A method, device, equipment and medium for hysteresis layup control of an automatic fiber placement machine

Abstract

The application discloses a kind of automatic fiber placement machine lagging lay-up control methods, it is related to automatic fiber placement technology field, solve the technical problem that existing technology actual lay-up area and ideal lay-up area exist lagging lay-up.The above-mentioned method includes: obtaining the preset processing information of automatic fiber placement machine and the preset lay-up simulation area information of target composite component model;First simulation lay-up processing is carried out to target composite component model, and first lagging lay-up displacement value is obtained;Second simulation lay-up processing is carried out to target composite component model, and second lagging lay-up displacement value is obtained;Target feeding lag time value is obtained;Based on the target feeding lag time value, target processing starting position information is obtained;The automatic fiber placement machine is controlled to carry out lay-up processing, so that the actual lay-up area information of target composite component is consistent with preset lay-up area information.Therefore, the application can guarantee that actual lay-up area information is consistent with preset lay-up area information, and there is no lagging lay-up displacement.

Description

Technical Field

[0001] This application relates to the field of automatic fiber placement technology, and in particular to a method, apparatus, equipment and medium for controlling the delayed stacking of an automatic fiber placement machine. Background Technology

[0002] Automated Fiber Placement (AFP) is an advanced digital molding and manufacturing technology that uses multiple filament bundles with varying widths to lay up complex curved surfaces layer by layer, achieving the final shape of the entire surface. AFP technology primarily involves a multi-axis automated fiber placement machine. The placement head unwinds multiple pre-impregnated filament bundles, guiding, conveying, pressing, cutting, and rolling them into a strip under pressure rollers, and then automatically lays them up according to a computer-planned trajectory.

[0003] However, during automated filament placement, the feeding mechanism of the automatic filament placement machine has a mechanical start delay. That is, when the filament placement head moves to the processing start position, the feeding mechanism has not yet started feeding, and when the filament placement head is transported to the processing end position, the feeding mechanism has not yet stopped feeding, resulting in a lag between the actual filament placement area and the ideal filament placement area. Summary of the Invention

[0004] The main objective of this application is to provide a method, apparatus, equipment, and medium for controlling the delayed stacking of an automatic fiber placement machine, aiming to solve the technical problem of delayed stacking between the actual stacking area and the ideal stacking area in existing automatic fiber placement devices.

[0005] To achieve the above objectives, this application provides a method for controlling the delayed stacking of fibers in an automatic fiber placement machine, comprising the following steps:

[0006] Acquire the preset processing information of the automatic fiber placement machine and the preset stacking simulation area information of the target composite component model; wherein, the preset processing information includes a first preset stacking speed value, a second preset stacking speed value and preset processing start position information; and the second preset stacking speed value is 0.01% to 0.2% of the first preset stacking speed value;

[0007] Based on the first preset piling speed value, the preset processing start position information and the preset piling simulation area information, the target composite component model is subjected to the first simulated piling process to obtain the first hysteretic piling displacement value.

[0008] Based on the second preset layup speed value, the preset processing start position information and the preset layup simulation area information, the target composite component model is subjected to a second simulated layup process to obtain a second hysteresis layup displacement value.

[0009] Based on the first delayed stacking displacement value, the second delayed stacking displacement value, the first preset stacking speed value, and the second preset stacking speed value, the target feeding delay time value is obtained;

[0010] Based on the target feeding lag time value, the target processing start position information is obtained; based on the target processing start position information, the automatic fiber placement machine is controlled to perform the layup process so that the actual layup area information of the target composite component is consistent with the preset layup area information.

[0011] Optionally, the step of performing a first simulated layup process on the target composite component model based on the first preset layup speed value, the preset processing start position information, and the preset layup simulation area information to obtain a first hysteresis layup displacement value includes:

[0012] Based on the first preset layup speed value and the preset processing start position information, the target composite component model is subjected to a first simulated layup process to obtain the first actual layup simulation area information.

[0013] The first actual ply simulation area information is compared with the preset ply simulation area information to obtain the first hysteresis ply displacement value.

