A laser cutting route planning and control method and system in the field of emergency rescue

Abstract

The present invention discloses a laser cutting route planning and control method and system in the field of emergency rescue, the method comprising: S1: preset laser cutting motion parameters; S2: based on the preset laser cutting motion parameters, construct the dynamic equation of laser cutting; S3: based on the constraints of laser cutting and the principle of minimum kinetic energy of the cutting head, construct the objective function of laser cutting; S4: using a particle swarm algorithm to optimize the objective function to obtain the optimal position, optimal speed and optimal rotation speed of laser cutting; S5: using a positioning sensor to obtain the real position of laser cutting, and adjusting the driving force and rotational force of the cutting head according to the deviation between the real position of laser cutting and the optimal position. The present invention combines the constraints of laser cutting and the principle of minimum kinetic energy of the cutting head to construct the laser cutting objective function, obtain the optimal cutting route through optimization and solve, calculate the cutting deviation in real time, adjust the driving force and rotational force of the cutting head, and realize real-time control of laser cutting.

Description

Technical Field

[0001] The present invention relates to the technical field of emergency rescue, and in particular to a laser cutting route planning and control method and system in the field of emergency rescue. Background Art

[0002] The danger and destructiveness of dangerous and explosive materials fully test the efficiency and accuracy of emergency rescue work. The application of advanced technology can effectively improve the ability and level of emergency rescue. Laser cutting is a technology that uses a high-energy-density laser beam to irradiate the surface of a material to melt or soften the material for cutting. As a precision processing technology, laser cutting is mainly used in the field of material processing. It has the advantages of high precision, high speed, local operation, and strong controllability. In the field of emergency rescue, during fire rescue and demolition operations, the laser cutting method is compared with traditional mechanical cutting and blasting methods. It has the characteristics of non-contact, remote operation, and rapid cutting, which effectively ensures the safety of rescue personnel and improves rescue efficiency.

[0003] However, the application of laser cutting in the field of emergency rescue has not been widely promoted. This is because the disaster site environment is complex and changeable, there are a lot of obstacles, the laser cutting route is restricted by many factors; and there are a lot of uncontrollable factors in the cutting process, which requires real-time control of the cutting process. Summary of the invention

[0004] In view of this, the present invention proposes a laser cutting route planning method in the field of emergency rescue, based on the consideration of laser cutting constraints and the minimum kinetic energy of the cutting head, and obtains the actual position of the laser cutting through a positioning sensor to perform real-time control of the laser cutting.

[0005] The technical solution proposed by the present invention is a laser cutting route planning and control method in the field of emergency rescue, comprising the following steps:

[0006] S1: preset motion parameters of laser cutting;

[0007] S2: construct the dynamic equation of laser cutting based on the preset laser cutting motion parameters;

[0008] S3: Based on the constraints of laser cutting and the principle of minimum kinetic energy of the cutting head, the objective function of laser cutting is constructed;

[0009] S4: Particle swarm algorithm is used to optimize the objective function to obtain the optimal position, optimal speed and optimal rotation speed of laser cutting;

[0010] S5: A positioning sensor is used to obtain the actual position of laser cutting, and the driving force and rotational force of the cutting head are adjusted according to the deviation between the actual position of laser cutting and the optimal position.

[0011] Optionally, in step S1, the motion parameters of laser cutting are preset, including:

[0012] v 0 =((y zhong -y qi ) 2 +(x zhong -x qi ) 2 ) 1 / 2 / T

[0013] zhuan 0 =π / T

[0014]

[0015] Among them, v 0 Indicates the initial speed of laser cutting, 0 represents the initial rotation speed of laser cutting, α represents the direction of laser cutting, (x qi ,y qi ) indicates the starting point of laser cutting, (x zhong ,y zhong ) represents the end point of laser cutting, T represents the preset time of laser cutting, and arctan() represents the inverse function of the tangent function.

