A point glue path planning method and system for random bulk materials

Abstract

This invention provides a dispensing path planning method and system for random bulk materials. The method includes generating dispensing points within a defined work area, obtaining the location of each dispensing point, selecting the starting point of each dispensing point, marking the starting point as visited, adding unvisited points after the starting point, sorting the points in ascending order of distance from the current point, obtaining a candidate list for the next dispensing point, traversing the candidate list, and determining the location of the next dispensing point based on the turning angle formed by each candidate point, the current point, and the previous point of the current point, as well as the distance between each candidate point and the current point, until all dispensing points are visited, thus obtaining the dispensing planning path. The method uses the turning angle between dispensing points as a constraint, combined with the distance between dispensing points, to determine the location of the next dispensing point. This ensures stable operation of the dispensing equipment and improves the stability of the dispensing process and product yield.

Description

Technical Field

[0001] This invention relates to the field of dispensing technology, and in particular to a dispensing path planning method and system for random bulk materials. Background Technology

[0002] As a core component of precision fluid control technology, dispensing processes are widely used in various high-end manufacturing fields such as electronics manufacturing, medical equipment, and automotive parts production. In random, unordered dispensing scenarios, path planning technology directly determines the stability of equipment operation, production efficiency, and product dispensing yield. With the popularization of machine vision and motion control technologies, vision-guided automated dispensing equipment has been widely used. Among these, path planning is a core and critical step, requiring a balance between walking efficiency and motion stability under conditions of scattered and irregular point distribution.

[0003] However, traditional solutions only consider the shortest geometric path as the sole optimization objective, completely ignoring the kinematic constraints of the dispensing equipment and failing to limit the continuous turning angle. When the equipment operates at high speed, frequent sharp turns generate significant inertial impacts and instantaneous vibrations, causing machine vibration and slight workpiece displacement. In precision dispensing applications, material misalignment and mechanism vibration can directly lead to dispensing position deviations and uneven adhesive distribution, resulting in quality problems such as adhesive leakage, adhesive breakage, and adhesive overflow. Summary of the Invention

[0004] This invention provides a dispensing path planning method and system for random bulk materials. It uses the turning angle between dispensing points as a constraint and combines the distance between dispensing points to determine the position of the next dispensing point, ensuring the stable operation of the dispensing equipment and improving the stability of the dispensing process and product yield.

[0005] In a first aspect, the present invention proposes a dispensing path planning method for randomly distributed materials, comprising: Generate dispensing points within the designated work area and obtain the location of each dispensing point; Select the starting point of the dispensing point, mark the starting point as visited, and add unvisited points after the starting point; Sort the candidates for the next glue application point in ascending order based on their distance from the current point; Traverse the candidate list and determine the location of the next glue dot based on the turning angle formed by each candidate point, the current point, and the previous point of the current point, as well as the distance between each candidate point and the current point. Continue until all dispensing points are visited to obtain the dispensing planning path.

[0006] In one embodiment, the method further includes: traversing the candidate list and comprehensively determining the location of the next adhesive dot based on the turning angle formed by each candidate point, the current point and the previous point of the current point, the distance between the current point and each candidate point, and the nearest distance of each candidate point to the next step.

[0007] In one embodiment, the step of traversing the candidate list and determining the location of the next adhesive dot based on the turning angle formed by each candidate point, the current point, and the previous point of the current point, the distance between the current point and each candidate point, and the nearest distance of each candidate point to the next step specifically involves: According to the weighted scoring formula The candidate point with the lowest score is selected as the next dispensing point; in, The distance from the current point to each candidate point; The forward evaluation value is the shortest distance that can be reached from each candidate point. If the shortest distance exceeds the preset legal distance, the weighted score is additionally assigned the maximum penalty value next_penalty. To smooth out the penalty value, = Where ang is the turning angle formed by each candidate point, the current point and the previous point of the current point, and min_angle_deg is the minimum allowed turning angle threshold; These are preset weighting coefficients.

[0008] In one embodiment, after visiting all dispensing points to obtain the dispensing planning path, the method further includes optimizing the dispensing planning path using a 2-Opt algorithm, specifically: Iterate through all path segment combinations using nested loops. , , where i and j are the position indices of each dispensing point in the dispensing planning path; Calculate the original path length: ; Calculate the flip Path length after segment: = |i-1→j| + |i→j+1; when < At that time, proceed to the steering angle legality check; Iterate until there is no room for optimization or the preset number of rounds is reached, and then output the optimized path.