[0014] Optionally, the step of performing a second simulated layup process on the target composite component model based on the second preset layup speed value, the preset processing start position information, and the preset layup simulation area information to obtain a second delayed layup displacement value includes:

[0015] Based on the second preset layup speed value and the preset processing start position information, the target composite component model is subjected to a second simulated layup process to obtain the second actual layup simulation area information.

[0016] The second actual ply simulation area information is compared with the preset ply simulation area information to obtain the second hysteresis ply displacement value.

[0017] Optionally, obtaining the target feeding lag time value based on the first delayed layup displacement value, the second delayed layup displacement value, the first preset layup processing speed value, and the second preset layup processing speed value includes:

[0018] The first hysteresis layup displacement value is compared with the second hysteresis layup displacement value to obtain the displacement difference;

[0019] The first preset piling speed value is compared with the second preset piling speed value to obtain the processing speed difference;

[0020] The target feeding lag time value is obtained based on the displacement difference and the processing speed difference.

[0021] Optionally, the target feeding lag time value satisfies the following relationship:

[0022]

[0023] Where ΔT is the target feeding lag time value; X max X is the first hysteresis layup displacement value; min V represents the first hysteresis layup displacement value. max V is the first preset laying speed value; min This is the second preset laying speed value.

[0024] Optionally, obtaining the target processing start position information based on the target feeding lag time value; and controlling the automatic fiber placement machine to perform layup processing based on the target processing start position information, so that the actual layup area information of the target composite component is consistent with the preset layup area information, includes:

[0025] Obtain the current fiber placement speed value of the automatic fiber placement machine;

[0026] Based on the current laying speed value and the target feeding lag time value, the target lag laying displacement value is obtained;

[0027] Based on the target hysteresis layup displacement value and the preset processing start position information, the target processing start position information is obtained;

[0028] Based on the target processing start position information, the automatic fiber placement machine is controlled to perform the fiber placement process so that the actual placement area information of the target composite component is consistent with the preset placement area information.

[0029] Furthermore, to achieve the above objectives, this application also provides an automatic filament placement machine lag stacking control device, comprising:

[0030] The acquisition module is used to acquire preset processing information of the automatic fiber placement machine and preset stacking simulation area information of the target composite component model; wherein, the preset processing information includes a first preset stacking speed value, a second preset stacking speed value and preset processing start position information; and the second preset stacking speed value is 0.01% to 0.2% of the first preset stacking speed value;

[0031] The first simulation module is used to perform a first simulation piling process on the target composite component model based on the first preset piling speed value, the preset processing start position information and the preset piling simulation area information, to obtain a first hysteresis piling displacement value.

[0032] The second simulation module is used to perform a second simulation layup process on the target composite component model based on the second preset layup speed value, the preset processing start position information and the preset layup simulation area information, to obtain a second hysteresis layup displacement value.

[0033] The target acquisition module is used to obtain a target feeding lag time value based on the first delayed piling displacement value, the second delayed piling displacement value, the first preset piling speed value, and the second preset piling speed value.

[0034] The layup control module is used to obtain the target processing start position information based on the target feeding lag time value; and to control the automatic fiber placement machine to perform layup processing based on the target processing start position information, so that the actual layup area information of the target composite component is consistent with the preset layup area information.

[0035] Optionally, the device further includes a gas source processing module, an eddy current meter, and a temperature sensor;

[0036] The air source processing module is used to filter and process the air entering the automatic filament placement machine; the eddy current meter is used to control the air flow rate entering the automatic filament placement machine; and the temperature sensor is used to monitor the internal temperature of the automatic filament placement machine in real time.

[0037] In addition, to achieve the above objectives, this application also provides an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor executes the computer program to implement the method described above.

[0038] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium storing a computer program, on which a processor executes the computer program to implement the method described above.

