基于多目标优化的高效视觉检测规划方法  

Multi-Objective Optimization-Based Planning Algorithm for Efficient Visual Inspection

作　　者：崔海华[1] 田龙飞 王嘉瑞 曲峻学 杨锋 郭俊刚 Cui Haihua;Tian Longfei;Wang Jiarui;Qu Junxue;Yang Feng;Guo Jungang(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 210016,Jiangsu,China;Avic Xi'an Aircraft Industry Group Company Ltd.,Xi'an 710089,Shaanxi,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]中航西安飞机工业集团股份有限公司,陕西西安710089

出　　处：《光学学报》2024年第4期207-218,共12页Acta Optica Sinica

基　　金：国家重点研发计划(2021YFB3401704);航空科学基金(2020Z050052002)。

摘　　要：针对批量化零件的自动化高效视觉检测需求,传统的先视点再路径的单独规划方法容易导致检测效率陷入局部最优。为此,本文提出一种视点与路径多目标整体规划方法,将视点和路径规划问题建模为一个组合优化问题进行多目标优化,旨在全局寻求检测效率最优解。该方法基于表面曲率对视点进行自适应冗余采样,构造兼顾质量与多样性的采样视点集。针对视点覆盖率与检测时间成本两个优化目标,提出基于约束的非支配排序遗传算法(C-NSGA-Ⅱ)进行优化,快速得到满足最小覆盖率的全局最优解,从而实现视点与路径的整体规划,最小化检测时间成本。仿真实验结果表明,该方法相比于简化为单目标优化问题的整体规划方法,运算效率提升90%左右;与传统的单独规划方法相比,视觉检测时间成本有效缩短10.52%以上。最后通过机器人视觉检测应用验证了本文方法的有效性与优越性。Objective With the increasing demand for inspecting part surfaces,automated and efficient visual inspection is becoming a trend in industrial production.Due to the complexity of inspection planning problems where both viewpoint planning and path planning belong to the non-determinism of polynomial complexity problem,most of the current research studies the above two problems separately and seeks the minimum viewpoints to satisfy the viewpoint coverage by viewpoint planning,then obtaining efficient inspection paths via path planning for the set of viewpoints.However,viewpoint planning and path planning are coupled problems,and the distribution of viewpoints and paths can easily make the inspection efficiency fall into the local optimum.Therefore,some researchers propose to combine the viewpoint and path planning problems and simplify them into a single objective problem for global optimization,which improves inspection efficiency to a certain extent.However,during the optimization,viewpoints should be continuously added to the viewpoint set to meet the viewpoint coverage,which causes low planning efficiency.To this end,we propose a multi-objective holistic planning method of viewpoints and paths to quickly seek the viewpoint set and its path that satisfy viewpoint coverage and optimal inspection time cost.Methods In response to the need for efficient inspection of batch parts,we study the inspection planning method of automated visual inspection to reduce the inspection time cost of single parts.Inspection planning includes two subproblems of viewpoint planning and path planning.To seek the optimal solution of inspection time cost in inspection planning,we propose a multi-objective holistic planning method for viewpoints and paths,which models the viewpoint planning problem and path planning problem as a combinatorial optimization problem for multi-objective optimization.The proposed method performs adaptive redundant sampling of viewpoints based on surface curvature to cope with difficult coverage of complex curv

关 键 词：视点规划 覆盖路径规划 自动化视觉检测 多目标规划 非支配排序遗传算法 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]