CN109909657A - A kind of automatic welding paths planning method of antenna array - Google Patents
A kind of automatic welding paths planning method of antenna array Download PDFInfo
- Publication number
- CN109909657A CN109909657A CN201910261114.4A CN201910261114A CN109909657A CN 109909657 A CN109909657 A CN 109909657A CN 201910261114 A CN201910261114 A CN 201910261114A CN 109909657 A CN109909657 A CN 109909657A
- Authority
- CN
- China
- Prior art keywords
- antenna array
- path
- welding
- pad
- subregion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Numerical Control (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The present invention discloses a kind of automatic welding paths planning method of antenna array, coordinate and soldering angle including calculating each pad based on antenna array photo；Antenna array is divided into multiple subregions；Path of welding is planned to each subregion respectively；And the path of welding in planning antenna array between subregion, obtain the path of welding of antenna array.Large-scale antenna array is decomposed into small-scale subregion in the present invention, to each subregion parallel optimization path of welding, the path of subregion is connected again to obtain the path of welding of entire front, the path of welding planning for realizing automation, can be with the path of welding planning problem of the extensive front of rapid solving.The present invention can realize that without increasing other hardware devices, speed is fast, and versatile, maintenance cost is low on the control computer of welding robot.
Description
Technical field
The present invention relates to paths planning methods.More particularly, to a kind of automatic welding path planning side of antenna array
Method.
Background technique
In the production process of antenna array, the thousands of solder joints irregularly arranged are shared, are not only taken using human weld
When laborious and welding quality be also difficult to ensure.Compared with human weld, the quality of robot welding is high and consistency is good, can be with
Substantially reduce welding cost.Particularly, occur determining the automatic welding machine of bond pad locations using computer vision technique in the recent period
Device people, the robot can be by taking pictures to pad come the angle of the position and welding that determine pad to realize unmanned weldering
It connects.As robot technology continues to develop, the business scenario for carrying out automatic welding using robot in weld job is more and more,
Therefore, it is necessary to be planned path of welding according to specific application scenarios to improve welding robot working efficiency.
During automatic welding, welding robot needs to complete the translation of mechanical arm, rotation, declines and lift dynamic
Make, wherein declining and lifting is that each welding requires duplicate same action, the time consumed when welding every time is identical, is not required to
It optimizes.Relative positional relationship in translation and spinning movement and path of welding between two adjacent solder joints is related,
The time of consumption is variable relevant with the position of solder joint when welding every time and posture, if do not planned path of welding,
May cause many unnecessary translations of mechanical arm progress and spinning movement, welding efficiency will be greatly reduced.Therefore, in day wire bonding
It takes over to optimize the translation distance and rotation angle of mechanical arm according to the position of solder joint and posture in business and is to speed up welding speed
The important technology of degree.
Bond pad locations on antenna array can be determined by space coordinate and soldering angle, in the welding to extensive front
When path is planned, corresponding mathematical model is very complicated, is difficult to find optimal path in acceptable time range.
Currently used method includes simplified model method and genetic algorithm:
(1) thought of simplified model is to ignore to influence time-consuming secondary cause, such as when the translational velocity of mechanical arm is very fast and
Ignore the time-consuming of translation motion when rotation speed is slower, only considers to optimize spinning movement.The shortcomings that this method, is
It is difficult to assess the significance level of secondary cause, excellent stroke of effect when secondary movement takes a long time is often bad.
(2) genetic algorithm is then the rule of " survival of the fittest " in natural imitation circle, in the solution space of path planning problem
Search for an approximate solution met the requirements.Its shortcoming is that calculation amount when planning extensive problem is larger, program operation when
Between it is very long, cannot plan path of welding in real time.
But above-mentioned method in practical applications can not all meet the requirement of real-time and accuracy, therefore, day simultaneously
A kind of side that can quickly and accurately solve extensive path of welding planning problem is needed in the automatic welding task in linear array face
Method, that is, need to provide a kind of automatic welding paths planning method of antenna array.
Summary of the invention
It is an object of the invention to provide a kind of welding path optimizing method for automatic welding machine people, this method can be real
When for antenna array weld task cook up time-consuming shorter path of welding.
In order to achieve the above objectives, the present invention adopts the following technical solutions:
A kind of automatic welding paths planning method of antenna array, the paths planning method include:
The coordinate and soldering angle of each pad are calculated based on antenna array photo, are shown in antenna array photo multiple
Pad；
Antenna array is divided into multiple subregions；
Path of welding is planned to each subregion respectively；And
It plans the path of welding in antenna array between subregion, obtains the path of welding of antenna array.