[0009] In one embodiment, when < When entering the steering angle legality check, the specific steps are as follows: Check the optimized position index in Whether the included angle of the four dispensing points is greater than the minimum allowable steering angle threshold; If all checkpoints meet the steering angle constraints, the flip is accepted; otherwise, the optimization is abandoned.

[0010] In one embodiment, after accessing all dispensing points and obtaining the dispensing planning path, the process further includes: Traverse the dispensing planning path and count all violation points with steering angles less than or equal to the minimum allowable steering angle threshold and their corresponding steering angles; The violations were repaired sequentially, sorted by steering angle from smallest to largest.

[0011] In one embodiment, the step of sorting the violations by steering angle from smallest to largest and repairing them sequentially specifically involves: Delete the current violation point from the dispensing planning path, generate a shortened temporary path, and calculate the distance from the current violation point to all dispensing points in the temporary path; Select a preset number of dispensing points closest to the current violation point as anchor points, and use the dispensing positions before and after each anchor point as candidate adjustment positions for the violation point. Readjust the dispensing planning path to obtain the corresponding candidate adjustment planning path. Calculate the number of turning angle violation points and the total path length for each candidate adjusted planning path, and select the candidate adjusted planning path with the fewest turning angle violation points or the shortest total path length as the planning path after the current violation point is adjusted. Iterate through all points where the steering angle is incorrect until there are no more incorrect points or the maximum number of repair cycles is reached, and then output the final repair path.

[0012] In one embodiment, generating dispensing points within a defined work area and obtaining the position of each dispensing point specifically involves: Within the defined rectangular work area, generate uniformly distributed glue dots with a spacing greater than the minimum spacing between any two dots, and obtain the position of each glue dot.

[0013] In one embodiment, the starting point of the dispensing point is selected, the starting point is marked as visited, and unvisited points are added after the starting point. Specifically: Calculate the distance from all dispensing points to the starting point of the equipment, sort them in ascending order of distance, and select the N closest points as candidate starting points; For each candidate starting point, mark it as visited and add unvisited points after each candidate starting point; Correspondingly, after visiting all dispensing points and obtaining the dispensing planning path, it also includes, The dispensing planning path with the lowest combined score of the number of violations in steering angle and the total path length is selected as the final planning path.

[0014] Secondly, this invention proposes a dispensing path planning system for randomly distributed materials, comprising: The dispensing point determination unit is used to generate dispensing points within a set work area and obtain the position of each dispensing point. The starting point determination unit is used to select the starting point of the dispensing point, mark the starting point as visited, and add unvisited points after the starting point; The candidate point acquisition unit is used to obtain a candidate list of the next adhesive point by sorting them in ascending order according to their distance from the current point. The next point determination unit is used to traverse the candidate list and determine the location of the next glue dot based on the turning angle formed by each candidate point, the current point and the previous point of the current point, and the distance between each candidate point and the current point. The path acquisition unit is used to obtain the dispensing planning path by accessing all dispensing points.

[0015] This invention discloses a dispensing path planning method and system for random bulk materials. The method includes generating dispensing points within a defined work area, obtaining the positions of each dispensing point, selecting the starting point of each dispensing point, marking the starting point as visited, adding unvisited points after the starting point, sorting the points in ascending order of distance from the current point, obtaining a candidate list for the next dispensing point, traversing the candidate list, and determining the position of the next dispensing point based on the turning angle formed by each candidate point, the current point, and the previous point of the current point, as well as the distance between each candidate point and the current point, until all dispensing points are visited, thus obtaining the dispensing planning path. The method uses the turning angle between dispensing points as a constraint, combined with the distance between dispensing points, to determine the position of the next dispensing point. This ensures stable operation of the dispensing equipment and improves the stability of the dispensing process and product yield. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments are briefly introduced below. The drawings described below are only the corresponding drawings of some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a flowchart of a dispensing path planning method for random bulk materials in one embodiment of the present invention. Figure 2 This is a flowchart of a dispensing path planning method for random bulk materials, as shown in another embodiment of the present invention. Figure 3 This is a system block diagram of a dispensing path planning system for random bulk materials, as shown in one embodiment of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0020] See Figure 1 The present invention provides a dispensing path planning method for random bulk materials, which, in one embodiment, includes: S101 generates dispensing points within the set work area and obtains the position of each dispensing point.