[0039] The beneficial effects that this application can achieve are:

[0040] This application proposes an automatic filament placement machine hysteresis stacking control method, which includes the following steps:

[0041] Acquire preset processing information of the automatic fiber placement machine and preset layup simulation area information of the target composite component model; wherein, the preset processing information includes a first preset layup speed value, a second preset layup speed value, and preset processing start position information; and the second preset layup speed value is 0.01% to 0.2% of the first preset layup speed value; based on the first preset layup speed value, the preset processing start position information, and the preset layup simulation area information, perform a first simulated layup process on the target composite component model to obtain a first hysteresis layup displacement value; based on the second preset layup speed value... The target composite component model is subjected to a second simulated layup process based on the preset processing start position information and the preset layup simulation area information to obtain a second delayed layup displacement value. A target feeding lag time value is obtained based on the first delayed layup displacement value, the second delayed layup displacement value, the first preset layup processing speed value, and the second preset layup processing speed value. Target processing start position information is obtained based on the target feeding lag time value. The automatic fiber placement machine is controlled to perform layup processing based on the target processing start position information, so that the actual layup area information of the target composite component is consistent with the preset layup area information. That is, in this embodiment, by calculating the target feeding lag time value and the target processing start position information, when the automatic fiber placement machine reaches the target processing start position, the CNC system issues a feeding command to the controller. The controller receives the feeding command and issues a command to open the valve island and the feeding cylinder, causing the valve island and the feeding cylinder to open and begin feeding. At this time, the automatic fiber placement machine has just reached the preset processing start position, and thus begins the formal layup operation. This application is equivalent to issuing a feeding instruction in advance, so that when the feeding mechanism starts to feed the material, the automatic filament placement machine reaches the preset processing start position. This ensures that the actual filament placement area information is consistent with the preset filament placement area information, that is, the actual filament placement area and the preset filament placement area perfectly overlap, without any delayed filament placement displacement, thus ensuring the quality of automatic filament placement and reducing the scrap rate. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the workflow of an automated filament placement machine in the prior art;

[0043] Figure 2 This is a schematic diagram illustrating the processing effect of an automated fiber placement machine in the existing technology;

[0044] Figure 3 This is a flowchart illustrating the automatic hysteresis layup control method for a fiber placement machine according to an embodiment of this application.

[0045] Figure 4 This is a schematic diagram of the structure of the automatic filament placement machine hysteresis stacking control device involved in the embodiments of this application;

[0046] Figure 5This is a schematic diagram of the hardware principle of the automatic filament placement machine hysteresis stacking control device involved in the embodiments of this application;

[0047] Figure 6 This is a schematic diagram illustrating the control principle of the automatic filament placement machine hysteresis stacking control device involved in the embodiments of this application.

[0048] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0050] Automated fiber placement systems come in various installation forms, including gantry-type and industrial robot-type systems. For example, an industrial robot-type fiber placement system uses an industrial robot arm to drive an automated fiber placement machine within its effective movement space to place irregularly shaped and complex parts. (Refer to...) Figure 1 During the fiber placement process, the external axis of the industrial robot, according to the CNC program of the fiber placement system, drives the automatic fiber placement machine to the processing start position. At this time, the CNC system issues a command to open the feeding mechanism to the controller. After receiving and analyzing the command, the controller issues commands to open the valve island and the feeding cylinder. The valve island is opened first, followed by the feeding cylinder, and the automatic fiber placement machine begins the placement operation. In ideal placement conditions, when the industrial robot moves to the processing start position, the controller executes the commands to open the valve island and the feeding cylinder. The industrial robot arm drives the end effector automatic fiber placement machine according to the NC program. At this time, the feeding mechanism should immediately feed the fiber so that the automatic fiber placement machine can immediately start the placement operation. However, in actual operation, there is a mechanical start delay for both the valve island and the feeding cylinder. This delay includes the time for the controller to receive and issue commands, the valve island start time, and the feeding cylinder start time. (Refer to...) Figure 2 When the robotic arm reaches the starting position, due to the start-up delay of the valve island and feeding cylinder, the robotic arm continues to drive the automatic filament placement machine according to the NC program. At this time, the feeding mechanism has not started feeding, resulting in the automatic filament placement machine not performing effective placement operations. Similarly, when the robotic arm reaches the ending position, there is also a closing delay of the valve island and feeding cylinder. At this time, the feeding mechanism continues to feed, causing the automatic filament placement machine to continue performing effective placement operations, ultimately resulting in a lag between the actual placement area and the ideal placement area.