[0016] Optionally, in step S2, based on preset laser cutting motion parameters, a dynamic equation of laser cutting is constructed, including:

[0017]

[0018] v t =v 0 +acce t ·Vt

[0019] zhuan t =zhuan 0 +zhacc t ·Vt

[0020] Among them, access t represents the driving acceleration of laser cutting at time t, r w represents the wheel radius of the cutting head, load represents the weight carried by the cutting head and load = m qg +m bqg , m qg Indicates the weight of the cutting head, m bqg Indicates the weight of the cut body; C qd,t represents the driving force of the cutting head at time t, zhacc trepresents the angular acceleration of laser cutting at time t, J represents the moment of inertia of the cutting head, C zd,t represents the rotational force of the cutting head at time t, Vt represents the interval time, v t Indicates the speed of laser cutting at time t, t Indicates the laser cutting speed at time t.

[0021] Optionally, in step S3, based on the constraints of laser cutting, the following steps are included:

[0022] S31: Constructing laser cutting constraints;

[0023] S32: Calculate the kinetic energy of the cutting head:

[0024]

[0025] Among them, E qg,t represents the kinetic energy of the cutting head at time t;

[0026] S33: Construct the objective function of laser cutting:

[0027]

[0028] Among them, tar_func represents the objective function, min represents minimization, Func(F dtai ,F kjian ,F jdu ,F sudu ,F zhai ) represents the dynamic equation constraint F dtai , cutting space constraint F kjian , cutting head rotation angle constraint F jdu , cutting speed constraint F sudu , cutting obstacle constraint F zhai .

[0029] Optionally, in step S31, constructing laser cutting constraints includes:

[0030] Construct dynamic equation constraints, cutting space constraints, cutting head rotation angle constraints, cutting speed constraints and cutting obstacle constraints, specifically:

[0031] F dtai :xshi t+1 =xshi t +v t ·cosα·Vt,yshi t+1 =yshi t +v t ·sinα·Vt

[0032] Among them, F dtairepresents the dynamic equation constraint, (xshi t ,yshi t ) represents the position of the cutting head at time t, (xshi t+1 ,yshi t+1 ) represents the position of the cutting head at time t+1, and the position of the cutting head at the initial time xshi 0 =0,yshi 0 =0

[0033] F kjian :xmin≤xshi t ≤xmax,ymin≤yshi t ≤ymax

[0034] Among them, F kjian Represents the cutting space constraint, (xmin, ymin), (xmax, ymax) represent the cutting boundary;

[0035] F jdu :zhmi≤zhuan t ≤zhma,0≤∑zhuan t ·Vt≤π

[0036] Among them, F jdu Indicates the rotation angle constraint of the cutting head, zhmi indicates the minimum value of the cutting head's rotation angle each time, zhma indicates the maximum value of the cutting head's rotation angle each time, and π indicates the maximum value of the cutting head's rotation angle;

[0037] F sudu :vemi≤v t ≤vema,0≤∑v t ·Vt≤((y zhong -y qi ) 2 +(x zhong -x qi ) 2 ) 1 / 2

[0038] Among them, F sudu Indicates cutting speed constraint, vemi indicates the minimum cutting speed, and vema indicates the maximum cutting speed;

[0039] F zhai :zhangai i (x i ,y i )

[0040] Among them, F zhai represents the cutting obstacle constraint, (xi,yi) represents the location of the obstacle, i (xi ,y i ) represents the total set of obstacles.

[0041] Optionally, in step S4, a particle swarm algorithm is used to optimize the objective function to obtain the optimal position, optimal speed and optimal rotation speed of laser cutting, including:

[0042] S41: Randomly initialize a group of particles, including position, velocity and rotation speed;

[0043] S42: Calculate the fitness value of each particle;

[0044] S43: For each particle, the fitness value is compared with the individual extreme value parameter pbest. If the fitness value is better than pbest, pbest is updated with the fitness value; the fitness value is compared with the global extreme value parameter gbest. If the fitness value is better than gbest, gbest is updated with the fitness value;

[0045] S44: Update the position, velocity and rotation speed of the particle;

[0046] S45: Repeat steps S42, S43 and S44 until the preset number of iterations is met to obtain the optimal position, optimal speed and optimal rotation speed of laser cutting.

