A robot path planning method and system for fast installation of magnetic yoke laminations

By constructing a path using 3D data and employing a height-partitioned path planning method, combined with obstacle distribution and a robot model, the installation path for magnetic yoke stacking is optimized, solving the problem of low installation efficiency in existing technologies and achieving more efficient installation of magnetic yoke stacking.

CN121535757BActive Publication Date: 2026-06-05中国水利水电第七工程局有限公司 +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
中国水利水电第七工程局有限公司
Filing Date
2026-01-19
Publication Date
2026-06-05

AI Technical Summary

Technical Problem

Existing technologies fail to effectively utilize the obstacle avoidance capabilities of robots at different heights during the installation of magnetic yoke stacks, resulting in limited improvements in installation efficiency.

Method used

An installation site model is constructed by collecting 3D point cloud data and image data, and height partitioning is performed. Combined with obstacle distribution and robot body model, a path is planned to match the robot's dimensions at different heights. The path planning is optimized by using the A* algorithm and dynamic obstacle prediction.

Benefits of technology

It improves the movement and installation efficiency of magnetic yoke stacks, shortens the obstacle avoidance path length, and improves calculation accuracy and installation speed.

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    Figure CN121535757B_ABST
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Abstract

The application discloses a robot path planning method and system for quick installation of magnetic yoke laminations, and relates to the technical field of robot control. The method comprises collecting magnetic yoke lamination installation site image data and robot data; height partitioning is performed according to volume changes of different robot heights, and the center maximum width of different height intervals is recorded; the installation site is coded in a grid format, the obstacle mapping area is diffused outward by a distance of the center maximum width, and the occlusion grid intersection points are marked; path planning is performed in combination with the diffused occlusion grid intersection points, a preliminary planning route is found, and motion parameters are assigned to obtain a final planning route. The application matches the size of the robot at different heights with obstacles, so that when the robot moves, the robot and the obstacles can overlap in the height direction, the moving distance of the robot when bypassing the obstacles is reduced, and the robot can complete the movement with smaller path changes, thereby improving the speed of installing the magnetic yoke laminations.
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