[0051] Therefore, this application embodiment calculates the target feeding lag time value and the target processing start position information, so that when the automatic filament placement machine reaches the target processing start position, the CNC system issues a feeding command to the controller. The controller receives the feeding command and issues a command to open the valve island and the feeding cylinder, causing the valve island and the feeding cylinder to open and start feeding. At this time, the automatic filament placement machine just reaches the preset processing start position, that is, it begins the formal placement operation. This application is equivalent to issuing the feeding command in advance, so that when the feeding mechanism starts formal feeding, the automatic filament placement machine just reaches the preset processing start position, thereby ensuring that the actual placement area information is consistent with the preset placement area information, that is, the actual placement area and the preset placement area perfectly overlap, without any delayed placement displacement, ensuring the quality of automatic filament placement and reducing the scrap rate.

[0052] Specifically, to solve the above-mentioned technical problems, the automatic fiber placement machine lag stacking control method described in this application involves acquiring the preset processing information of the automatic fiber placement machine and the preset stacking simulation area information of the target composite component model; based on the preset processing information of the automatic fiber placement machine, performing two simulated stacking processes on the target composite component, namely, a first simulated stacking process and a second simulated stacking process; obtaining a first lag stacking displacement value and a second lag stacking displacement value through the first simulated stacking process and the second simulated stacking process, respectively; calculating the start-up extension time value of the valve island and the feeding cylinder, i.e., the target feeding lag time value, through the target feeding lag time value; calculating the current processing start position, i.e., the target processing start position information, through the target feeding lag time value; and issuing an open feeding command when the automatic fiber placement machine reaches the target processing start position to control the automatic fiber placement machine to perform stacking processing, so that the actual stacking area information of the target composite component is consistent with the preset stacking area information.

[0053] This application also provides an electronic device for a hardware operating environment, which may include: a processor, such as a central processing unit (CPU), a communication bus, a user interface, a network interface, and memory. The communication bus is used to enable communication between these components. The user interface may include a display screen and an input unit such as a keyboard; optionally, the user interface may also include a standard wired interface or a wireless interface. The network interface may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk drive. The memory may also optionally be a storage device independent of the aforementioned processor.

[0054] Those skilled in the art will understand that the above content does not constitute a limitation on the electronic device, and it may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. For example, a memory, as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and electronic programs. In a specific embodiment, the network interface is mainly used for data communication with a network server; the user interface is mainly used for data interaction with the user; the processor and memory in the electronic device of this application may be located in the electronic device, and the electronic device calls the automatic filament placement machine lag stacking control device stored in the memory through the processor, and executes the automatic filament placement machine lag stacking control method provided in the embodiments of this application.

[0055] Based on this, refer to Figure 3 This application proposes a method for controlling the delayed placement of fibers in an automatic fiber placement machine, comprising the following steps:

[0056] Step S10: Obtain the preset processing information of the automatic fiber placement machine and the preset stacking simulation area information of the target composite component model; wherein, the preset processing information includes a first preset stacking speed value, a second preset stacking speed value and preset processing start position information; and the second preset stacking speed value is 0.01% to 0.2% of the first preset stacking speed value.

[0057] It should be noted that the target composite component model is the model of the target composite component to be laid up, and the preset layup simulation area information is the layup area of ​​the target composite component model. Before the actual layup process, the target composite component model will be simulated for layup, that is, based on the first preset layup speed value, the second preset layup speed value, and the preset processing start position information, to obtain the target feeding lag time value. Among them, the first preset layup speed value is the normal layup speed during the actual layup operation, that is, the maximum layup speed value; the second preset layup speed value is 0.01% to 0.2% of the normal layup speed, that is, the minimum layup speed value; the preset processing start position information is the original processing start position of the automatic fiber placement machine; the target feeding lag time value is the start-up extension time value of the valve island and the feeding cylinder.

