US-12623346-B2 - Processing path planning simulation device and method

Abstract

A processing path planning simulation device is provided, which includes a memory and a processor. The processor performs following operations: according to an obstacle model, multiple processing point positions, a mechanical arm model, a processing tool model, a model position relative relationship and a production strategy parameter, performing collision test simulation to generate multiple candidate poses of the mechanical arm model; performing path optimization algorithms on the multiple candidate poses to generate a pose sequence; performing an ant colony algorithm based on the pose sequence and the obstacle model to generate an optimal processing path; and based on the optimal processing path, simulating that an end point of the processing tool model on the mechanical arm model performs a virtual processing operation on the multiple processing point positions sequentially according to the multiple optimal nodes.

Inventors

• Chin-Wei Chang
• Sih-Han FANG
• Shao-Huang LU

Assignees

• DELTA ELECTRONICS, INC.

Dates

Publication Date

20260512

Application Date

20230808

Priority Date

20230321

Claims (18)

1. 1 . A processing path planning simulation device, comprising: a memory, configured for storing a plurality of instructions; and a processor, connected to the memory, and configured for accessing the plurality of instructions, and performing following operations: according to an obstacle model in a virtual environment, a plurality of processing point positions on the obstacle model, a mechanical arm model in the virtual environment, a processing tool model on the mechanical arm model, a model position relative relationship and a production strategy parameter, performing collision test simulations to generate a plurality of candidate poses of the mechanical arm model, wherein the plurality of candidate poses are divided into a plurality of pose groups, wherein the plurality of pose groups respectively correspond to the plurality of processing point positions; performing a path optimization algorithm on the plurality of candidate poses to generate a pose sequence, wherein the pose sequence comprises a plurality of optimal poses arranged in sequence, wherein the pose sequence is generated by selecting one of the candidate poses from each of the pose groups as the optimal pose such that a combination of the plurality of optimal poses of the plurality of pose groups has a shortest path sum comprising a path between any two of the plurality of optimal poses, wherein movement of the mechanical arm model along the path is permitted to cause collision with the obstacle model; performing an ant colony algorithm based on the plurality of optimal poses of the pose sequence and the obstacle model to generate an optimal processing path, wherein the optimal processing path comprises a plurality of optimal processing segments and a plurality of optimal nodes positioned therebetween, wherein the ant colony algorithm comprises performing a plurality of path generation operations between the plurality of optimal poses to generate the plurality of optimal processing segments, such that movement of the mechanical arm model along the plurality of optimal processing segments is configured to avoid collision with the obstacle model; and on the obstacle model in the virtual environment, based on the optimal processing path, simulating that an end point of the processing tool model on the mechanical arm model sequentially with poses corresponding to the plurality of optimal nodes performs a virtual processing operation on the plurality of processing point positions, thereby generating a simulation result.
2. 2 . The processing path planning simulation device of claim 1 , wherein the production strategy parameter comprises a collision safety distance, a lateral offset distance, a longitudinal offset distance, a vertical direction distance difference, an inclination angle difference and an azimuth angle difference, wherein the processor is further configured for performing following operations: for each of the plurality of processing point positions, according to the lateral offset distance, the longitudinal offset distance, the vertical direction distance difference, the inclination angle difference and the azimuth angle difference, generating a plurality of collision test positions of the end point of the processing tool model on the mechanical arm model; for the each of the plurality of processing point positions, generating a plurality of collision test poses of the mechanical arm model according to the plurality of collision test positions, and selecting a plurality of non-collision poses from the plurality of collision test poses according to the collision safety distance, the plurality of collision test poses and the obstacle model, wherein the mechanical arm model indicates six-dimensional coordinates of a plurality of reference points on the mechanical arm model, wherein the plurality of reference points comprise the end point of the processing tool model on the mechanical arm model; and using the plurality of non-collision poses respectively corresponding to the plurality of processing point positions as the plurality of candidate poses.
3. 3 . The processing path planning simulation device of claim 2 , wherein the plurality of reference points comprises a plurality of joints of the mechanical arm model, a plurality of mechanical parts of the mechanical arm model connected by the plurality of joints, the processing tool model and the end point of the processing tool model.
4. 4 . The processing path planning simulation device of claim 2 , wherein the processor is further configured for performing following operations: generating the plurality of collision test poses according to the plurality of collision test positions; simulating that the processing tool model performs virtual processing, and determining whether the virtual processing is completed on the plurality of processing point positions; when the virtual processing is completed, determining whether the processing tool model of the mechanical arm model collides with the obstacle model in one of the plurality of collision test poses; and when no collision occurs with the obstacle model in the one of the plurality of collision test poses, using the one of the plurality of collision test poses as one of the plurality of non-collision poses.
