot is the upper limit of the speed at which the laser cutting machine can maintain stable movement and not exceed the maximum centripetal acceleration during turning. This value is a preset value and can be obtained through its equipment specifications. This embodiment of the invention does not impose too many restrictions here.

[0063] For example, in an embodiment of the present invention, the total path length between the segmentation point pairs can be obtained by multiplying the directional change angle between the segmentation point pairs by the actual turning radius. By obtaining the preset safe speed and the actual running speed of the cutting robot, the deceleration time between the segmentation point pairs is calculated; based on the total path length and deceleration time between the segmentation point pairs, the uniform speed time between the segmentation point pairs is obtained.

[0064] For example, in an embodiment of the present invention, calculating the deceleration time between the split point pairs includes:

[0065] ;

[0066] For the first The first contour and its second The deceleration time between the segmentation point pairs of adjacent contours For the first The first contour and its second The actual operating speed of the cutting robot between the segmentation point pairs of adjacent contours. To ensure the safe speed of the cutting robot, This represents the maximum centripetal acceleration of the cutting robot.

[0067] In this calculation method, the maximum centripetal acceleration of the cutting robot is used as the upper limit of acceleration during deceleration to avoid mechanical impact caused by sudden deceleration. Therefore, the deceleration time is the time required for the speed to transition from the actual operating speed to the safe speed without exceeding the robot's maximum acceleration.

[0068] For example, in an embodiment of the present invention, obtaining the deceleration path length between split point pairs includes:

[0069] ;

[0070] For the first The first contour and its second The deceleration path length between pairs of dividing points of adjacent contours For the first The first contour and its second The actual operating speed of the cutting robot between the segmentation point pairs of adjacent contours. For the first The first contour and its second The deceleration time between the segmentation point pairs of adjacent contours This is the maximum centripetal acceleration of the cutting robot. Let be the integral variable, representing time. Indicates time Integrate the points.

[0071] The lower limit is 0, and the upper limit is , This refers to the time it takes for the robot's actual operating speed to reach a safe speed during the deceleration process.

[0072] For example, the total path length between the split point pairs is subtracted from the deceleration path length to obtain the uniform speed path length; the uniform speed duration between the split point pairs can be obtained by the ratio of the uniform speed path length to the safe speed.

[0073] Therefore, the time cost factor of the final split point pair is the sum of the deceleration time and the constant speed time between the split point pairs.

[0074] It is understandable that if the directional mutation factor between the segmentation point pairs is less than the abnormal threshold, it means that the robot can operate normally. In this case, the time cost factor can be obtained by the distance between the segmentation point pairs and the robot's running speed.

[0075] For example, in an embodiment of the present invention, in response to the direction mutation factor between the segmentation point pairs being less than an 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.

[0076] It is understandable that the dividing point of each contour is both the starting point and the ending point. Therefore, when determining the dividing point pair of the next set of adjacent contours, if the dividing point of one of the contours in the next set of adjacent contours has been determined in the calculation of the dividing point group of the current adjacent contour, the contour shared by the current adjacent contour and the next set of adjacent contours can be recorded as the target contour. When obtaining the dividing point pair of the next set of adjacent contours, the dividing point obtained by the target contour in the current adjacent contour is taken as its candidate dividing point in the next set of adjacent contours, which is also the only candidate dividing point. Finally, all candidate dividing point pairs in the next set of adjacent contours are obtained.

[0077] To illustrate this process: If the first group of adjacent contours consists of contour 1 and contour 2, the segmentation point groups are the third candidate segmentation point in contour 1 and the third candidate segmentation point in contour 2, respectively. The second group of adjacent contours consists of contour 2 and contour 3, and the segmentation point of contour 2 in the first group of adjacent contours is the third candidate segmentation point. Therefore, in the candidate segmentation point pairs of the second group of adjacent contours, only the third candidate segmentation point of contour 2 is used to form candidate segmentation point pairs with each candidate segmentation point in contour 3.

[0078] After obtaining each set of candidate segmentation point pairs for new adjacent contours, repeat the above steps to obtain segmentation point pairs in the new adjacent contours and calculate their time cost factors. Finally, obtain the time cost factors of all segmentation point pairs for adjacent contours. Optimizing the robot's path selection method by using the time cost factors of segmentation point pairs for adjacent contours can effectively improve the efficiency of the cutting robot's operation.

[0079] S4: Obtain the time cost factor of the split point pairs between other adjacent contours; in the multiple cutting routes of the automotive part contours generated by the heuristic algorithm, determine the cutting robot operation path based on the time cost factor of the split point pairs between adjacent contours.

[0080] Specifically, the heuristic algorithm randomly generates multiple cutting routes as initial routes under the parameter constraints and process requirements of the cutting robot. The selection probability of the cutting route is weighted by the time cost factor of the segmentation point pairs between adjacent contours. The lower the time cost factor, the higher the path selection probability.

[0081] The step of generating multiple cutting routes for the contour of the automotive part based on the heuristic algorithm can be implemented by existing technology, and will not be described in detail here in the embodiments of the present invention.