It is preferably based on that antenna array photo calculates the coordinate of each pad and soldering angle includes:
Rectangular coordinate system is established based on antenna array photo, wherein a little sitting for right angle with the most lower left of antenna array
The angle marked the coordinate origin of system, and define x-axis direction is 0, wherein antenna array photo is that robot carries out antenna array
It takes pictures to obtain；
Based on formula xi=Δ × wiIt calculates in antenna array photo and corresponds to pad piAbscissa xi；
Based on formula yi=Δ × hiIt calculates in antenna array photo and corresponds to pad piOrdinate yi；And
Based on formula ai=arctan (yi/xi) calculate antenna array photo in correspond to pad piSoldering angle ai；
Wherein, i is integer more than or equal to 1, Δ be by two neighboring pixel in calibration aft antenna front photo it
Between distance, wiTo correspond to pad p in antenna array photoiCentral pixel point arrive the pixel that origin is spaced in the direction of the x axis
Quantity, hiTo correspond to pad p in antenna array photoiCentral pixel point arrive the pixel number that origin is spaced in the y-axis direction
Amount.
It is further preferred that antenna array be divided into multiple subregions including:
Antenna array is divided into m row n and arranges multiple subregions by the quantity of the middle pad based on antenna array photo, multiple
Each of subregion has the identical area of interior size.
It is further preferred that including: to each subregion planning path of welding respectively
Building subregion corresponds to mathematical model as weighting Undirected graph G=(V, E)；And
Determine the objective function and constraint condition of mathematical model；
Wherein, V={ pi i=1 ..., n } is used to indicate the set of all pads in G, and E is for indicating all sides in G
Set, E (i, j) is for indicating tie point piAnd pjSide, w (i, j) is for indicating from vertex piTo vertex pjWeight, dijWith
In expression piAnd pjBetween Euclidean distance, δijFor indicating piAnd pjDifferential seat angle, v is used to indicate the translational velocity of mechanical arm,
ω is used to indicate the angular velocity of rotation of mechanical arm.
It is further preferred that the objective function and constraint condition of mathematical model are as follows:
zij∈ { 0,1 } i, j=1, n (4)
Wherein, the Z in objective function is by zijThe matrix of composition；
Constraint condition (1) and constraint condition (2) are used to indicate that each pad on path to be limited to one and enters side and one
Side out, to guarantee that path of welding not repeatedly passes through each pad；
Constraint condition (3) is for guaranteeing in the paths without sub-loop；
In constraint condition (4), zijIndicate that side E (i, j) is comprised in path when=1, zijSide E (i, j) is indicated when=0
It is not comprised in path；
Constraint condition (5) is used to indicate that the weight of side E (i, j) to be equal to mechanical arm by piTo pjTranslated and rotate when
Between and；
Constraint condition (6) and constraint condition (7) are used to indicate the calculation formula of distance and differential seat angle.
It is further preferred that solving mathematical model using Christofides algorithm, specifically include:
Step1: the minimum spanning tree T of G=(V, E) is sought using Prim algorithm, comprising:
Step1.1: initialization V is carried out to pad setnew={ p }, wherein p is any one node in V, Enew=
{}；
Step1.2: repeating the steps of a and step b, until Vnew=V:
A. the smallest side E (i, j) of weight is chosen in set E, wherein piFor set VnewIn element, pjFor not in Vnew
In but the node in V；And
B. by pjSet V is addednewIn, set E is added in E (i, j)newIn；
Step1.3: it exports as with set VnewAnd EnewCome the minimum spanning tree T described
Step2: minimum perfect matching M is calculated, and minimum perfect matching M is added on minimum spanning tree T and obtains Euler
Scheme G*；
Step3: Euler's circuit is calculated based on Euler diagram G*；And
Step4: hamiltonian circuit is generated based on Euler's circuit.