[0021] Specifically, within the defined rectangular work area, uniformly distributed glue dots are generated, with the distance between any two dots greater than the minimum distance, and the position of each glue dot is obtained.

[0022] In the specific implementation, the dimensions of the work area are set: width img_width and height img_height; Generating random coordinates point by point The coordinate range is and Ensure a safe distance is reserved at the boundary; Calculate the Euclidean distance between the new dispensing point and all previously generated dispensing points; If the minimum distance is greater than the set threshold min_dist, then the glue dot is retained; The process is repeated until a specified number of dispensing dots (num_points) are generated, ensuring that the dots are evenly distributed, do not overlap too closely, and avoiding dispensing interference.

[0023] S102, Select the starting point of the dispensing point, mark the starting point as visited, and add unvisited points after the starting point.

[0024] In the specific implementation, the distance from all dispensing points to the starting point of the equipment is calculated, sorted in ascending order of distance, and the N preset points with the closest distance are selected as candidate starting points. The dispensing path is planned with each candidate starting point as the starting point.

[0025] Set the current candidate starting point as the first point of the dispensing planning path, create an array of visited markers, mark the starting point as visited, and add unvisited points to the end of the path in turn until all dispensing points are traversed.

[0026] S103, sort the candidates for the next glue dot in ascending order according to the distance from the current point.

[0027] For each candidate starting point, the k-th point on the path ( ): like If the preceding point is the starting point of the device, then the preceding point is the second to last point on the path. Filter all unvisited adhesive dots, sort them in ascending order by distance from the current dot, form a candidate list, and set the initial candidate pool size. .

[0028] S104, traverse the candidate list, and determine the location of the next adhesive dot based on the turning angle formed by each candidate point, the current point, and the previous point of the current point, as well as the distance between each candidate point and the current point.

[0029] Traverse the candidate points and calculate the previous points. Current point The turning angle between candidate points is considered. If the turning angle is less than the minimum allowable turning angle threshold, the candidate point is directly excluded, and the candidate point with the larger turning angle and shorter distance is selected as the next dispensing point.

[0030] S105, until all dispensing points are visited, to obtain the dispensing planning path.

[0031] Iterate through all dispensing points to obtain the dispensing planning path corresponding to each candidate starting point; The dispensing planning path with the lowest combined score of the number of violations in steering angle and the total path length is selected as the final planning path.

[0032] The dispensing path planning method in this embodiment selects multiple candidate starting points to plan dispensing paths separately. For each dispensing path, starting from the starting point, candidates are sorted in ascending order according to their distance from the current point to obtain a candidate list for the next dispensing point. Based on the turning angle formed by each candidate point, the current point, and the previous point, as well as the distance between each candidate point and the current point, the candidate point with the larger turning angle and the shorter distance is selected as the next dispensing point. This process is repeated for all dispensing points to obtain multiple dispensing planning paths. The path with the lowest combined score of the number of turning angle violations and the total path length is selected as the final planned path. This method adopts a multi-starting point parallel trial + optimal selection mechanism strategy, which can avoid the problem of poor path quality caused by a single starting point. In the path planning corresponding to each starting point, the turning angle between dispensing points is used as a hard constraint condition, combined with the distance between dispensing points to determine the position of the next dispensing point, ensuring the stable operation of the dispensing equipment and improving the stability of the dispensing process and product yield.

[0033] See Figure 2 In one embodiment, a dispensing path planning method for random bulk materials includes: S201 generates dispensing points within the set work area and obtains the position of each dispensing point.

[0034] S202, Select the starting point of the dispensing point, mark the starting point as visited, and add unvisited points after the starting point.

[0035] S203: Sort the candidates for the next adhesive dot in ascending order of distance from the current dot.

