Research On Dual-robot Glass Segmentation System And Job Planning Method

Glass cutting is the first processing step in the deep processing of glass.The traditional method is to use a diamond wheel to form scratches on the glass surface,and then to achieve separation through artificial segmentation to achieve the purpose of glass cutting.On the one hand,this process relies on the realization of the segmentation by manpower.On the other hand,it also depends on the visual judgment of people,and frequently carries out the movement and avoidance of the glass after the segmentation.Because of this,for a long time,the degree of automatization of glass segmentation is low,and even if there is a rotary automatic segmentatoon platform,they are discarded by the market due to low efficiency,which seriously hinders the entire process of automation and intelligence.With the popularity of robotic applications,it has become possible to replace humans with smart robots as segmentation tools.This article mainly studies the dual-robot fully-automated glass segmentation system,focusing on: 1)the segmentation job planning problem that satisfies the cutting layout plan and the glass transfered order;2)the collision avoidance problem of the dual-robot coordination segmentation operation.First of all,according to the principle of glass breakage and the characteristics of the material handling process,the glass segmentation's “one-knife” constraint,the specified order of the glass transfered,and the plane operation of the glass segmentation are taken into consideration.The dual-robot glass segmentation system is proposed.The overall design plan includes system function planning,mechanical structure and layout,dual-robot cooperative motion control scheme,communication scheme and network structure.Secondly,aiming at the problem of segmentation job planning,the mathematic model was constructed.The algorithm of segmentation sequence rule and the optimization strategy of cache glass arrangement were proposed.Based on the “one-knife” layout technology constraints,the segmentation sequence algorithm uses a to-be-patched glass as a multitree and a "one-knife" layout path as a branch node,a multi-tree depth-first search strategy based on recursive structure and conditional constraints is used to solve the segmentation sequence;in the process of segmentation,in order to adapt to multi-branch tree search rules,"cache area" is designed and based on the characteristics of real-time storage of the segmentation glass in the area,using an arrangement strategy based on the bottom left priority principle and the lowest horizontal line algorithm to arrange cached glass.Then,the collision avoidance problem of dual-robot coordination segmentation operation was studied,and the method of avoiding collision of dual-robot collaborative work was proposed.Through establishing the collision detection model based on robot bounding box technology,the space collision problem of the robot is converted into the problem of solving the distance of space geometry.And a dual-robot evasion method based on the dual-robot segmentation space is proposed to prevent dual-robot motion collisions at the source,solved the collision avoidance problem during the dual-robot segmentation operation.Finally,the feasibility and effectiveness of the system are verified by simulation and physical integration tests.A dual-robot glass segmentation upper computer system with transparent monitoring function was designed;and a simulation integration experiment platform was built,verifying the guiding role of the glass segmentation job planning method for dual-robot operation;a physical integration test platform was built,verifying the feasibility of the dual-robot glass segmentation system and the real-time monitoring of the transparency.The research work of the dissertation can effectively solve the problem of transfered disorder,reduced the loss of segmentation and improved the efficiency of segmentation to some extent,and promoted the automation and intelligence of the glass deep processing line.