It is further preferred that enabling V '={ t in step Step21,…,tlIndicate that minimum spanning tree T moderate is the top of odd number
The set of point, w (i, j) are indicated from vertex tiTo vertex tjWeight, w (i, j)=dij/v+aij/ ω, E (i, j) are indicated from vertex
tiTo vertex tjSide, G ' indicate V ' constitute complete subgraph, comprising:
Step2.1: initialization M={ }, A={ }；
Step2.2: it takes not in set A but the node t in set V 'i, tjSo that w (i, j) is minimum；
Step2.3: ti, tjIt is added in A, E (i, j) is added in M；
Step2.4: the Step2.2 and step Step2.3 that repeats the above steps is until point all in V ' is added to A
In；
Step2.5: a minimum perfect matching M of the complete subgraph G ' of V ' composition is obtained, minimum perfect matching M is added
Euler diagram G* is obtained on to minimum spanning tree T.
It is further preferred that step Step3 includes calculating in Euler diagram G* from vertex pkThe Euler's circuit E to set outk,
It specifically includes:
Step3.1: to Euler's circuit EkIt initializes, even Ek={ pk}；
Step3.2: for selected Euler's circuit Ek={ pk, g1..., gs, from set G*-EkMiddle selection is next
Node gs+1And E is addedkIn, wherein gs+1And gsBetween have the side being connected directly, or in gs+1And gsBetween be not connected directly
Side when gs+1And gsBetween side be G*-EkCut edge；
Step3.3: in Euler's circuit EkIt is middle to have increased all nodes, obtain required Euler's circuit Ek。
It is further preferred that step Step4 includes:
Step4.1: initialization H={ pk, from pkIt sets out and successively accesses circuit EkOn vertex q, if q is in set H
Element then skips q access EkNext vertex, otherwise by q be added set H in, until having accessed EkOn all vertex until；
Step4.2: the hamiltonian circuit constituted according to the sequence of set H interior joint, the weldering after obtaining the optimization of subregion G
Connect path.
It is further preferred that the path of welding in planning antenna array between subregion, obtains the welding road of antenna array
Diameter includes:
It connects the planning path of welding of each subregion to obtain the path of welding of antenna array based on greedy algorithm,
It specifically includes:
The planning path of welding for defining each subregion is Hm(m=1 ... c)；
Since the first sub-regions, when mechanical arm runs to the terminal in the path of current region, based on
Lower formula determines next pad pnext:
s.t. pj∈V
And
By pnextThe region at place is as next welding region, with pnextPath of welding is planned for starting point corresponding sub-region
Welding, the weld task until completing all subregions, obtains the path of welding of antenna array；
Wherein, piFor the terminal of current path, w (i, j) is indicated from piTo pjSide weight, V indicate G in all pads
Set, Q indicates the set of soldered pad.
Beneficial effects of the present invention are as follows:
A kind of automatic welding paths planning method by antenna array of the invention, large-scale antenna array is decomposed into
Small-scale subregion connects to obtain entirely to each subregion parallel optimization path of welding, then by the path of subregion
The path of welding of front is realized the path of welding planning of automation, can be advised with the path of welding of the extensive front of rapid solving
The problem of drawing.The present invention can realize that, without increasing other hardware devices, speed is fast on the control computer of welding robot,
Versatile, maintenance cost is low.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
Fig. 1 shows a kind of automatic welding paths planning method flow chart of antenna array of the embodiment of the present invention.
Fig. 2 shows the subregion path planning process figures of the embodiment of the present invention.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
As shown in Figure 1, the invention discloses a kind of automatic welding paths planning methods of antenna array, including it is based on antenna
Front photo calculates the coordinate and soldering angle of each pad, shows multiple pads in antenna array photo；By antenna array
It is divided into multiple subregions；Path of welding is planned to each subregion respectively；And the weldering in planning antenna array between subregion
Path is connect, the path of welding of antenna array is obtained.
In the present invention, large-scale antenna array is decomposed into small-scale subregion, to each subregion parallel optimization
Path of welding, then the path of subregion is connected to obtain the path of welding of entire front, realize the welding road of automation
Diameter planning, can be with the path of welding planning problem of the extensive front of rapid solving.The present invention can be in the control of welding robot
It is realized on computer, without increasing other hardware devices, speed is fast, and versatile, maintenance cost is low.
It is illustrated below by a specific embodiment
Firstly, calculating the coordinate and soldering angle of each pad according to the photo of antenna array.