[0047] Optionally, in step S5, a positioning sensor is used to obtain the actual position of the laser cutting, and the driving force and the rotational force of the cutting head are adjusted according to the deviation between the actual position of the laser cutting and the optimal position, including:

[0048] S51: Use positioning sensor to obtain the actual position of laser cutting and calculate the deviation between the actual position of laser cutting and the optimal position:

[0049] bias_x t =xjia i -xgps t

[0050] bias_y t =yjia i -ygps t

[0051] Among them, (bias_x t ,bias_y t ) represents the deviation between the actual laser cutting position and the optimal position at time t, (xjia i ,yjia i ) represents the optimal position of laser cutting at time t, (xgps i ,ygps i ) represents the actual position of laser cutting at time t;

[0052] S52: Calculate the driving acceleration and rotational angular acceleration required at time t+1:

[0053] access t+1 ′=2·(bias_x t 2 +bias_y t 2 ) 1 / 2 / Vt 2

[0054]

[0055] Among them, access t+1 ′ represents the driving acceleration required at time t+1, zhacc t+1 ′ represents the angular acceleration required at time t+1;

[0056] S53: Adjust the driving force and rotational force of the cutting head:

[0057] C qd,t+1 ′=acce t+1 ′·r w ·load

[0058] C zd,t+1 ′=zhacc t+1 ′·2·r w ·J

[0059] Among them, C qd,t+1 ′ represents the actual driving force of the cutting head at time t+1, C zd,t+1 ′ represents the actual rotational force of the cutting head at time t+1.

[0060] The present invention also provides a laser cutting route planning and control system in the field of emergency rescue, which is characterized by comprising:

[0061] Motion parameter preset module: calculate the initial speed, initial rotation speed, and direction of laser cutting, and preset motion parameters;

[0062] Dynamic equation building blocks: Calculate drive acceleration, angular acceleration, velocity and rotational speed;

[0063] Objective function construction module: construct dynamic equation constraints, cutting space constraints, cutting head rotation angle constraints, cutting speed constraints and cutting obstacle constraints, calculate the kinetic energy of the cutting head, and construct the objective function of laser cutting;

[0064] Objective function optimization module: initialize particle swarm, calculate particle fitness, update fitness value, update particles, and obtain the optimal position, optimal speed and optimal rotation speed of laser cutting;

[0065] Cutting head adjustment module: obtain the actual position of laser cutting, calculate the position deviation, calculate the required driving acceleration and rotational angular acceleration, and adjust the driving force and rotational force of the cutting head.

[0066] Beneficial Effects

[0067] The present invention adopts laser cutting technology to carry out demolition operations, which is conducive to completing firefighting and rescue operations safely and efficiently; by presetting the motion parameters of laser cutting and constructing dynamic equations, laser cutting is precisely planned and accurately controlled; on the basis of considering the laser cutting constraints and the minimum kinetic energy of the cutting head, the objective function of laser cutting is constructed, which is conducive to ensuring that the laser cutting meets the requirements of the on-site environment, ensures that the energy consumption of the cutting head is low, and reduces the cutting temperature to avoid secondary damage; on the basis of optimizing the optimal position, optimal speed and optimal rotation speed of laser cutting, the deviation of laser cutting is calculated in real time, the driving force and rotational force of the cutting head are adjusted, and real-time control of laser cutting is realized.

