Research On Path Planning Algorithm Of Warehouse Transportation Robots And PCB Drilling Arms

In recent years,the e-commerce industry has ushered in a great development period,and various e-commerce companies have sprung up.Logistics is a very pivotal link in the e-commerce industry,so it is very important to ensure its good performance.The logistics warehouse can be regarded as the cornerstone of logistics.Its performance in handling goods has a huge impact on the overall efficiency of the logistics industry.And the continued use of “manpower + machinery” methods cannot meet real requirements,thereby promoting the relevant enterprises' vigorous investment and construction in intelligent warehouses.A huge advantage of intelligent warehouses over traditional warehouses is the use of a large number of automated equipment,such as the automated guided vehicles.In this paper,we refer to such automated guided vehicles as warehouse robots.The warehouse robot autonomously moves from the parking position to the first target position under the appropriate allocation and planning path from the central controller.After loading the goods at this position,it moves to the next target position and finally returns to the parking position,thereby realizing the automatic transportation.Therefore,an excellent path planning algorithm has a very positive impact on improving the transportation efficiency of the storage robot,which enables the robot to carry out the storage and retrieval of goods more efficiently,while eliminating errors caused by human operations.This paper describes the transportation process of warehouse robots as the well-known traveling salesman problem(TSP),and regards the position of each cargo as the coordinates of each city in the TSP.Based on the simplified two-dimensional grid model of a vertical warehouse,we propose a new warehouse robot path planning algorithm to solve this type of TSP.First,we simplified the traditional vertical warehouse into a two-dimensional grid model.Then,we introduced the “convex hull” tofind the traversal order under the ideal conditions and proposed a new solution to the convex hull problem.Next,the remain nodes are classified based on their relationship between the convex hull and design the local paths separately.Finally,we propose specific rules to merge the local paths formed by different types of goods to obtain the final path.Also,at present,China's electronic products are gradually developing toward miniaturization,high density,and multi-performance.It requires that the core production technology develop from the traditional production process of the printed circuit boards(PCB)to the efficient PCB production.The surface of the PCB will gather more circuit components and chips,so there are a large number of through holes on it.Irregular drilling will waste a lot of time and driving length.Determining the shortest drilling order has extremely positive significance for the efficiency of the PCB production.Optimizing the path of PCB through holes can significantly reduce the operating time and the traveling length.In the paper,a novel path planning algorithm for PCB through holes processing is designed based on the research of drilling operation in PCB production.Through multiple simulation experiments,it is proved that the proposed algorithm can effectively reduce the travel distance of PCB drilling arms and the operating time.