Research On Task Assignment And Path Planning Of Multi-mobile Sandblasting Robot

At present,the domestic sandblasting operation for large steel structural parts is mainly manual operation,the artificial blasting efficiency is low,the blasting quality is poor,especially the health of the operators will be seriously affected,so the automation and intelligent robot are used instead.Sandblasting operations by people will become the main development trend of the future sandblasting industry.This paper focuses on the robotic automatic blasting operation of large steel structural parts,and carries out the research work of the control system.The specific contents include: multi-mobile blasting robot control system design,multi-mobile blasting robot task assignment research,mobile blasting Robot path planning research.First,the design of the multi-mobile sandblasting robot control system was completed.The multi-mobile blasting robot control system mainly adopts the masterslave control structure of the upper computer(industrial control machine)+ lower position machine(PLC).A centralized control architecture was determined,and one industrial computer communicated with multiple PLCs to control the motion of multiple sandblasting robots.The control system of a single blasting robot was also designed,including hardware selection,electrical wiring diagram design,software program writing,and robot positioning method.It also includes a link between the host computer and the robot arm's own control system.Secondly,the problem of task assignment when multiple robots cooperate to complete large-component sandblasting operations is studied.The task assignment problem of multi-mobile blasting robots is divided into two situations according to actual needs.The first case is to propose a task allocation method based on cost judgment when the number of task areas is equal to the number of blasting robots.The cost function of the robot to complete the task is established,and the optimal solution of the task assignment is obtained by finding the minimum value of the cost function.In the second case,when the number of task areas is smaller than the number of sand blasting robots,a task is proposed to search for all generation values based on the task points,and then the sandblasting robot corresponding to the minimum cost of each task point is selected to perform the execution of the corresponding tasks.A mathematical simulation model is established for each case to prove that the allocation method is feasible.Finally,the paper focuses on the path planning problem of the blasting robot in the task area to realize the overall traversal of the task area when spraying the workpiece.According to the main beam structure of the workpiece,the traditional grid method modeling method is improved,and a new attribute grid is introduced: the workpiece structure grid,and then the rectangular decomposition of the built grid map model is performed,and the rectangular decomposition is also performed.The method is improved,except for the reference of the obstacle as the boundary division,and the main beam of the workpiece structure is introduced as a reference for the rectangular decomposition.In each of the divided rectangular regions,the round-trip traversal method is used to traverse the individual regions.At the same time,the ant colony algorithm is used to calculate the optimal path of each rectangular region,and finally the requirements of the overall workpiece traversal are gradually achieved.The feasibility of the final overall traversal path planning is verified by matlab simulation experiments.