[0068] The present invention calculates the initial speed, initial rotation speed and direction of laser cutting based on each route, which is conducive to presetting the laser cutting equipment and improving the efficiency in each cutting operation; fully considers the load and inertia of laser cutting, establishes the dynamic equation of laser cutting, and improves the accuracy of equation fitting; establishes a complete constraint function for the dynamic equation of laser cutting, cutting space, cutting head rotation angle, cutting speed, and cutting obstacles, which is conducive to the reasonable planning of the laser cutting route; on the basis of constructing the laser cutting target function, the best cutting route is obtained through optimization solution, which effectively guarantees the safety of rescue personnel and improves the rescue efficiency; obtains the real position of laser cutting through the positioning sensor, which is conducive to the real-time control of laser cutting; by calculating the driving acceleration and rotation angular acceleration required at the next moment, the driving force and rotational force of the cutting head at the next moment are quickly and accurately adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 A flow chart of a laser cutting route planning and control method in the field of emergency rescue provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0070] The present invention is further described below in conjunction with the accompanying drawings, but the present invention is not limited in any way. Any changes or substitutions made based on the teachings of the present invention belong to the protection scope of the present invention.

[0071] Embodiment 1:

[0072] A laser cutting route planning and control method in the field of emergency rescue, such as Figure 1 As shown, the following steps are included:

[0073] S1: Preset laser cutting motion parameters; including:

[0074] v 0 =((y zhong -y qi ) 2 +(x zhong -x qi ) 2 ) 1 / 2 / T

[0075] zhuan 0 =π / T

[0076]

[0077] Among them, v 0 Indicates the initial speed of laser cutting, 0 represents the initial rotation speed of laser cutting, α represents the direction of laser cutting, (x qi ,y qi ) indicates the starting point of laser cutting, (x zhong ,y zhong ) represents the end point of laser cutting, T represents the preset time of laser cutting, arctan() represents the inverse function of the tangent function, and π represents the maximum angle at which the cutting head can rotate during the laser cutting process.

[0078] In the embodiment of the present invention, the professional is responsible for making a preliminary judgment on the laser cutting scene, decomposing the complex cutting work into multiple cutting sections and performing them separately; the present invention is to plan and control the laser cutting route for a section of cutting work. First, according to the division of the cutting work, the starting point (x qi ,y qi )、Endpoint(x zhong ,y zhong ) and preset time T, calculate the initial speed v of laser cutting 0 , initial speed change 0 and direction α, v 0 、zhuan 0 and α are used as preset motion parameters and input into the laser cutting control system to start the laser cutting work.

[0079] In the embodiment of the present invention, multiple cutting operations can be performed simultaneously, and each cutting operation can select laser cutting or mechanical cutting as needed; multiple cutting operations can also be assigned a sequence; when laser cutting is running, it is necessary to check the validity of the starting point and end point of the laser cutting, and update the starting point (x qi ,y qi ) and the end point (x zhong ,y zhong ).

[0080] S2: Based on the preset laser cutting motion parameters, the dynamic equation of laser cutting is constructed; including:

[0081]

[0082] v t =v 0 +acce t ·Vt

[0083] zhuan t =zhuan 0 +zhacc t ·Vt

[0084] Among them, access t represents the driving acceleration of laser cutting at time t, r w represents the wheel radius of the cutting head, load represents the weight carried by the cutting head and load = m qg +m bqg , m qg Indicates the weight of the cutting head, m bqg Indicates the weight of the cut body; C qd,t represents the driving force of the cutting head at time t, zhacc t represents the angular acceleration of laser cutting at time t, J represents the moment of inertia of the cutting head, C zd,t represents the rotational force of the cutting head at time t, Vt represents the interval time, v t Indicates the speed of laser cutting at time t, t Indicates the laser cutting speed at time t.

[0085] In the embodiment of the present invention, after the motion parameters of the laser cutting are preset, the cutting head moves at a constant speed; an additional driving force C is applied to the cutting head. qd,t , the cutting head generates acceleration acce along the driving direction t ; Additional rotational force C is applied to the cutting head zd,t , the cutting head generates acceleration zhacc along the rotation angle t ; Establish the dynamic equation of laser cutting and clarify the speed v of laser cutting t , speed change t The driving force C applied to the cutting head qd,t , Rotational force C zd,t relationship.