According to the front photo that welding robot is shot, the lower left corner for choosing entire antenna array is coordinate origin, is established
Rectangular coordinate system, the angle of x-axis direction are 0, calculate each pad piCoordinate (xi,yi) and angle ai.With d indicate by
The distance between two neighboring pixel, w in photo after calibrationi, hiRespectively indicate pad p in photoiCentral pixel point is in x-axis
With the pixel quantity that is spaced on y-axis direction to origin then pad piCoordinate and angle can be according to formula (1)~formula (3)
It calculates.
xi=d × wi (1)
yi=d × hi (2)
ai=arctan (yi/xi) (3)
Secondly, planning path of welding to the pad in each subregion.
Entire antenna array is divided into col × row (in the present embodiment about according to the front photo that welding robot is shot
Equal to subregion similar in 100) a size.
The mathematical model of each subregion to be planned can be expressed as a weighting Undirected graph G=(V, E), V={ pi
I=1 ..., n } indicate G in all pads set, E indicate G in all sides set, E (i, j) indicate tie point piAnd pj's
Side, w (i, j) are indicated from vertex piTo vertex pjWeight, dijIndicate piAnd pjBetween Euclidean distance, δijIndicate piAnd pj's
Differential seat angle.The translational velocity of mechanical arm is indicated with v, ω indicates the angular velocity of rotation of mechanical arm.
Then the path planning problem in each subregion can be described as the mathematical model of following path planning problem:
zij∈ { 0,1 } i, j=1, n (4)
Wherein, the Z in objective function is by zijThe matrix of composition.
Constraint condition (1) and constraint condition (2) indicate each pad on path can only have one enter while and one go out while,
Guarantee that path of welding not repeatedly passes through each pad；
Constraint condition (3) guarantees in the paths without sub-loop；
In constraint condition (4), zijIndicate that side E (i, j) is comprised in path when=1, zijSide E (i, j) is indicated when=0
It is not comprised in path；
Constraint condition (5) indicates that the weight of side E (i, j) is equal to mechanical arm by piTo pjTranslated and time for rotating and；
Constraint condition (6) and (7) indicate the calculation formula of distance and differential seat angle.
According to existing mathematical theory, above-mentioned model is a np complete problem, and there is presently no can be multiple in multinomial
The algorithm of optimal solution is found under the conditions of miscellaneous degree, i.e., exact algorithm is not able to satisfy the requirement of real-time in extensive problem.
Real-time and accuracy in order to balance, the embodiment of the present invention solve near-optimization using Christofides algorithm
Solution, according to mathematical proof, the consumed time is not exceeded when being welded using the path of Christofides algorithmic rule
Use 1.5 times of the time of optimal path.
As shown in Fig. 2, including: using the above-mentioned model of Christofides algorithm solution
Step 1: the minimum spanning tree T of G=(V, E) is sought using Prim algorithm.
(1) V is initializednew={ p }, p are any one node in V, Enew={ }；
(2) following operation is repeated until Vnew=V:
A. the smallest side E (i, j) of weight is chosen in set E, wherein piFor set VnewIn element, pjFor not in Vnew
In but the node in V；
B. by pjSet V is addednewIn, set E is added in E (i, j)newIn.
(3) output is to use set VnewAnd EnewCome the minimum spanning tree T described.
Step 2: seeking minimum perfect matching.
Enable V '={ t1,…,tlIndicating that T moderate is the set on the vertex of odd number, w (i, j) is indicated from vertex tiTo vertex tj
Weight, w (i, j)=dij/v+aij/ ω, E (i, j) are indicated from vertex tiTo vertex tjSide, G ' indicate V ' constitute complete son
Figure.
It initializes M={ }, A={ } takes not in set A but the node t in set V 'i, tjSo that w (i, j) is minimum,
ti, tjIt is added in A, E (i, j) is added in M, and repetition above step is added in A until point all in V ', just
A minimum perfect matching M of G ' is had found,
M is added on T and obtains Euler diagram G*.
Step 3: asking in G* from vertex pkThe Euler's circuit E to set outk。
Initialize Ek={ pk, it is assumed that Ek={ pk, g1..., gsSelected, as follows from set G*-Ek
Middle selection next node gs+1And E is addedkIn:
a.gs+1And gsBetween have the side being connected directly
B. unless there are no other selection, otherwise gs+1And gsBetween side be not G*-EkCut edge.
When can not select next node, EkAs required Euler's circuit.
Step 4: a hamiltonian circuit is generated according to Euler's circuit.
Initialize H={ pk, from pkIt sets out and successively accesses circuit EkOn vertex q, jumped if q is the element in set H
Cross q access EkNext vertex, otherwise by q be added set H in, until having accessed EkOn all vertex until.