[0058] As an optional implementation, the second preset laying speed value = normal laying speed * 0.1% can minimize the error value of the calculated target feeding lag time value while ensuring better laying.

[0059] Step S20: Based on the first preset layup speed value, the preset processing start position information, and the preset layup simulation area information, perform a first simulated layup process on the target composite component model to obtain a first delayed layup displacement value.

[0060] It should be noted that during the first simulated layup process, when the automatic filament placement machine simulator reaches the preset processing start position, it issues a command to open the feeding mechanism to the controller. Simultaneously, the automatic filament placement machine simulator continues to run at the first preset layup processing speed. After receiving and analyzing the command, the controller issues commands to open the valve island and the feeding cylinder. The valve island is opened first, followed by the feeding cylinder, and the automatic filament placement machine simulator begins the first simulated layup process to obtain the first hysteresis layup displacement value. The first hysteresis layup displacement value is the displacement value of the layup area during the automatic filament placement machine's layup at the first preset layup processing speed.

[0061] Specifically, step S20, which involves performing a first simulated layup process on the target composite component model based on the first preset layup speed value, the preset processing start position information, and the preset layup simulation area information to obtain a first hysteresis layup displacement value, includes:

[0062] Step S201: Based on the first preset layup speed value and the preset processing start position information, perform a first simulated layup process on the target composite component model to obtain the first actual layup simulation area information;

[0063] Step S202: Compare the first actual ply simulation area information with the preset ply simulation area information to obtain the first hysteresis ply displacement value.

[0064] It should be noted that due to the mechanical start-up delay of both the valve island and the feeding cylinder, there is a deviation between the first actual layup simulation area and the preset layup simulation area. Specifically, the first actual layup simulation area shifts in the layup direction, starting and ending layup later than the preset layup simulation area. The first delayed layup displacement value is the displacement between the start and end positions of the preset layup simulation area and the first actual layup simulation area. Since the first preset layup speed is the normal layup speed during actual layup operations, i.e., the maximum layup speed, the first delayed layup displacement value is also the maximum delayed layup displacement value.

[0065] Step S30: Based on the second preset layup speed value, the preset processing start position information, and the preset layup simulation area information, perform a second simulated layup process on the target composite component model to obtain a second delayed layup displacement value.

[0066] It should be noted that during the second simulated layup process, when the automatic filament placement machine simulator reaches the preset processing start position, it issues a command to open the feeding mechanism to the controller. Simultaneously, the automatic filament placement machine simulator continues to run at the second preset layup processing speed. After receiving and analyzing the command, the controller issues commands to open the valve island and the feeding cylinder. The valve island is opened first, followed by the feeding cylinder, and the automatic filament placement machine simulator begins the second simulated layup process to obtain the second hysteresis layup displacement value. The second hysteresis layup displacement value is the displacement value of the layup area during the automatic filament placement machine's layup at the second preset layup processing speed.

[0067] Specifically, step S30, which involves performing a second simulated layup process on the target composite component model based on the second preset layup speed value, the preset processing start position information, and the preset layup simulation area information to obtain a second delayed layup displacement value, includes:

[0068] Step S301: Based on the second preset layup speed value and the preset processing start position information, perform a second simulated layup process on the target composite component model to obtain the second actual layup simulation area information;

[0069] Step S302: Compare the second actual ply simulation area information with the preset ply simulation area information to obtain the second hysteresis ply displacement value.

[0070] It should be noted that due to the mechanical start-up delay of both the valve island and the feeding cylinder, there is a deviation between the second actual layup simulation area and the preset layup simulation area. Specifically, the second actual layup simulation area shifts in the layup direction, starting and ending layup later than the preset layup simulation area. The second delayed layup displacement value is the displacement between the start and end positions of the preset layup simulation area and the second actual layup simulation area. Since the second preset layup speed is 0.01% to 0.2% of the normal layup speed, and is the minimum layup speed, the second delayed layup displacement value is also the minimum delayed layup displacement value.