[0036] S204, traverse the candidate list, and comprehensively determine the location of the next adhesive dot based on the turning angle formed by each candidate point, the current point and the previous point of the current point, the distance between the current point and each candidate point, and the nearest distance of each candidate point to the next step.

[0037] Specifically, according to the weighted scoring formula The candidate point with the lowest score is selected as the next dispensing point; in, The distance from the current point to each candidate point; The forward evaluation value is the shortest distance that can be reached from each candidate point. If the shortest distance exceeds the preset legal distance, the weighted score is additionally assigned the maximum penalty value next_penalty. To smooth out the penalty value, = Where ang is the turning angle formed by each candidate point, the current point and the previous point of the current point, and min_angle_deg is the minimum allowed turning angle threshold. The closer the angle is to the minimum allowed turning angle threshold, the greater the penalty. To pre-determine the weighting coefficients, the candidate point with the lowest weighted score is selected and added to the planned path.

[0038] Among them, the maximum penalty value next_penalty is an empirically-based large penalty value, which is much larger than the maximum distance between any two glue dots in the normal path. This ensures that when the next step of a candidate point does not fall into a glue dot with a legal distance, the comprehensive score of the candidate point will increase significantly, and it will be prioritized for elimination by the algorithm to avoid the path leading to a "dead end".

[0039] Specifically, assuming the maximum distance of the dispensing area does not exceed 7071mm, and considering the normal movement distance range, the maximum penalty value is set to 3000mm. This value is significantly greater than the normal two-point distance, which can achieve a strong penalty effect without excessively amplifying the scoring difference, thus ensuring the stability of the algorithm.

[0040] S205, until all dispensing points are visited, to obtain the dispensing planning path.

[0041] If no candidate point at the current point meets the turning angle requirement, and the candidate pool is still not expanded after dynamically expanding, all candidate points are traversed, the turning angle is calculated, and the point with the largest turning angle is selected as the "least bad point". The number of backtracks is marked, and this point is reserved for processing in the subsequent repair stage. After the traversal is completed, the initial path that satisfies most of the angle constraints is output.

[0042] S206, The 2-Opt algorithm is used to optimize the dispensing planning path.

[0043] Specifically, use nested loops to traverse all path segment combinations. , , where i and j are the position indices of each dispensing point in the dispensing planning path; Calculate the original path length: ; Calculate the flip Path length after segment: = |i-1→j| + |i→j+1; when < At that time, proceed to the steering angle legality check; Iterate until there is no room for optimization or the preset number of rounds is reached, then output the optimized path. The 2-Opt algorithm replaces two intersecting or detour-like line segments with non-intersecting or straighter line segments and see which path is shorter.

[0044] S207, Check whether the steering angle of the optimized position index at the four dispensing points is greater than the minimum allowable steering angle threshold.

[0045] S208: If all checkpoints meet the steering angle constraint, the flip is accepted; otherwise, the optimization is abandoned.

[0046] After flipping the path segment, only check the angles of the boundary key points: Check index location: ; If all checkpoints meet the angle constraints, then the flip is accepted; Otherwise, abandon this optimization.

[0047] Set the maximum number of iteration rounds (max_rounds), iterate until there is no room for optimization or the maximum number of rounds is reached, and output the optimized path.

[0048] S209, traverse the dispensing planning path and count all violation points with steering angles less than or equal to the minimum allowable steering angle threshold and their corresponding steering angles.

[0049] S210, Repair the violations in order of increasing steering angle.

[0050] After obtaining the optimized path, we continue to check for violations on the optimized path. If violations of steering angle are found, we use a disassembly-rearrangement strategy to repair them round by round.

[0051] Specifically, the current violation point is deleted from the dispensing planning path, a shortened temporary path is generated, and the distance from the current violation point to all dispensing points in the temporary path is calculated. Select a preset number of dispensing points closest to the current violation point as anchor points, and use the dispensing positions before and after each anchor point as candidate adjustment positions for the violation point. Readjust the dispensing planning path to obtain the corresponding candidate adjustment planning path. Calculate the number of turning angle violation points and the total path length for each candidate adjusted planning path, and select the candidate adjusted planning path with the fewest turning angle violation points or the shortest total path length as the planning path after the current violation point is adjusted. Iterate through all points where the steering angle is incorrect until there are no more incorrect points or the maximum number of repair cycles is reached, and then output the final repair path.