Hamiltonian circuit according to the sequence composition of set H interior joint is the path of welding after the optimization of subregion G.
It should be noted that for the arithmetic speed of improvement method, in the embodiment of the present invention, by the meter of pad locations and size
Parallel operation can be deployed on GPU by calculating program, while guarantee the speed and precision of path planning using heuritic approach,
That is the path planning of each sub-regions is independent from each other in the embodiment of the present invention, in operation, the present embodiment is each
The path planning program of subregion is deployed on GPU parallel operation.
Finally, the path of welding between planning subregion.
The path all subregions is also needed to connect after planning each sub-regions entire to obtain
The path of welding of antenna array.The path H that the embodiment of the present invention uses greedy algorithm that each sub-regions are plannedm(m=1 ...
C) it connects to obtain complete path, comprising:
Since the first sub-regions, when mechanical arm runs to the terminal in the path of current region, according to such as
Under mode find next pad pnext:
s.t.pj∈V
Wherein, piFor the terminal of current path, w (i, j) is indicated from piTo pjSide weight, V indicate G in all pads
Set, Q indicates the set of soldered pad.
The pnextThe region at place is as next welding region, with pnextBy starting point according to the path bond planned,
Weld task until completing all subregions.
In the present invention, following manner is taken to improve arithmetic speed: (1) antenna array containing thousands of pads being divided
Path planning is carried out to contain only the zonule of about 100 pads；(2) to each zonule progress path planning use when
Christofides algorithm is to guarantee the speed and precision of operation；(3) the path planning concurrent operation of each zonule, is saved significantly
About operation time.
It can be with for the versatility of Enhancement Method, in the present invention: (1) obtaining pad using the method for computer vision
Position and posture are adapted to the pad of various positions and angle；(2) big front is decomposed into fritter to be planned, Ke Yishi
Answer the antenna array of various scales；(3) path of welding cooked up can be completed by multiple welding robot concurrent workings.
It should be noted that belonging to " first ", " second " in description and claims of this specification and above-mentioned attached drawing
Etc. being not use to describe a particular order for distinguishing different objects.In addition, term " includes " and " having " and they
Any deformation, it is intended that cover and non-exclusive include.Such as contain the process, method of a series of steps or units, system,
Product or equipment are not limited to listed step or unit, but optionally further comprising the step of not listing or unit,
Or optionally further comprising the gas step intrinsic for these process, methods or equipment or unit.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention may be used also on the basis of the above description for those of ordinary skill in the art
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to this hair
The obvious changes or variations that bright technical solution is extended out are still in the scope of protection of the present invention.
Claims (10)
1. a kind of automatic welding paths planning method of antenna array, which is characterized in that the paths planning method includes:
The coordinate and soldering angle of each pad are calculated based on antenna array photo, are shown in the antenna array photo multiple
Pad；
The antenna array is divided into multiple subregions；
Path of welding is planned to each subregion respectively；And
It plans the path of welding in the antenna array between subregion, obtains the path of welding of the antenna array.
2. paths planning method according to claim 1, which is characterized in that described to be calculated each based on antenna array photo
The coordinate and soldering angle of pad include:
Rectangular coordinate system is established based on the antenna array photo, wherein any with the most lower left of the antenna array is straight
The coordinate origin of angular coordinate system, and the angle for defining x-axis direction is 0, wherein the antenna array photo is robot to described
Antenna array is taken pictures to obtain；
Based on formula xi=Δ × wiIt calculates in antenna array photo and corresponds to pad piAbscissa xi；
Based on formula yi=Δ × hiIt calculates in antenna array photo and corresponds to pad piOrdinate yi；And
Based on formula ai=arctan (yi/xi) calculate antenna array photo in correspond to pad piSoldering angle ai；
Wherein, i is the integer more than or equal to 1, and Δ is by demarcating in aft antenna front photo between two neighboring pixel
Distance, wiTo correspond to pad p in antenna array photoiCentral pixel point arrive the pixel number that origin is spaced in the direction of the x axis
Amount, hiTo correspond to pad p in antenna array photoiCentral pixel point arrive the pixel quantity that origin is spaced in the y-axis direction.
3. paths planning method according to claim 2, which is characterized in that it is described the antenna array is divided into it is multiple
Subregion includes:
The antenna array is divided into m row n and arranges multiple subregions by the quantity of the middle pad based on the antenna array photo,
Each of the multiple subregion has the identical area of interior size.
