Automatic fiber placement compression roller compaction control method

Abstract

The invention belongs to the technical field of intelligent manufacturing, and particularly relates to an automatic fiber placement compression roller compaction control method which comprises the following steps: reading fiber placement initial path information, and discretizing an obtained track point Pi; reading information of a fiber placement strip; obtaining tool model information; calculating the path information of the minimum tow number IA; calculating the position coordinate quantity of a position point PiA on the path of the tow number IA corresponding to the track point Pi under a tool coordinate system {P}; calculating the path information of the maximum tow number IB; calculating the position coordinate quantity of a position point PiB on the path of the tow number IB corresponding to the track point Pi under a tool coordinate system {P}; solving the optimized track points; pi '(xi', yi ', zi', gamma i + theta, beta i and alpha i) is used as a final track point. By means of the method, the contact face between the compression roller and the laid material can be increased to the maximum extent, the compression roller compaction condition is improved, the laying quality is improved, manual intervention is reduced, and the production efficiency is improved. For special situations that the starting end of the fiber is in a corner R area and the like, the method can also be used for reducing the situations of fiber lack and fiber leakage.

Description

Technical Field

[0001] This application belongs to the field of intelligent manufacturing technology, and particularly relates to an automatic fiber placement roller compaction control method. Background Art

[0002] The automatic fiber placement technology is a technology in which a multi-axis linkage placement head bundles multiple pre-impregnated tows into a pre-impregnated narrow band with a variable width through functions such as feeding, heating, laying, compaction, cutting, and restarting, and then lays it on the surface of a mold heated by a heating mechanism according to the path planned by the process.

[0003] However, with the rapid development of composite material technology, its processing technology, and inspection and repair technology, the usage of composite materials on military and civilian aircraft is increasing significantly, and the application demand for composite material automation production represented by automatic fiber placement has also increased significantly. During the automatic fiber placement process, for characteristic structural parts such as slopes, corner R areas, and honeycomb cores, due to the large curvature change and the characteristic that the roller cannot be deformed without limit, the roller often fails to be compacted and the material is unevenly stressed. The traditional solution is to directly use manual intervention, resulting in low production efficiency and poor part quality. Therefore, it is extremely urgent to propose a fiber placement roller compaction control method.

[0004] The prior art, such as the Chinese invention patent application with the patent publication number CN107234817A and the name "A precisely real-time controllable fiber placement compaction device", discloses that: The present invention discloses a precisely real-time controllable compaction device, which has a compaction roller driven by a servo motor and moving back and forth through a ball screw drive; at the same time, the compaction roller realizes passive movement in the front and back directions through the action of a spring. When carbon fiber is conveyed from the carbon fiber composite material placement head to the surface of the mold under the compaction roller, the contact between the compaction roller and the mold surface is controlled, and the pre-impregnated yarn is bonded and cured with the mold by the compaction roller. The compaction force of the compaction roller is obtained from the spring deformation amount, the spring deformation amount is measured by a laser displacement sensor, and is fed back to the controller, and is controlled by the PID unit negative feedback control method. The compaction servo motor is controlled to drive the ball screw to rotate, and the compression amount of the spring is adjusted, and the compaction roller outputs a constant compaction force. However, the above patent does not solve the problem of the roller not being compacted in characteristic areas such as slopes, corner R areas, and honeycomb cores. There are still problems such as poor bonding effect between the laid fiber and the tooling, and serious cases may lead to phenomena such as missing and leaking wires, which require manual intervention and greatly affect the production efficiency; at the same time, due to insufficient pressure on the material, the part quality may decline. Summary of the Invention

[0005] To solve the above technical problems, the present invention proposes an automatic fiber placement roller compaction control method. For characteristic areas such as slopes, corner R areas, and honeycomb cores, by controlling the pose of the fiber placement trajectory points, the contact surface between the roller and the surface of the tooling mold at the actual strip position is maximally increased, so as to realize the compaction of the laid fiber.

[0006] To achieve the above object, the technical solution of the present invention is as follows:

[0007] An automatic fiber placement roller compaction control method, comprising the following steps:

[0008] Step S1: Read the initial fiber placement path information and discretize to obtain the trajectory points P i ;

[0009] Step S2: Read the fiber placement strip information;

[0010] Step S3: Obtain the tooling model information;

[0011] Step S4: Calculate the minimum tow number I A Path information: Calculate the trajectory point P i Corresponding to the tow number I A The position point P on the path i A The position coordinate quantity in the tooling coordinate system {P};

[0012] Step S5: Calculate the maximum tow number I B Path information: Calculate the trajectory point P i Corresponding to the tow number I B The position point P on the path i B The position coordinate quantity in the tooling coordinate system {P};

[0013] Step S6: Solve the optimized trajectory point P i '(x i ',y i ',z i ',γ i ',β i ',α i ')

[0014] Step S7: Take P i '(x i ',y i ',z i ',γ i +θ,β i ,α i ) as the final trajectory point.