[0071] Step S40: Based on the first delayed stacking displacement value, the second delayed stacking displacement value, the first preset stacking speed value, and the second preset stacking speed value, obtain the target feeding delay time value.

[0072] Specifically, the above includes:

[0073] Step S401: Compare the first hysteresis layup displacement value with the second hysteresis layup displacement value to obtain the displacement difference;

[0074] Step S402: Compare the first preset laying speed value with the second preset laying speed value to obtain the processing speed difference;

[0075] Step S403: Based on the displacement difference and the processing speed difference, obtain the target feeding lag time value.

[0076] It should be noted that this is equivalent to obtaining the target feeding lag time value through the maximum layup speed, maximum lag layup displacement, minimum layup speed, and minimum lag layup displacement value. Based on the target feeding lag time value, the processing start position of the automatic fiber placement machine is adjusted, thus obtaining the target processing start position information. Using the target processing start position, commands to open the valve island and feed cylinder are issued in advance to ensure that the actual layup area information of the target composite component is consistent with the preset layup area information.

[0077] In practical applications, the target feeding lag time value satisfies the following relationship:

[0078]

[0079] Where ΔT is the target feeding lag time value; X max X is the first hysteresis layup displacement value; min V represents the first hysteresis layup displacement value.max V is the first preset laying speed value; min This is the second preset laying speed value.

[0080] Step S50: Based on the target feeding lag time value, obtain the target processing start position information; based on the target processing start position information, control the automatic fiber placement machine to perform the layup process so that the actual layup area information of the target composite component is consistent with the preset layup area information.

[0081] It should be noted that the target processing starting position information is the preset processing starting position plus the layup displacement value required for the valve island and feed cylinder command start delay time. When the industrial robot moves to the target processing starting position, the controller executes the command to open the valve island and feed cylinder. When the valve island and feed cylinder are opened to officially start feeding, the automatic fiber placer has just moved to the preset processing starting position. At this time, the automatic fiber placer officially starts the layup operation, and the final actual layup area information of the target composite component is consistent with the preset layup area information.

[0082] Specifically, step S50, which involves obtaining target processing start position information based on the target feeding lag time value and controlling the automatic fiber placement machine to perform layup processing based on the target processing start position information, so that the actual layup area information of the target composite component is consistent with the preset layup area information, includes:

[0083] Step S501: Obtain the current fiber placement speed value of the automatic fiber placement machine;

[0084] Step S502: Based on the current laying speed value and the target feeding lag time value, obtain the target delayed laying displacement value;

[0085] Step S503: Based on the target hysteresis layup displacement value and the preset processing start position information, obtain the target processing start position information;

[0086] Step S504: Based on the target processing start position information, control the automatic fiber placement machine to perform the layup process so that the actual layup area information of the target composite component is consistent with the preset layup area information.

[0087] It should be noted that the target delayed layup displacement value is the layup displacement value required for the valve island and feed cylinder command activation delay time. The target processing start position is obtained by adding the target delayed layup displacement value to the preset processing start position. When the industrial robot moves to the target processing start position, the controller executes the valve island and feed cylinder opening commands, which is equivalent to issuing the valve island and feed cylinder opening commands in advance, so that the actual layup area information of the final target composite component is consistent with the preset layup area information.

[0088] Reference Figure 4 Based on the same inventive concept, embodiments of this application also provide: an automatic filament placement machine lag stacking control device, comprising:

[0089] The acquisition module is used to acquire preset processing information of the automatic fiber placement machine and preset stacking simulation area information of the target composite component model; wherein, the preset processing information includes a first preset stacking speed value, a second preset stacking speed value and preset processing start position information; and the second preset stacking speed value is 0.01% to 0.2% of the first preset stacking speed value;

[0090] The first simulation module is used to perform a first simulation piling process on the target composite component model based on the first preset piling speed value, the preset processing start position information and the preset piling simulation area information, to obtain a first hysteresis piling displacement value.