4. paths planning method according to claim 3, which is characterized in that described to plan respectively each subregion
Path of welding includes:
It constructs the subregion and corresponds to mathematical model as weighting Undirected graph G=(V, E)；And
Determine the objective function and constraint condition of the mathematical model；
Wherein, V={ piI=1 ..., n } for indicating the set of all pads in G, E is used to indicate the set on all sides in G, E
(i, j) is for indicating tie point piAnd pjSide, w (i, j) is for indicating from vertex piTo vertex pjWeight, dijFor indicating
piAnd pjBetween Euclidean distance, δijFor indicating piAnd pjDifferential seat angle, v is used to indicate the translational velocity of mechanical arm, and ω is used for
Indicate the angular velocity of rotation of mechanical arm.
5. paths planning method according to claim 4, which is characterized in that the objective function of the mathematical model and constraint
Condition are as follows:
zij∈ { 0,1 } i, j=1, n (4)
Wherein, the Z in objective function is by zijThe matrix of composition；
Constraint condition (1) and constraint condition (2) be used to indicate each pad on path be limited to one enter while and one go out while,
To guarantee that path of welding not repeatedly passes through each pad；
Constraint condition (3) is for guaranteeing in the paths without sub-loop；
In constraint condition (4), zijIndicate that side E (i, j) is comprised in path when=1, zijIndicate that side E (i, j) is not wrapped when=0
Containing in the paths；
Constraint condition (5) is used to indicate that the weight of side E (i, j) to be equal to mechanical arm by piTo pjTranslated and time for rotating and；
Constraint condition (6) and constraint condition (7) are used to indicate the calculation formula of distance and differential seat angle.
6. paths planning method according to claim 5, which is characterized in that using described in the solution of Christofides algorithm
Mathematical model specifically includes:
Step1: the minimum spanning tree T of G=(V, E) is sought using Prim algorithm, comprising:
Step1.1: initialization V is carried out to pad setnew={ p }, wherein p is any one node in V, Enew={ }；
Step1.2: repeating the steps of a and step b, until Vnew=V:
A. the smallest side E (i, j) of weight is chosen in set E, wherein piFor set VnewIn element, pjFor not in VnewIn but
Node in V；And
B. by pjSet V is addednewIn, set E is added in E (i, j)newIn；
Step1.3: it exports as with set VnewAnd EnewCome the minimum spanning tree T described
Step2: minimum perfect matching M is calculated, and the minimum perfect matching M is added on minimum spanning tree T and obtains Euler
Scheme G*；
Step3: Euler's circuit is calculated based on the Euler diagram G*；And
Step4: hamiltonian circuit is generated based on the Euler's circuit.
7. paths planning method according to claim 6, which is characterized in that in the step Step2, enable V '={ t1,…,
tlIndicating that the minimum spanning tree T moderate is the set on the vertex of odd number, w (i, j) is indicated from vertex tiTo vertex tjWeight,
W (i, j)=dij/v+aij/ ω, E (i, j) are indicated from vertex tiTo vertex tjSide, G ' indicate V ' constitute complete subgraph, packet
It includes:
Step2.1: initialization M={ }, A={ }；
Step2.2: it takes not in set A but the node t in set V 'i, tjSo that w (i, j) is minimum；
Step2.3: ti, tjIt is added in A, E (i, j) is added in M；
Step2.4: the Step2.2 and step Step2.3 that repeats the above steps is until point all in V ' is added in A；
Step2.5: a minimum perfect matching M of the complete subgraph G ' of V ' composition is obtained, the minimum perfect matching M is added
The Euler diagram G* is obtained on to the minimum spanning tree T.
8. paths planning method according to claim 7, which is characterized in that the step Step3 includes calculating the Europe
It draws in figure G* from vertex pkThe Euler's circuit E to set outk, it specifically includes:
Step3.1: to the Euler's circuit EkIt initializes, even Ek={ pk}；
Step3.2: for selected Euler's circuit Ek={ pk, g1..., gs, from set G*-EkMiddle selection next node
gs+1And E is addedkIn, wherein gs+1And gsBetween have the side being connected directly, or in gs+1And gsBetween the side that is not connected directly
When gs+1And gsBetween side be G*-EkCut edge；
Step3.3: in Euler's circuit EkIt is middle to have increased all nodes, obtain required Euler's circuit Ek。
9. paths planning method according to claim 8, which is characterized in that the step Step4 includes:
Step4.1: initialization H={ pk, from pkIt sets out and successively accesses circuit EkOn vertex q, if q is the element in set H
Then skip q access EkNext vertex, otherwise by q be added set H in, until having accessed EkOn all vertex until；
Step4.2: the hamiltonian circuit constituted according to the sequence of set H interior joint, the welding road after obtaining the optimization of subregion G
Diameter.