[0052] The dispensing path planning method in this application determines the location of the next dispensing point based on the turning angle formed by the candidate point, the current point, and the previous point, the distance between the current point and the candidate point, and the shortest distance from the candidate point to the next step. The candidate point with the lowest comprehensive score for turning angle, distance, and forward distance is selected as the next dispensing point. After obtaining the dispensing path, a 2-Opt algorithm is used to optimize it, replacing intersecting or detour-like line segments with non-intersecting or straighter line segments, selecting a shorter and smoother path as the optimized path. After obtaining the optimized path, a violation check is performed. If a turning angle violation is found, a disassembly-rearrangement strategy is used to repair it round by round until the final repaired path is obtained.

[0053] The method in this application is a greedy initial path construction method with look-ahead prediction and smoothing penalty, including a multi-factor fusion scoring model, a dynamic candidate pool expansion strategy, and an optimal candidate selection strategy for angles without legal points. It protects against a constraint-enhanced 2-Opt local optimization method with angle legality detection, limiting the constraint detection logic to only boundary point verification, thus improving optimization efficiency while satisfying motion constraints. It also protects against an iterative repair method that uses hierarchical sorting of angle violation points, local anchor point search, and disassembly and rearrangement, achieving path constraint compliance correction with low computational cost through traversing a small range of candidate positions. This forms a complete technical chain from initial feasible path and short-distance optimization to full constraint compliance, which can be widely applied to automated dispensing and precision motion control equipment, ensuring stable operation of dispensing equipment and improving the stability and product yield of the dispensing process.

[0054] See Figure 3 This application also proposes a dispensing path planning system for random bulk materials, including: The dispensing point determination unit 10 is used to generate dispensing points within a set working area and obtain the position of each dispensing point.

[0055] The starting point determination unit 20 is used to select the starting point of the dispensing point, mark the starting point as visited, and add unvisited points after the starting point.

[0056] The candidate point acquisition unit 30 is used to obtain a candidate list of the next adhesive point by sorting them in ascending order according to their distance from the current point.

[0057] The next point determination unit 40 is used to traverse the candidate list and determine the location of the next glue dot based on the turning angle formed by each candidate point, the current point and the previous point of the current point, and the distance between each candidate point and the current point.

[0058] The path acquisition unit 50 is used to obtain the dispensing planning path by accessing all dispensing points.

[0059] In one embodiment, the next point determination unit 40 is further configured to traverse the candidate list and comprehensively determine the location of the next adhesive dot based on the turning angle formed by each candidate point, the current point and the previous point of the current point, the distance between the current point and each candidate point, and the nearest distance of each candidate point to the next step.

[0060] In one embodiment, the next point determination unit 40 is specifically used to traverse the candidate list and determine the location of the next adhesive dot based on the turning angle formed by each candidate point, the current point, and the previous point of the current point, the distance between the current point and each candidate point, and the nearest distance of each candidate point to the next step. According to the weighted scoring formula The candidate point with the lowest score is selected as the next dispensing point; in, The distance from the current point to each candidate point; The forward evaluation value is the shortest distance that can be reached from each candidate point. If the shortest distance exceeds the preset legal distance, the weighted score is additionally assigned the maximum penalty value next_penalty. To smooth out the penalty value, = , where ang is the turning angle formed by each candidate point, the current point and the previous point of the current point, min_angle_deg is the minimum allowed turning angle threshold; and is a preset weighting coefficient.

[0061] In one embodiment, the system further includes an optimization unit for optimizing the dispensing planning path using a 2-Opt algorithm, specifically for: Iterate through all path segment combinations using nested loops. , , where i and j are the position indices of each dispensing point in the dispensing planning path; Calculate the original path length: ; Calculate the flip Path length after segment: = |i-1→j| + |i→j+1; when < At that time, proceed to the steering angle legality check; Iterate until there is no room for optimization or the preset number of rounds is reached, and then output the optimized path.

[0062] In one embodiment, when < When entering the steering angle legality check, the specific steps include: Check the optimized position index in Whether the included angle of the four dispensing points is greater than the minimum allowable steering angle threshold; If all checkpoints meet the steering angle constraints, the flip is accepted; otherwise, the optimization is abandoned.