[0086] S3: Based on the constraints of laser cutting and the principle of minimum kinetic energy of the cutting head, the objective function of laser cutting is constructed; including:

[0087] S31: Constructing constraints for laser cutting; including:

[0088] Construct dynamic equation constraints, cutting space constraints, cutting head rotation angle constraints, cutting speed constraints and cutting obstacle constraints, specifically:

[0089] F dtai :xshi t+1 =xshi t +v t ·cosα·Vt,yshi t+1 =yshi t +v t ·sinα·Vt

[0090] Among them, F dtai represents the dynamic equation constraint, (xshi t ,yshi t ) represents the position of the cutting head at time t, (xshi t+1 ,yshi t+1 ) represents the position of the cutting head at time t+1, and the position of the cutting head at the initial time xshi 0 =0,yshi 0 =0

[0091] F kjian :xmin≤xshi t ≤xmax,ymin≤yshi t ≤ymax

[0092] Among them, F kjian Represents the cutting space constraint, (xmin, ymin), (xmax, ymax) represent the cutting boundary;

[0093] F jdu :zhmi≤zhuan t ≤zhma,0≤∑zhuan t ·Vt≤π

[0094] Among them, F jdu Indicates the rotation angle constraint of the cutting head, zhmi indicates the minimum value of the cutting head's rotation angle each time, zhma indicates the maximum value of the cutting head's rotation angle each time, and π indicates the maximum value of the cutting head's rotation angle;

[0095] F sudu :vemi≤v t ≤vema,0≤∑v t ·Vt≤((y zhong -y qi ) 2 +(x zhong -x qi ) 2 ) 1 / 2

[0096] Among them, F sudu Indicates cutting speed constraint, vemi indicates the minimum cutting speed, and vema indicates the maximum cutting speed;

[0097] F zhai :zhangai i (x i ,y i )

[0098] Among them, F zhai represents the cutting obstacle constraint, (x i ,y i ) indicates the location of the obstacle, zhangai i (x i ,y i ) represents the total set of obstacles;

[0099] S32: Calculate the kinetic energy of the cutting head:

[0100]

[0101] Among them, E qg,t represents the kinetic energy of the cutting head at time t;

[0102] S33: Construct the objective function of laser cutting:

[0103]

[0104] Among them, tar_func represents the objective function, min represents minimization, Func(F dtai ,F kjian ,F jdu ,F sudu ,F zhai ) represents the dynamic equation constraint F dtai , cutting space constraint F kjian , cutting head rotation angle constraint F jdu , cutting speed constraint F sudu , cutting obstacle constraint F zhai .

[0105] In the embodiment of the present invention, when the driving force C applied to the cutting head qd,t , Rotational force C zd,t When it is relatively large, the driving acceleration acce t and the angular acceleration zhacc t Larger, increasing the speed of laser cutting t and speed conversion t , shortening the time required for this section of cutting work and improving the efficiency of laser cutting; on the other hand, the driving force C applied to the cutting headqd,t , Rotational force C zd,t Will indirectly increase the kinetic energy E of the cutting head qg,t , which will cause the instantaneous temperature of the cutting head to rise, which is not conducive to laser cutting; combined with the dynamic equation constraint F dtai , cutting space constraint F kjian , cutting head rotation angle constraint F jdu , cutting speed constraint F sudu , cutting obstacle constraint F zhai , and the kinetic energy of the cutting head E qg,t , the objective function tar_func of laser cutting was constructed to find a balance between fast cutting and temperature control.

[0106] In the embodiment of the present invention, in special cases or when a cooling system is provided, the kinetic energy E of the cutting head can be ignored after judgment by professionals. qg,t The minimum requirement is to only meet the laser cutting constraint Func(F dtai ,F kjian ,F jdu ,F sudu ,F zhai ) and increase the cooling system power at this time to extend the cutting time.

[0107] In an embodiment of the present invention, when there are multiple cutting tasks, laser cutting constraints are defined for each laser cutting task, and the laser cutting constraints are updated periodically; the cutting head is not limited to movement in a two-dimensional plane, and can perform cutting in a three-dimensional direction; when the cutting head performs laser cutting in a three-dimensional direction, the laser cutting constraints are three-dimensional constraints.