10. paths planning method according to claim 9, which is characterized in that the planning antenna array neutron
Path of welding between region, the path of welding for obtaining the antenna array include:
It connects the planning path of welding of each subregion to obtain the welding of the antenna array based on greedy algorithm
Path specifically includes:
The planning path of welding for defining each subregion is Hm(m=1 ... c)；
Since the first sub-regions, when mechanical arm runs to the terminal in the path of current region, it is based on following public affairs
Formula determines next pad pnext:
s.t.pj∈V
And
By the pnextThe region at place is as next welding region, with the pnextIt plans and welds for starting point corresponding sub-region
Path bond, the weld task until completing all subregions, obtains the path of welding of the antenna array；
Wherein, piFor the terminal of current path, w (i, j) is indicated from piTo pjSide weight, V indicate G in all pads collection
It closes, Q indicates the set of soldered pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910261114.4A CN109909657B (en) | 2019-04-02 | 2019-04-02 | Automatic welding path planning method for antenna array surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910261114.4A CN109909657B (en) | 2019-04-02 | 2019-04-02 | Automatic welding path planning method for antenna array surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109909657A true CN109909657A (en) | 2019-06-21 |
| CN109909657B CN109909657B (en) | 2020-12-01 |
Family
ID=66968281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910261114.4A Active CN109909657B (en) | 2019-04-02 | 2019-04-02 | Automatic welding path planning method for antenna array surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109909657B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112008304A (en) * | 2020-08-25 | 2020-12-01 | 广船国际有限公司 | Welding method, welding device, and robot |
| CN112070223A (en) * | 2020-08-17 | 2020-12-11 | 电子科技大学 | Model parallel method based on Tensorflow framework |
| CN113379268A (en) * | 2021-06-21 | 2021-09-10 | 中国地质大学（武汉） | Agricultural machinery scheduling method for resolving genetic algorithm initial population based on Christofises |
| CN113408774A (en) * | 2020-03-17 | 2021-09-17 | 北京京东振世信息技术有限公司 | Route planning method and device, storage medium and electronic equipment |
| CN116900538A (en) * | 2023-09-14 | 2023-10-20 | 天津大学 | Multi-robot task planning method based on deep reinforcement learning and region balance |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103837154A (en) * | 2014-03-14 | 2014-06-04 | 北京工商大学 | Path planning method and system |
| CN104400279A (en) * | 2014-10-11 | 2015-03-11 | 南京航空航天大学 | CCD-based method and system for automatic identification and track planning of pipeline space weld seams |
| CN105922267A (en) * | 2016-06-28 | 2016-09-07 | 山东理工大学 | Design method of full-coverage traversal path planning algorithm of cleaning robot |
| CN106356639A (en) * | 2016-08-30 | 2017-01-25 | 上海无线电设备研究所 | Satellite-borne microstrip antenna and assembly method thereof |
| CN106969778A (en) * | 2017-02-28 | 2017-07-21 | 南京航空航天大学 | A kind of multiple no-manned plane cooperates with the paths planning method of dispenser |
| CN107150341A (en) * | 2017-06-13 | 2017-09-12 | 南京理工大学 | A kind of welding robot path of welding planing method based on discrete particle cluster algorithm |
| CN108213757A (en) * | 2018-01-16 | 2018-06-29 | 华东理工大学 | A kind of collision checking method for welding robot |
| CN108303092A (en) * | 2018-01-12 | 2018-07-20 | 浙江国自机器人技术有限公司 | A kind of cleaning method of voluntarily planning path |
-
2019
- 2019-04-02 CN CN201910261114.4A patent/CN109909657B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103837154A (en) * | 2014-03-14 | 2014-06-04 | 北京工商大学 | Path planning method and system |
| CN104400279A (en) * | 2014-10-11 | 2015-03-11 | 南京航空航天大学 | CCD-based method and system for automatic identification and track planning of pipeline space weld seams |
| CN105922267A (en) * | 2016-06-28 | 2016-09-07 | 山东理工大学 | Design method of full-coverage traversal path planning algorithm of cleaning robot |
| CN106356639A (en) * | 2016-08-30 | 2017-01-25 | 上海无线电设备研究所 | Satellite-borne microstrip antenna and assembly method thereof |
