The Research On Intelligent Nesting Algorithm Of Leather Cutting Robot

With the continuous development of the national economy and the improvement of living standards of residents,there is an increasing demand for the quantity and quality of leather products.At present,leather is mainly arranged by a combination of manpower and machinery.This method not only needs a large number of artificial labor,but also has the disadvantages of low efficiency and low utilization rate of materials.Leather cutting robot has realized intelligentization and automation of production process such as leather scanning,layout,nesting,feeding and so on,improving the production efficiency and quality of leather manufacturing industry.As the core technology of leather cutting robot,the nesting algorithm is to place the parts group in the material plate in a reasonable way without any overlap between the parts so as to achieve the purpose of maximizing the utilization of the raw material.Therefore,the research of leather cutting robot intelligent nesting algorithm has important significance.Firstly,this paper introduces the leather cutting robot and its development,and introduces the key technology in this kind of equipment-intelligent nesting algorithm.Secondly,the two-dimensional nesting problem to be solved in the leather cutting robot are introduced in detail,including the definition,classification,difficulties and research status of the problem.Then,the key technologies of the nesting algorithm are researched and discussed in detail,including parts description,translation and rotation of the graphics,calculation of the location of the graphics(NFP)and heuristic nesting algorithms.And different methods are analyzed from the implementation complexity,the scope of various aspects.Based on the research of the existing nesting algorithms,the criterion of locating the parts according to the boundary contour matching is proposed,and the part position search strategy based on the internal NFP is designed.Before the internal NFP calculation,adding the detection of free areas between already-arranged parts solves the problem that such free areas in the traditional NFP algorithm can not be fully utilized.Heuristic two-dimensional nesting algorithm was designed and implemented based on boundary contour matching and NFP.The typical nesting test cases were selected to validate the algorithm.Finally,combining the leather cutting robot platform,the intelligent nesting system is designed and the nesting algorithm is embedded into the system software to realize the automatic production process of leather scanning,intelligent nesting,cutting,feeding and so on.Leather raw materials and spare parts are selected for actual testing to verify the feasibility and practicality of the system and algorithm.The results show that the two-dimensional nesting algorithm based on boundary contour matching and NFP can adapt to different types of nesting problems and get better nesting results.At the same time,the algorithm is applied to the leather cutting robot,which proves the feasibility of the algorithm in leather cutting samples and improves the efficiency of nesting and utilization of materials.