[0108] S4: Use particle swarm algorithm to optimize the objective function and obtain the best position, speed and rotation speed for laser cutting; including:

[0109] S41: Randomly initialize a group of particles, including position, velocity and rotation speed;

[0110] S42: Calculate the fitness value of each particle;

[0111] S43: For each particle, the fitness value is compared with the individual extreme value parameter pbest. If the fitness value is better than pbest, pbest is updated with the fitness value; the fitness value is compared with the global extreme value parameter gbest. If the fitness value is better than gbest, gbest is updated with the fitness value;

[0112] S44: Update the position, velocity and rotation speed of the particle;

[0113] S45: Repeat steps S42, S43 and S44 until the preset number of iterations is met. In the embodiment of the present invention, the number of iterations is set to 20 times, which is determined based on the complex situation on site. The number of iterations takes into account the requirements of solution accuracy and solution efficiency.

[0114] S5: Positioning sensor The sensor obtains the actual position of laser cutting, and adjusts the driving force and rotational force of the cutting head according to the deviation between the actual position of laser cutting and the optimal position; including:

[0115] S51: Use positioning sensor to obtain the actual position of laser cutting and calculate the deviation between the actual position of laser cutting and the optimal position:

[0116] bias_x t =xjia i -xgps t

[0117] bias_y t =yjia i -ygps t

[0118] Among them, (bias_x t ,bias_y t ) represents the deviation between the actual laser cutting position and the optimal position at time t, (xjia i ,yjia i ) represents the optimal position of laser cutting at time t, (xgps i ,ygps i ) represents the actual position of laser cutting at time t;

[0119] S52: Calculate the driving acceleration and rotational angular acceleration required at time t+1:

[0120] access t+1 ′=2·(bias_x t 2 +bias_y t 2 ) 1 / 2 / Vt 2

[0121]

[0122] Among them, access t+1 ′ represents the driving acceleration required at time t+1, zhacc t+1 ′ represents the angular acceleration required at time t+1;

[0123] S53: Adjust the driving force and rotational force of the cutting head:

[0124] Cqd,t+1 ′=acce t+1 ′·r w ·load

[0125] C zd,t+1 ′=zhacc t+1 ′·2·r w ·J

[0126] Among them, C qd,t+1 ′ represents the actual driving force of the cutting head at time t+1, C zd,t+1 ′ represents the actual rotational force of the cutting head at time t+1.

[0127] In an embodiment of the present invention, the driving force and the rotational force of the cutting head at time t+1 are calculated based on the deviation between the actual position of the laser cutting at time t and the optimal position; when the on-site situation is complicated and the communication efficiency is low, the time interval between time t and time t+1 can be extended to ensure that the steps of adjusting the driving force and the rotational force of the cutting head are completed.

[0128] In the embodiment of the present invention, the positioning sensor is selected according to the actual situation; when the error range that laser cutting can tolerate is at the meter level, the GPS sensor is preferentially used to locate the actual position of the laser cutting. In the event of a communication failure of the GPS sensor, a self-assembled Bluetooth network is used to locate the actual position of the laser cutting; when the error range that laser cutting can tolerate is at the centimeter level, a laser positioning sensor is placed on the cutting head to obtain the actual position of the laser cutting.

[0129] Embodiment 2: The present invention also provides a laser cutting route planning and control system in the field of emergency rescue, comprising the following five modules:

[0130] Motion parameter preset module: calculate the initial speed, initial rotation speed, and direction of laser cutting, and preset motion parameters;

[0131] Dynamic equation building blocks: Calculate drive acceleration, angular acceleration, velocity and rotational speed;

[0132] Objective function construction module: construct dynamic equation constraints, cutting space constraints, cutting head rotation angle constraints, cutting speed constraints and cutting obstacle constraints, calculate the kinetic energy of the cutting head, and construct the objective function of laser cutting;

[0133] Objective function optimization module: initialize particle swarm, calculate particle fitness, update fitness value, update particles, and obtain the optimal position, optimal speed and optimal rotation speed of laser cutting;