[0063] In one embodiment, the system further includes a violation point repair unit, which is used to traverse the dispensing planning path and count all violation points with steering angles less than or equal to the minimum allowable steering angle threshold and their corresponding steering angles. The violations were repaired sequentially, sorted by steering angle from smallest to largest.

[0064] In one embodiment, the step of sorting by steering angle from smallest to largest and repairing the violations in sequence specifically includes: Delete the current violation point from the dispensing planning path, generate a shortened temporary path, and calculate the distance from the current violation point to all dispensing points in the temporary path; Select a preset number of dispensing points closest to the current violation point as anchor points, and use the dispensing positions before and after each anchor point as candidate adjustment positions for the violation point. Readjust the dispensing planning path to obtain the corresponding candidate adjustment planning path. Calculate the number of turning angle violation points and the total path length for each candidate adjusted planning path, and select the candidate adjusted planning path with the fewest turning angle violation points or the shortest total path length as the planning path after the current violation point is adjusted. Iterate through all points where the steering angle is incorrect until there are no more incorrect points or the maximum number of repair cycles is reached, and then output the final repair path.

[0065] In one embodiment, the dispensing point determination unit is specifically used for: Within the defined rectangular work area, generate uniformly distributed glue dots with a spacing greater than the minimum spacing between any two dots, and obtain the position of each glue dot.

[0066] In one embodiment, the starting point determination unit is specifically used for: Calculate the distance from all dispensing points to the starting point of the equipment, sort them in ascending order of distance, and select the N closest points as candidate starting points; For each candidate starting point, mark it as visited and add unvisited points after each candidate starting point; Correspondingly, after the path acquisition unit 50 has visited all dispensing points and obtained the dispensing planning path, it also includes... The path selection unit is used to select the dispensing planning path with the lowest combined score of the number of violations in steering angle and the total path length as the final planning path.

[0067] The specific process by which each unit performs the corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0068] This application also provides a computer device, which includes a processor and a memory. The memory stores a computer program, which, when loaded and executed by the processor, implements the method steps described in any of the above method embodiments.

[0069] This application also provides a computer storage medium storing a computer program, which, when executed, implements the method steps described in any of the above method embodiments.

[0070] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units through some interfaces, and may be electrical, mechanical, or other forms.

[0071] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0072] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.

[0073] Based on this understanding, the technical solution of this application, in essence, or the part that contributes to it, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a mobile terminal, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0074] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the concept of the technical solution of the present invention, should be covered within the scope of protection of the present invention.

[0075] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A dispensing path planning method for random bulk materials, characterized in that, include: Generate dispensing points within the designated work area and obtain the location of each dispensing point; Select the starting point of the dispensing point, mark the starting point as visited, and add unvisited points after the starting point; Sort the candidates for the next glue dot in ascending order based on their distance from the current dot; Traverse the candidate list, and based on the turning angle formed by each candidate point, the current point, and the previous point of the current point, as well as the distance between each candidate point and the current point, if the turning angle is less than the minimum allowable turning angle threshold, directly exclude the candidate point, and select the candidate point with the larger turning angle and the shorter distance as the location of the next glue dot. Continue until all dispensing points are visited to obtain the dispensing planning path; It also includes: traversing the candidate list, and comprehensively determining the position of the next adhesive dot based on the turning angle formed by each candidate point, the current point, and the previous point of the current point, the distance between the current point and each candidate point, and the nearest distance of each candidate point to the next step, specifically: According to the weighted scoring formula The candidate point with the lowest score is selected as the next dispensing point; in, The distance from the current point to each candidate point; The forward evaluation value is the shortest distance that can be reached from each candidate point. If the shortest distance exceeds the preset legal distance, the weighted score is additionally assigned the maximum penalty value next_penalty. To smooth out the penalty value, = Where ang is the turning angle formed by each candidate point, the current point and the previous point of the current point, and min_angle_deg is the minimum allowed turning angle threshold; These are preset weighting coefficients.