[0091] The second simulation module is used to perform a second simulation layup process on the target composite component model based on the second preset layup speed value, the preset processing start position information and the preset layup simulation area information, to obtain a second hysteresis layup displacement value.

[0092] The target acquisition module is used to obtain a target feeding lag time value based on the first delayed piling displacement value, the second delayed piling displacement value, the first preset piling speed value, and the second preset piling speed value.

[0093] The layup control module is used to obtain the target processing start position information based on the target feeding lag time value; and to control the automatic fiber placement machine to perform layup processing based on the target processing start position information, so that the actual layup area information of the target composite component is consistent with the preset layup area information.

[0094] As one feasible approach, the device also includes a gas source processing module, an eddy current meter, and a temperature sensor;

[0095] The air source processing module is used to filter and process the air entering the automatic filament placement machine; the eddy current meter is used to control the air flow rate entering the automatic filament placement machine; and the temperature sensor is used to monitor the internal temperature of the automatic filament placement machine in real time.

[0096] It should be noted that, referring to Figure 5 and Figure 6The starting and stopping of the valve island and feeding cylinder are affected by factors such as air source flow rate, air source quality, and temperature. To shorten the starting delay time of the valve island and feeding cylinder, an air source processing module is installed to filter and treat the air entering the automatic filament placer, ensuring air quality. Simultaneously, an eddy current meter is installed, and an air flow rate value is set within the controller's control logic program, along with a PID control program to control the air flow rate entering the automatic filament placer. A temperature sensor is installed, and a temperature control program is written within the controller to achieve stable temperature control within the automatic filament placer.

[0097] The device described in this application can be implemented based on a 64-bit Windows 7 system, an Intel(R) Xeon(R) W-2223 3.60GHz processor, 32GB of RAM, a frequency of 3200MHz, and a 256GB hard disk. The software development platform is based on Visual Studio 2019, the programming language is C++, the corresponding image processing library is OpenCV 4.5.2, it is based on a Debug x64 platform, the deep learning platform is based on the PyTorch framework, Python version 3.7.1, the matrix operation library NumPy version is 1.21.4, the SDK version is 10.0.22000.0, and the plotting tool is Matplotlib.

[0098] It should be noted that each module in the automatic filament placement machine lag stacking control device in this embodiment corresponds one-to-one with each step in the automatic filament placement machine lag stacking control method in the aforementioned embodiment. Therefore, the specific implementation method and the technical effects achieved in this embodiment can be referred to the implementation method of the aforementioned automatic filament placement machine lag stacking control method, and will not be repeated here.

[0099] Furthermore, in one embodiment, this application also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the steps of the methods described in the foregoing embodiments.

[0100] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or it may be a device including one or any combination of the above-mentioned memories. The computer may be a variety of computing devices, including smart terminals and servers.

[0101] In some embodiments, executable instructions may take the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0102] As an example, executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple collaborating files (e.g., a file that stores one or more modules, subroutines, or code sections).

[0103] As an example, executable instructions can be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0104] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0105] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0106] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a multimedia terminal device (which may be a mobile phone, computer, television receiver, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0107] The above-disclosed embodiments are merely partial examples of this application and should not be construed as limiting the scope of this application. Those skilled in the art will understand that implementing all or part of the above embodiments and making equivalent changes in accordance with the claims of this application are still within the scope of the invention.