5. 5 . The processing path planning simulation device of claim 4 , wherein the step of determining whether the processing tool model of the mechanical arm model collides with the obstacle model in the one of the plurality of collision test poses comprises: determining whether the end point of the processing tool model reaches the one of the plurality of collision test poses by an inverse kinematics method; and when the end point of the processing tool model reaches the one of the plurality of collision test poses, in the one of the plurality of collision test poses, determining whether a plurality of connecting rods between the plurality of reference points in the mechanical arm model and the processing tool model collide with the obstacle model.
6. 6 . The processing path planning simulation device of claim 5 , wherein the step of, in the one of the plurality of collision test poses, determining whether the plurality of connecting rods between the plurality of reference points in the mechanical arm model and the processing tool model collide with the obstacle model comprise: determining whether a body structure of the mechanical arm model, the plurality of connecting rods between the plurality of reference points in the mechanical arm model and coordinates of the processing tool model intersect with coordinates of the obstacle model.
7. 7 . The processing path planning simulation device of claim 2 , wherein the processor is further configured for performing following operations: according to positions of arranged adjacent two of the plurality of optimal poses, the collision safety distance and a plurality of coordinates corresponding to the obstacle model, performing the plurality of path generation operations to generate a plurality of candidate processing segments and a plurality of candidate nodes, and performing the ant colony algorithm according to an ant quantity parameter and an iterative number to select the plurality of optimal processing segments and the plurality of optimal nodes from the plurality of candidate processing segments and the plurality of candidate nodes.
8. 8 . The processing path planning simulation device of claim 1 , wherein the processor is further configured for performing following operations: adjusting the optimal processing path according to the simulation result, wherein an adjusted optimal processing path comprises a plurality of adjusted optimal processing segments and a plurality of adjusted optimal nodes; and on the obstacle model in the virtual environment, based on the adjusted optimal processing path, simulating that the end point of the processing tool model on the mechanical arm model sequentially with poses corresponding to the plurality of adjusted optimal nodes performs the virtual processing operation on the plurality of processing point positions, thereby generating an adjusted simulation result.
9. 9 . The processing path planning simulation device of claim 1 , wherein the model position relative relationship comprises a relative assembly relationship, which is between the mechanical arm model and the processing tool model, and a pose relative relationship, which is between the obstacle model and the mechanical arm model, in the virtual environment.
10. 10 . A processing path planning simulation method, comprising: according to an obstacle model in a virtual environment, a plurality of processing point positions on the obstacle model, a mechanical arm model in the virtual environment, a processing tool model on the mechanical arm model, a model position relative relationship and a production strategy parameter, performing collision test simulations to generate a plurality of candidate poses of the mechanical arm model, wherein the plurality of candidate poses are divided into a plurality of pose groups, wherein the plurality of pose groups respectively correspond to the plurality of processing point positions; performing a path optimization algorithm on the plurality of candidate poses to generate a pose sequence, wherein the pose sequence comprises a plurality of optimal poses arranged in sequence, wherein the pose sequence is generated by selecting one of the candidate poses from each of the pose groups as the optimal pose such that a combination of the plurality of optimal poses of the plurality of pose groups has a shortest path sum comprising a path between any two of the plurality of optimal poses, wherein movement of the mechanical arm model along the path is permitted to cause collision with the obstacle model; performing an ant colony algorithm based on the plurality of optimal poses of the pose sequence and the obstacle model to generate an optimal processing path, wherein the optimal processing path comprises a plurality of optimal processing segments and a plurality of optimal nodes positioned therebetween, wherein the ant colony algorithm comprises performing a plurality of path generation operations between the plurality of optimal poses to generate the plurality of optimal processing segments, such that movement of the mechanical arm model along the plurality of optimal processing segments is configured to avoid collision with the obstacle model; and on the obstacle model in the virtual environment, based on the optimal processing path, simulating that an end point of the processing tool model on the mechanical arm model sequentially with poses corresponding to the plurality of optimal nodes performs a virtual processing operation on the plurality of processing point positions, thereby generating a simulation result.
11. 11 . The processing path planning simulation method of claim 10 , wherein the production strategy parameter comprises a collision safety distance, a lateral offset distance, a longitudinal offset distance, a vertical direction distance difference, an inclination angle difference and an azimuth angle difference, wherein the step of, according to the obstacle model in the virtual environment, the plurality of processing point positions on the obstacle model, the mechanical arm model in the virtual environment, the processing tool model on the mechanical arm model, the model position relative relationship and the production strategy parameter, performing the collision test simulations to generate the plurality of candidate poses of the mechanical arm model comprises: for each of the plurality of processing point positions, according to the lateral offset distance, the longitudinal offset distance, the vertical direction distance difference, the inclination angle difference and the azimuth angle difference, generating a plurality of collision test positions of the end point of the processing tool model on the mechanical arm model; for the each of the plurality of processing point positions, generating a plurality of collision test poses of the mechanical arm model according to the plurality of collision test positions, and selecting a plurality of non-collision poses from the plurality of collision test poses according to the collision safety distance, the plurality of collision test poses and the obstacle model, wherein the mechanical arm model indicates six-dimensional coordinates of a plurality of reference points on the mechanical arm model, wherein the plurality of reference points comprise the end point of the processing tool model on the mechanical arm model; and using the plurality of non-collision poses respectively corresponding to the plurality of processing point positions as the plurality of candidate poses.
12. 12 . The processing path planning simulation method of claim 11 , wherein the plurality of reference points comprises a plurality of joints of the mechanical arm model, a plurality of mechanical parts of the mechanical arm model connected by the plurality of joints, the processing tool model and the end point of the processing tool model.
13. 13 . The processing path planning simulation method of claim 11 , wherein the step of, for the each of the plurality of processing point positions, generating the plurality of collision test poses of the mechanical arm model according to the plurality of collision test positions comprises: generating the plurality of collision test poses according to the plurality of collision test positions, wherein the step of, for the each of the plurality of processing point positions, selecting the plurality of non-collision poses from the plurality of collision test poses according to the collision safety distance, the plurality of collision test poses and the obstacle model comprises: simulating that the processing tool model performs virtual processing, and determining whether the virtual processing is completed on the plurality of processing point positions; when the virtual processing is completed, determining whether the processing tool model of the mechanical arm model collides with the obstacle model in one of the plurality of collision test poses; and when no collision occurs with the obstacle model in the one of the plurality of collision test poses, using the one of the plurality of collision test poses as one of the plurality of non-collision poses.
14. 14 . The processing path planning simulation method of claim 13 , wherein the step of determining whether the processing tool model of the mechanical arm model collides with the obstacle model in the one of the plurality of collision test poses comprises: determining whether the end point of the processing tool model reaches the one of the plurality of collision test poses by an inverse kinematics method; and when the end point of the processing tool model reaches the one of the plurality of collision test poses, in the one of the plurality of collision test poses, determining whether a plurality of connecting rods between the plurality of reference points in the mechanical arm model and the processing tool model collide with the obstacle model.
15. 15 . The processing path planning simulation method of claim 14 , wherein the step of, in the one of the plurality of collision test poses, determining whether the plurality of connecting rods between the plurality of reference points in the mechanical arm model and the processing tool model collide with the obstacle model comprise: determining whether a body structure of the mechanical arm model, the plurality of connecting rods between the plurality of reference points in the mechanical arm model and coordinates of the processing tool model intersect with coordinates of the obstacle model.
16. 16 . The processing path planning simulation method of claim 11 , wherein the step of performing the ant colony algorithm based on the pose sequence and the obstacle model to generate the optimal processing path comprises: according to positions of arranged adjacent two of the plurality of optimal poses, the collision safety distance and a plurality of coordinates corresponding to the obstacle model, performing the plurality of path generation operations to generate a plurality of candidate processing segments and a plurality of candidate nodes, and performing the ant colony algorithm according to an ant quantity parameter and an iterative number to select the plurality of optimal processing segments and the plurality of optimal nodes from the plurality of candidate processing segments and the plurality of candidate nodes.
17. 17 . The processing path planning simulation method of claim 10 , further comprising: adjusting the optimal processing path according to the simulation result, wherein an adjusted optimal processing path comprises a plurality of adjusted optimal processing segments and a plurality of adjusted optimal nodes; and on the obstacle model in the virtual environment, based on the adjusted optimal processing path, simulating that the end point of the processing tool model on the mechanical arm model sequentially with poses corresponding to the plurality of adjusted optimal nodes performs the virtual processing operation on the plurality of processing point positions, thereby generating an adjusted simulation result.
18. 18 . The processing path planning simulation method of claim 10 , wherein the model position relative relationship comprises a relative assembly relationship, which is between the mechanical arm model and the processing tool model, and a pose relative relationship, which is between the obstacle model and the mechanical arm model, in the virtual environment.

Description

CROSS-REFERENCE TO RELATED APPLICATION This application claims priority to China Application Serial Number 202310278061.3, filed Mar. 21, 2023, which is herein incorporated by reference in its entirety. BACKGROUND Field of Disclosure The present disclosure relates to a processing path planning simulation device and method. Description of Related Art In electronic manufacturing industry, mechanical arms are widely used for replacing traditional manpower processes due to their flexibility, e.g., processes of loading and unloading, screw locking, glue dispensing, components inserting and soldering, etc., and most of these processes rely on the mechanical arms to mount tools to perform processing tasks. Furthermore, traditional processing path planning needs to be taught and programmed by engineers on site, which will occupy actual machines thereby causing break time costs and time costs. In addition, results of processing path planning are highly dependent on past experience and knowledge. In typical practice, to avoid collisions, many auxiliary points are arranged in the path to avoid obstacles to ensure that the mechanical arm does not collide with other objects during performing the tasks. In addition, in processes of moving to another hand configuration (hereinafter referred to as changeover) of the mechanical arm, an arm pose may have a large change. Therefore, this often perform changeover on a place away the obstacles (e.g., after the glue dispensing processing of one time, the mechanical arm is raised by 3 to 50 cm to ensure that there is no collision). In this way, it can ensure that the mechanical arm can move smoothly when performing changeover, and avoid collisions to the greatest extent. However, such the path planning is often not an optimal processing path, and there is room for improvement. SUMMARY The disclosure provides a processing path planning simulation device, which comprises a memory and a processor. The memory is configured for storing a plurality of instructions. The processor is connected to the memory, and configured for accessing a plurality of instructions, and performing following operations: according to an obstacle model in a virtual environment, a plurality of processing point positions on the obstacle model, a mechanical arm model in the virtual environment, a processing tool model on the mechanical arm model, a model position relative relationship and a production strategy parameter, performing collision test simulations to generate a plurality of candidate poses of the mechanical arm model, wherein the plurality of candidate poses are divided into a plurality of pose groups, wherein the plurality of pose groups respectively correspond to the plurality of processing point positions; performing a path optimization algorithm on the plurality of candidate poses to generate a pose sequence, wherein the pose sequence comprises a plurality of optimal poses arranged in sequence; performing an ant colony algorithm based on the pose sequence and the obstacle model to generate an optimal processing path, wherein the optimal processing path comprises a plurality of optimal processing segments and a plurality of optimal nodes, wherein the ant colony algorithm comprises performing a plurality of path generation operations between positions of the plurality of optimal poses to generate the plurality of optimal processing segments; and on the obstacle model in the virtual environment, based on the optimal processing path, simulating that an end point of the processing tool model on the mechanical arm model sequentially with poses corresponding to the plurality of optimal nodes performs a virtual processing operation on the plurality of processing point positions, thereby generating a simulation result. The disclosure further provides a processing path planning simulation method comprises: according to an obstacle model in a virtual environment, a plurality of processing point positions on the obstacle model, the mechanical arm model in the virtual environment, a processing tool model on the mechanical arm model, a model position relative relationship and a production strategy parameter, performing collision test simulations to generate a plurality of candidate poses of the mechanical arm model, wherein the plurality of candidate poses are divided into a plurality of pose groups, wherein the plurality of pose groups respectively correspond to the plurality of processing point positions; performing a path optimization algorithm on the plurality of candidate poses to generate a pose sequence, wherein the pose sequence comprises a plurality of optimal poses arranged in sequence; performing an ant colony algorithm based on the pose sequence and the obstacle model to generate an optimal processing path, wherein the optimal processing path comprises a plurality of optimal processing segments and a plurality of optimal nodes, wherein the ant colony algorithm comprises performing a plurality of pat