[0134] Cutting head adjustment module: obtain the actual position of laser cutting, calculate the position deviation, calculate the required driving acceleration and rotational angular acceleration, and adjust the driving force and rotational force of the cutting head;

[0135] It should be noted that the serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments. And the terms "including", "comprising" or any other variants thereof in this article are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "including a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0136] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0137] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A laser cutting route planning and control method in the field of emergency rescue, characterized in that: The method comprises: S1: preset motion parameters of laser cutting; S2: construct the dynamic equation of laser cutting based on the preset laser cutting motion parameters; S3: Based on the constraints of laser cutting and the principle of minimum kinetic energy of the cutting head, the objective function of laser cutting is constructed; S4: Particle swarm algorithm is used to optimize the objective function to obtain the optimal position, optimal speed and optimal rotation speed of laser cutting; S5: A positioning sensor is used to obtain the actual position of laser cutting, and the driving force and rotational force of the cutting head are adjusted according to the deviation between the actual position of laser cutting and the optimal position.

2. The laser cutting route planning and control method for emergency rescue according to claim 1 is characterized in that: The step S1 comprises: Preset motion parameters for laser cutting; v0=((y zhong -y qi ) 2 +(x zhong -x qi ) 2 ) 1 / 2 / T zhuan0=π / T Among them, v0 represents the initial speed of laser cutting, zhuan0 represents the initial rotation speed of laser cutting, α represents the direction of laser cutting, (x qi ,y qi ) indicates the starting point of laser cutting, (x zhong ,y zhong ) represents the end point of laser cutting, T represents the preset time of laser cutting, and arctan() represents the inverse function of the tangent function.

3. The laser cutting route planning and control method for emergency rescue according to claim 2 is characterized in that: The step S2 comprises: Based on the preset laser cutting motion parameters, the dynamic equation of laser cutting is constructed: v t =v0+acce t ·As zhuan t =zhuan0+zhacc t ·Vt Among them, access t represents the driving acceleration of laser cutting at time t, r w represents the wheel radius of the cutting head, load represents the weight carried by the cutting head and load = m qg +m bqg , m qg Indicates the weight of the cutting head, m bqg Indicates the weight of the cut body; C qd,t represents the driving force of the cutting head at time t, zhacc t represents the angular acceleration of laser cutting at time t, J represents the moment of inertia of the cutting head, C zd,t represents the rotational force of the cutting head at time t, Vt represents the interval time, and v t Indicates the speed of laser cutting at time t, t Indicates the laser cutting speed at time t.

4. The laser cutting route planning and control method for emergency rescue according to claim 3 is characterized in that: The step S3 comprises: S31: Constructing laser cutting constraints; S32: Calculate the kinetic energy of the cutting head: Among them, E qg,t represents the kinetic energy of the cutting head at time t; S33: Construct the objective function of laser cutting: Among them, tar_func represents the objective function, min represents minimization, Func(F dtai ,F kjian ,F jdu ,F sudu ,F zhai ) represents the dynamic equation constraint F dtai , cutting space constraint F kjian , cutting head rotation angle constraint F jdu , cutting speed constraint F sudu , cutting obstacle constraint F zhai .