Claims

1. A method for controlling delayed fiber placement in an automatic fiber placement machine, characterized in that, Includes the following steps: Acquire the preset processing information of the automatic fiber placement machine and the preset stacking simulation area information of the target composite component model; wherein, the preset processing information includes a first preset stacking speed value, a second preset stacking speed value, and preset processing start position information; and the second preset stacking speed value is 0.01% to 0.2% of the first preset stacking speed value; Based on the first preset piling speed value, the preset processing start position information and the preset piling simulation area information, the target composite component model is subjected to the first simulated piling process to obtain the first hysteretic piling displacement value. Based on the second preset layup speed value, the preset processing start position information and the preset layup simulation area information, the target composite component model is subjected to a second simulated layup process to obtain a second hysteresis layup displacement value. The first delayed piling displacement value is compared with the second delayed piling displacement value to obtain a displacement difference; the first preset piling processing speed value is compared with the second preset piling processing speed value to obtain a processing speed difference; based on the displacement difference and the processing speed difference, the target feeding lag time value is obtained. The system obtains the current layup speed value of the automatic fiber placement machine; based on the current layup speed value and the target feeding lag time value, it obtains the target lag layup displacement value; based on the target lag layup displacement value and the preset processing start position information, it obtains the target processing start position information; based on the target processing start position information, it controls the automatic fiber placement machine to perform layup processing so that the actual layup area information of the target composite component is consistent with the preset layup area information.

2. The automatic fiber placement machine lag stacking control method as described in claim 1, characterized in that, The first simulation layup process, based on the first preset layup speed value, the preset processing start position information, and the preset layup simulation area information, performs a first simulated layup process on the target composite component model to obtain a first hysteresis layup displacement value, including: Based on the first preset layup speed value and the preset processing start position information, the target composite component model is subjected to a first simulated layup process to obtain the first actual layup simulation area information. The first actual ply simulation area information is compared with the preset ply simulation area information to obtain the first hysteresis ply displacement value.

3. The automatic fiber placement machine lag stacking control method as described in claim 1, characterized in that, The second simulated layup process is performed on the target composite component model based on the second preset layup speed value, the preset processing start position information, and the preset layup simulation area information to obtain the second hysteresis layup displacement value, including: Based on the second preset layup speed value and the preset processing start position information, the target composite component model is subjected to a second simulated layup process to obtain the second actual layup simulation area information. The second actual ply simulation area information is compared with the preset ply simulation area information to obtain the second hysteresis ply displacement value.

4. The automatic fiber placement machine lag stacking control method as described in claim 1, characterized in that, The target feeding lag time value satisfies the following relationship: ； in, T The target feeding delay time value; This is the first hysteresis layup displacement value; This is the first hysteresis layup displacement value; The first preset laying speed value; This is the second preset laying speed value.

5. A device for controlling delayed fiber placement in an automatic fiber placement machine, characterized in that, For implementing the method as described in claim 1, the apparatus comprises: The acquisition module is used to acquire preset processing information of the automatic fiber placement machine and preset stacking simulation area information of the target composite component model; wherein, the preset processing information includes a first preset stacking speed value, a second preset stacking speed value, and preset processing start position information; and the second preset stacking speed value is 0.01% to 0.2% of the first preset stacking speed value; The first simulation module is used to perform a first simulation piling process on the target composite component model based on the first preset piling speed value, the preset processing start position information and the preset piling simulation area information, to obtain a first hysteresis piling displacement value. The second simulation module is used to perform a second simulation layup process on the target composite component model based on the second preset layup speed value, the preset processing start position information and the preset layup simulation area information, to obtain a second hysteresis layup displacement value. The target acquisition module is used to obtain a target feeding lag time value based on the first delayed piling displacement value, the second delayed piling displacement value, the first preset piling speed value, and the second preset piling speed value. The layup control module is used to obtain the target processing start position information based on the target feeding lag time value; and to control the automatic fiber placement machine to perform layup processing based on the target processing start position information, so that the actual layup area information of the target composite component is consistent with the preset layup area information.

6. The automatic fiber placement machine delayed layup control device as described in claim 5, characterized in that, The device also includes a gas source processing module, an eddy current meter, and a temperature sensor; The air source processing module is used to filter and process the air entering the automatic filament placement machine; the eddy current meter is used to control the air flow rate entering the automatic filament placement machine; and the temperature sensor is used to monitor the internal temperature of the automatic filament placement machine in real time.

7. An electronic device, characterized in that, The electronic device includes a memory and a processor, wherein the memory stores a computer program and the processor executes the computer program to implement the method as described in any one of claims 1-4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-4.

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