[0082] For example, in an embodiment of the present invention, determining the cutting robot operation path based on the time cost factor of the split point pairs between adjacent contours includes: taking the sum of the time cost factors 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.

[0083] As can be seen, in this embodiment of the invention, when planning the operation path for the automotive parts cutting robot, candidate segmentation points in each contour of the automotive parts can be obtained, and any two candidate segmentation points between adjacent contours can form a candidate segmentation point pair; the actual turning radius, minimum allowable turning radius, and direction change angle between the candidate segmentation point pairs can be obtained, 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 change factor between the candidate segmentation point pairs to determine the segmentation point pairs between adjacent contours; in response to the direction change factor between the segmentation point pairs being greater than or equal to an abnormal threshold, the preset safe speed and actual running speed of the cutting robot are obtained, and the... The deceleration time between the segmentation point pairs is calculated; the total path length between the segmentation point pairs is obtained by multiplying the direction change angle between the segmentation point pairs and the actual turning radius; based on the total path length and deceleration time between the segmentation point pairs, the constant speed time between the segmentation point pairs is obtained; the sum of the deceleration time and constant speed time between the segmentation point pairs is used as the time cost factor; the time cost factors of segmentation point pairs between other adjacent contours are then obtained; in the multiple cutting routes of the automotive part contours generated by the heuristic algorithm, the cutting robot's operation path is determined based on the time cost factors of the segmentation point pairs between adjacent contours, effectively improving the efficiency of the automotive part cutting robot's operation path planning.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automobile part cutting robot job path planning method characterized by, The method comprises the following steps: Obtain candidate segmentation points in each contour of the automobile part, and form a candidate segmentation point pair by any two candidate segmentation points between adjacent contours; Obtain the actual turning radius, the minimum allowable turning radius, and the direction transformation angle between the candidate segmentation point pair, wherein the direction transformation angle between the candidate segmentation point pair is the included angle of the tangent direction vectors of the candidate segmentation points in the candidate segmentation point pair. Obtain the Euclidean distance between the candidate segmentation point pair, and calculate the actual turning radius between the candidate segmentation point pair: ； , , The first The first contour and its second The actual turning radius, Euclidean distance, and direction transformation angle between the i-th candidate segmentation point pairs of adjacent contours. It is a sine function; The minimum allowable turning radius satisfies: ； , The first The first contour and its second The minimum allowable turning radius between the i-th pair of candidate segmentation points of adjacent contours, and the actual running speed of the cutting robot. This represents the maximum centripetal acceleration of the cutting robot. The ratio of the minimum allowable turning radius to the actual turning radius between the candidate segmentation point pair is defined as the direction mutation factor between the candidate segmentation point pair, so as to determine the segmentation point pair between the 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 safe speed and the actual running speed of the cutting robot are obtained, and the deceleration time length between the segmentation point pair is calculated; the product of the direction transformation angle and the actual turning radius between the segmentation point pair is obtained to obtain the total path length 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 defined as the time cost factor; the time cost factors of the segmentation point pairs between other adjacent contours are continuously obtained; 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.

2. The method of claim 1, wherein, The method for obtaining the candidate segmentation points in each contour of the automobile part comprises the following steps: Divide each contour of the automobile part 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 of claim 1, wherein the method further comprises: The method for determining the segmentation point pair between the adjacent contours comprises the following steps: The candidate segmentation point pair corresponding to the minimum value of the direction mutation factor between the candidate segmentation point pairs of the adjacent contours is taken as the segmentation point pair between the adjacent contours.

4. The method of claim 1, wherein, In response to the direction mutation factor between the segmentation point pair being less than an abnormal threshold, the ratio of the Euclidean distance between the segmentation point pair to the actual running speed of the cutting robot is defined as the time cost factor of the segmentation point pair.

5. The method of claim 1, wherein, The method for calculating the deceleration time length between the segmentation point pair comprises the following steps: ； , The first The first contour and its second The deceleration time between the segmentation points of adjacent contours and the actual operating speed of the cutting robot. To ensure the safe speed of the cutting robot, This represents the maximum centripetal acceleration of the cutting robot.

6. The method of claim 1, wherein, The method for obtaining the uniform speed time length between the segmentation point pair based on the total path length and the deceleration time length between the segmentation point pair comprises the following steps: ； , , The first The first contour and its second The deceleration path length between the dividing points of adjacent contours, the actual operating speed of the cutting robot, and the deceleration time. To ensure the safe speed of the cutting robot, This represents the maximum centripetal acceleration of the cutting robot. The total path length between the segmentation point pair is subtracted by the deceleration path length to obtain the uniform speed path length; the ratio of the uniform speed path length to the safe speed is obtained to obtain the uniform speed time length between the segmentation point pair.

7. The method of claim 4, wherein the method further comprises: The method for determining the cutting robot operation path according to the time cost factors of the segmentation point pairs between the adjacent contours comprises the following steps: The sum of the time cost factors of each cutting route is defined as the total time cost of the cutting route; the cutting route corresponding to the minimum value of the total time cost is taken as the cutting robot operation path.

Images