2. The method according to claim 1, characterized in that, After visiting all dispensing points and obtaining the dispensing planning path, the process further includes optimizing the dispensing planning path using a 2-Opt algorithm, specifically: Iterate through all path segment combinations using nested loops. , , where i and j are the position indices of each dispensing point in the dispensing planning path; Calculate the original path length: ; Calculate the flip Path length after segment: = |i 1→j| + |i→j 1; when < At that time, proceed to the steering angle legality check; Iterate until there is no room for optimization or the preset number of rounds is reached, and then output the optimized path.

3. The method according to claim 2, characterized in that, when < When entering the steering angle legality check, the specific steps are as follows: Check the optimized position index in Whether the included angle of the four dispensing points is greater than the minimum allowable steering angle threshold; If all checkpoints meet the steering angle constraints, the flip is accepted; otherwise, the optimization is abandoned.

4. The method according to claim 1, characterized in that, After visiting all dispensing points and obtaining the dispensing planning path, the process also includes: Traverse the dispensing planning path and count all violation points with steering angles less than or equal to the minimum allowable steering angle threshold and their corresponding steering angles; Repair the violations in order of increasing steering angle.

5. The method according to claim 4, characterized in that, The specific steps for repairing violations in ascending order of steering angle are as follows: Delete the current violation point from the dispensing planning path, generate a shortened temporary path, and calculate the distance from the current violation point to all dispensing points in the temporary path; Select a preset number of dispensing points closest to the current violation point as anchor points, and use the dispensing positions before and after each anchor point as candidate adjustment positions for the violation point. Readjust the dispensing planning path to obtain the corresponding candidate adjustment planning path. Calculate the number of turning angle violation points and the total path length for each candidate adjusted planning path, and select the candidate adjusted planning path with the fewest turning angle violation points or the shortest total path length as the planning path after the current violation point is adjusted. Iterate through all points where the steering angle is incorrect until there are no more incorrect points or the maximum number of repair cycles is reached, and then output the final repair path.

6. The method according to claim 1, characterized in that, The specific steps for generating dispensing points within the designated work area and obtaining the location of each dispensing point are as follows: Within the defined rectangular work area, generate uniformly distributed dispensing points with a spacing greater than the minimum spacing between any two points, and obtain the position of each dispensing point.

7. The method according to claim 1, characterized in that, Select the starting point of the dispensing point, mark the starting point as visited, and add unvisited points after the starting point. Specifically: Calculate the distance from all dispensing points to the starting point of the equipment, sort them in ascending order of distance, and select the N closest points as candidate starting points; For each candidate starting point, mark it as visited and add unvisited points after each candidate starting point; Correspondingly, after visiting all dispensing points and obtaining the dispensing planning path, it also includes, The dispensing planning path with the lowest combined score of the number of violations in steering angle and the total path length is selected as the final planning path.

8. A dispensing path planning system for random bulk materials, characterized in that, include: The dispensing point determination unit is used to generate dispensing points within a set work area and obtain the position of each dispensing point. The starting point determination unit is used to select the starting point of the dispensing point, mark the starting point as visited, and add unvisited points after the starting point; The candidate point acquisition unit is used to obtain a candidate list of the next adhesive point by sorting them in ascending order according to their distance from the current point. The next point determination unit is used to traverse the candidate list and, based on the turning angle formed by each candidate point, the current point, and the previous point of the current point, as well as the distance between each candidate point and the current point, if the turning angle is less than the minimum allowable turning angle threshold, the candidate point is directly excluded, and the candidate point with the larger turning angle and the shorter distance is selected as the location of the next glue dot. The path acquisition unit is used to obtain the dispensing planning path by accessing all dispensing points. The next point determination unit is further configured to traverse the candidate list and comprehensively determine the location of the next adhesive dot based on the turning angle formed by each candidate point, the current point, and the previous point of the current point, the distance between the current point and each candidate point, and the nearest distance of each candidate point to the next step. Specifically: According to the weighted scoring formula The candidate point with the lowest score is selected as the next dispensing point; in, The distance from the current point to each candidate point; The forward evaluation value is the shortest distance that can be reached from each candidate point. If the shortest distance exceeds the preset legal distance, the weighted score is additionally assigned the maximum penalty value next_penalty. To smooth out the penalty value, = Where ang is the turning angle formed by each candidate point, the current point and the previous point of the current point, and min_angle_deg is the minimum allowed turning angle threshold; These are preset weighting coefficients.

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