5. The laser cutting route planning and control method for emergency rescue according to claim 4 is characterized in that: The step S31 comprises: Construct the constraints of laser cutting, including dynamic equation constraints, cutting space constraints, cutting head rotation angle constraints, cutting speed constraints and cutting obstacle constraints, specifically: F dtai :xshi t+1 =xshi t +v t ·cosα·Vt,yshi t+1 =yshi t +v t ·sinα·Vt Among them, F dtai represents the dynamic equation constraint, (xshi t ,yshi t ) represents the position of the cutting head at time t, (xshi t+1 ,yshi t+1 ) represents the position of the cutting head at time t+1. The position of the cutting head at the initial time is xshi0=0, yshi0=0 F kjian :xmin≤xshi t ≤xmax,ymin≤yshi t ≤ymax Among them, F kjian Represents the cutting space constraint, (xmin, ymin), (xmax, ymax) represent the cutting boundary; F jdu :zhmi≤zhuan t ≤zhma,0≤∑zhuan t ·Vt≤π Among them, F jdu Indicates the rotation angle constraint of the cutting head, zhmi indicates the minimum value of the cutting head's rotation angle each time, zhma indicates the maximum value of the cutting head's rotation angle each time, and π indicates the maximum value of the cutting head's rotation angle; F sudu :vemi≤v t ≤vema,0≤∑v t ·Vt≤((y zhong -y qi ) 2 +(x zhong -x qi ) 2 ) 1 / 2 Among them, F sudu Indicates cutting speed constraint, vemi indicates the minimum cutting speed, and vema indicates the maximum cutting speed; F zhai :zhangai i (x i ,y i ) Among them, F zhai represents the cutting obstacle constraint, (x i ,y i ) indicates the location of the obstacle, zhangai i (x i ,y i ) represents the total set of obstacles.

6. The laser cutting route planning and control method for emergency rescue according to claim 4 is characterized in that: The step S4 comprises: S41: Randomly initialize a group of particles, including position, velocity and rotation speed; S42: Calculate the fitness value of each particle; S43: For each particle, the fitness value is compared with the individual extreme value parameter pbest. If the fitness value is better than pbest, pbest is updated with the fitness value; the fitness value is compared with the global extreme value parameter gbest. If the fitness value is better than gbest, gbest is updated with the fitness value; S44: Update the position, velocity and rotation speed of the particle; S45: Repeat steps S42, S43 and S44 until the preset number of iterations is met to obtain the optimal position, optimal speed and optimal rotation speed of laser cutting.

7. The laser cutting route planning and control method for emergency rescue according to claim 6 is characterized in that: The step S5 comprises: S51: Use positioning sensor to obtain the actual position of laser cutting and calculate the deviation between the actual position of laser cutting and the optimal position: bias_x t =xjia i -xgps t bias_y t =yjia i -ygps t Among them, (bias_x t ,bias_y t ) represents the deviation between the actual laser cutting position and the optimal position at time t, (xjia i ,yjia i ) represents the optimal position of laser cutting at time t, (xgps i ,ygps i ) represents the actual position of laser cutting at time t; S52: Calculate the driving acceleration and rotational angular acceleration required at time t+1: access t+1 ′=2·(bias_x t 2 +bias_y t 2 ) 1 / 2 / Vt 2 Among them, access t+1 ′ represents the driving acceleration required at time t+1, zhacc t+1 ′ represents the angular acceleration required at time t+1; S53: Adjust the driving force and rotational force of the cutting head: C qd,t+1 ′=acce t+1 ′·r w ·load C zd,t+1 ′=zhacc t+1 ′·2·r w ·J Among them, C qd,t+1 ′ represents the actual driving force of the cutting head at time t+1, C zd,t+1 ′ represents the actual rotational force of the cutting head at time t+1.

8. A laser cutting route planning and control system in the field of emergency rescue, characterized in that: include: Motion parameter preset module: calculate the initial speed, initial rotation speed, and direction of laser cutting, and preset motion parameters; Dynamic equation building blocks: Calculate drive acceleration, angular acceleration, velocity and rotational speed; Objective function construction module: construct dynamic equation constraints, cutting space constraints, cutting head rotation angle constraints, cutting speed constraints and cutting obstacle constraints, calculate the kinetic energy of the cutting head, and construct the objective function of laser cutting; Objective function optimization module: initialize particle swarm, calculate particle fitness, update fitness value, update particles, and obtain the optimal position, optimal speed and optimal rotation speed of laser cutting; Cutting head adjustment module: obtain the actual position of laser cutting, calculate the position deviation, calculate the required driving acceleration and rotational angular acceleration, and adjust the driving force and rotational force of the cutting head; To realize a laser cutting route planning and control method in the emergency rescue field as described in any one of claims 1-7.

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