Welding path planning method for large board framework of square cabin

• Main Authors: WANG TENG, FANG LEI, YANG QINGLONG, HONG SZE WEI JOEL, SHI XIAOFU, TIAN YANG, CHEN BAO, XU ZILI
• Format: Patent
• Language: Chinese; English
• Published: 01.08.2023
• Subjects: CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR; PERFORMING OPERATIONS; SOLDERING OR UNSOLDERING; TRANSPORTING; WELDING; WORKING BY LASER BEAM

The invention provides a square cabin large plate skeleton welding path planning method which comprises the following steps: identifying the global welding seam position of a skeleton according to a large-view-field visual camera, performing clustering analysis and grouping on welding seams by using K-Means, and planning a path with the least photographing times of a small-view-field camera; the welding robot carries the small-view-field camera to the vicinity of each welding seam group planned by the large-view-field camera, path coding is achieved, an initial solution is constructed, a welding path evaluation function is constructed according to the accurate welding seam pose recognized by the small-view-field camera, an improved genetic algorithm (an elite strategy, a grouping strategy, a crossover operator, a mutation operator and the like) is used for solving, and the welding path evaluation function is obtained. The optimal welding path of the welding robot is obtained. The welding efficiency is improve