| CN106969778A (en) * | 2017-02-28 | 2017-07-21 | 南京航空航天大学 | A kind of multiple no-manned plane cooperates with the paths planning method of dispenser |
| CN107150341A (en) * | 2017-06-13 | 2017-09-12 | 南京理工大学 | A kind of welding robot path of welding planing method based on discrete particle cluster algorithm |
| CN108303092A (en) * | 2018-01-12 | 2018-07-20 | 浙江国自机器人技术有限公司 | A kind of cleaning method of voluntarily planning path |
| CN108213757A (en) * | 2018-01-16 | 2018-06-29 | 华东理工大学 | A kind of collision checking method for welding robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113408774A (en) * | 2020-03-17 | 2021-09-17 | 北京京东振世信息技术有限公司 | Route planning method and device, storage medium and electronic equipment |
| CN112070223A (en) * | 2020-08-17 | 2020-12-11 | 电子科技大学 | Model parallel method based on Tensorflow framework |
| CN112008304A (en) * | 2020-08-25 | 2020-12-01 | 广船国际有限公司 | Welding method, welding device, and robot |
| CN113379268A (en) * | 2021-06-21 | 2021-09-10 | 中国地质大学（武汉） | Agricultural machinery scheduling method for resolving genetic algorithm initial population based on Christofises |
| CN116900538A (en) * | 2023-09-14 | 2023-10-20 | 天津大学 | Multi-robot task planning method based on deep reinforcement learning and region balance |
| CN116900538B (en) * | 2023-09-14 | 2024-01-09 | 天津大学 | Multi-robot task planning method based on deep reinforcement learning and region balance |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109909657B (en) | 2020-12-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109909657A (en) | A kind of automatic welding paths planning method of antenna array | |
| JP6551184B2 (en) | Simulation apparatus, simulation method, and simulation program | |
| CN104525420B (en) | Spraying robot control method based on three-dimensional model recognition | |
| CN109213147A (en) | A kind of robot obstacle-avoiding method for planning track and system based on deep learning | |
| CN111260649B (en) | Close-range mechanical arm sensing and calibrating method | |
| CN108705531A (en) | The kinematic calibration method of industrial robot, calibration system, electronic equipment | |
| JP6671694B1 (en) | Machine learning device, machine learning system, data processing system, and machine learning method | |
| CN104942808A (en) | Robot motion path off-line programming method and system | |
| CN104165600A (en) | Wireless hand-held 3D laser scanning system | |
| CN109840508A (en) | One robot vision control method searched for automatically based on the depth network architecture, equipment and storage medium | |
| CN109676606A (en) | A kind of method, mechanical arm and the robot of calculating machine arm arm angular region | |
| CN108563878A (en) | Multi-functional welding structure Calculation of Fatigue Life confirms integrated integrated system with welding quality grade | |
| CN104942015B (en) | Intelligent control method and system for pickling process section in cold-rolling unit | |
| CN108818540A (en) | Method and device, the pocessor and storage media of compensating parameter | |
| CN105975795A (en) | High-precision multi-joint serial connection mechanical arm anti-kinematics solution | |
| CN114523477B (en) | Method, system and storage medium for calibrating joint pose | |
| CN109788277A (en) | Compensation method, device and the storage medium of the optical axis deviation of stabilization machine core | |
| CN109048897A (en) | A kind of method of principal and subordinate's teleoperation of robot | |
| Zandavali et al. | Automated brick pattern generator for robotic assembly using machine learning and images | |
| CN103743750B (en) | A kind of generation method of distribution diagram of surface damage of heavy calibre optical element | |
| CN108632764A (en) | A kind of multisensor selectivity metric data Fusion Estimation Algorithm | |
| CN104525424B (en) | A kind of optical measuring apparatus for coating robot coats' path setting | |
| CN204448383U (en) | A kind of intelligent robot paint finishing | |
| CN204469968U (en) | A kind of optical measuring apparatus for coating robot coats's path setting | |
| CN110153582A (en) | Welding scheme generation method, device and welding system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |