周锐 马汉武

摘  要：多激光切割机同时进行同一块板材的加工作业，不仅能够提高效率，还能够应对大规模定制的要求。但是由于加工路径规划不恰当，会使激光头受损，成本大幅增加，效率也并未提升，因此，研究激光切割协同作业的路径规划具有十分重要的意义。文章以总路径最短作为规划目标，考虑空行程切割和切割冲突两种情况，建立激光切割协同作业路径的多旅行商模型，提出了一种改进遗传算法。结果表明，与传统遗传算法相比，引入局部算子的遗传算法能够在相应约束条件下求出最优路径，而且收敛更好，计算时间更快。

关键词：路径规划;遗传算法;激光切割;协同作业

中图分类号：F273    文献标识码：A

Abstract： The use of multiple laser cutting machine at the same time for the same piece of plate processing operations， not only can improve efficiency， but also to deal with the requirements of mass customization. But the processing path planning is not appropriate， the laser head will be damaged， and the cost increased significantly， the efficiency has not been improved. Therefore， the study of laser cutting collaborative operation path planning has very important significance. In this paper， the planning objective is to minimize the total path， and considering the two situations of empty stroke cutting and cutting conflict. A multiple traveling salesman model is established to plan the collaborative work path of laser cutting， and an improved genetic algorithm is proposed. Compared with the traditional genetic algorithm， the genetic algorithm with local operators can find the minimize path under the corresponding constraints， and has better fitness and faster calculation time.

Key words： path planning; genetic algorithm; laser cutting; cooperative operation

0  引  言

近些年来，我国开始着力开发高质量、高精度和高创新的制造系统[1]。激光切割技术已经逐渐成为一种常见的切割加工方式，相较于目前企业运用较广的几种切割方法，激光切割具有加工范围广、速度快、精度高等优势[2]。随着激光切割技术的民用化，激光切割车间应运而生，而多台激光切割机的协同作业可以更快地完成板材零件的加工任务，便于企业应对顾客大规模定制的需求。多机作业时需要确保每一台激光切割机的加工路径最短，并且在作业过程中不会出现“碰刀”的情况[3-5]。如何规划激光切割车间的切割机协同作业路径，节省加工成本，减少加工时间，提高加工效率是需要解决的问题。

目前，对于激光切割路径规划的研究主要集中在单机作业和智能算法优化两个方面，取得了一定的成果。……