[0015] Further, in the step S1, read the initial fiber placement path information and discretize it into a series of trajectory points (P0, P1,..., P n-1 ), where n is the number of trajectory points, and calculate the pose information P of the i-th fiber placement trajectory point Pi in the tooling coordinate system {P} i (x i ,y i ,zi , γ i , β i , α i ), where x i , y i , z i are the position coordinate quantities of the i-th trajectory point, γ i , β i , α i are the attitude quantities of the i-th trajectory point, γ i is the rotation quantity around the X-axis, β i is the rotation quantity around the Y-axis, α i is the rotation quantity around the Z-axis; Denote the binormal direction vector of the trajectory point P i as the tangent direction vector as the principal normal direction vector as

[0016] Furthermore, in the step S2, read the filament winding strip information to obtain the total number N of the strip filaments and the width d of a single filament bundle. Sort the total number of strip filaments starting from 1, then the used filament bundle numbers in the strip actually used include the minimum used filament bundle number I A and the maximum filament bundle number I B .

[0017] Furthermore, the specific steps of the step S4 are as follows:

[0018] Step S41: On the tooling model, obtain the path of the minimum filament bundle number I A using the equidistant parallel method for the initial filament winding path, and the parallel distance If the distance is positive, parallel in the direction of the minimum filament bundle number, otherwise parallel in the direction of the maximum filament bundle number;

[0019] Step S42: Intersect the path of the minimum filament bundle number I A with the normal plane V i at the trajectory point P i to obtain the intersection point P i A , and calculate the position coordinate quantities of P i A in the tooling coordinate system {P}

[0020] Furthermore, the specific steps of the step S5 are as follows:

[0021] Step S51: On the tooling model, obtain the path of the maximum filament bundle number I B using the equidistant parallel method for the initial filament winding path, and the parallel distance If the distance is positive, parallel in the direction of the minimum filament bundle number, otherwise parallel in the direction of the maximum filament bundle number;

[0022] Step S52: The maximum tow number I B The path and the locus point P i The normal plane V at the position i Find the intersection to obtain the intersection point P i B , calculate P i B The position coordinate quantity in the tooling coordinate system {P}

[0023] Furthermore, the step S6 includes:

[0024] Step S61: Solve the locus point P i ' Attitude quantity;

[0025] Step S62: Solve the locus point P i ' Position coordinate quantity.

[0026] Still further, the specific steps of the step S61 are as follows:

[0027] Optimize the attitude of the initial filament winding path according to the actual strip width:

[0028] Step S61-1: Calculate the vector

[0029] Step S61-2: Determine and The direction between them to keep them consistent. If then the optimized binormal direction vector If then the vector

[0030] Step S61-3: Calculate the main normal optimization angle of the end effector

[0031] Step S61-4: The optimized γ i ' = γ i + θ.

[0032] Still further, the specific steps of the step S62 are as follows:

[0033] If the distance D A × D B <0, then the locus point P i ' Position coordinate quantity (x i ', y i ', z i ) = (x i , y i , z i ), if D A × D B≥ 0, then by translating point P along the direction by the i B distance of point D B , the trajectory point P i 's position coordinate quantity (x i ', y i ', z i ) is obtained.

[0034] Furthermore, among them

[0035]

[0036] The advantages of the present invention are as follows:

[0037] 1. The present invention proposes an automatic fiber placement roller compaction control method applicable to structures such as slopes, corner R regions, and honeycomb cores. Through this method, the contact area between the roller and the laid material can be maximized, the compaction condition of the roller can be improved, the laying quality can be improved, and at the same time, manual intervention can be reduced and production efficiency can be improved. In particular, for special situations such as the starting end of the fiber being in the corner R region, the situation of missing filaments can also be reduced through this method.

[0038] 2. The present invention proposes an automatic fiber placement roller compaction control method applicable to structures such as slopes, corner R regions, and honeycomb cores. Through this method, the contact area between the roller and the laid material can be maximized, the compaction condition of the roller can be improved, the laying quality can be improved, and at the same time, the situation of missing filaments can be reduced, manual intervention can be reduced, and production efficiency can be improved. Brief Description of the Drawings

[0039] Figure 1 is the flow chart of the fiber placement roller compaction control method.

[0040] Figure 2 is an example of the characteristic structural member in the corner R region.

[0041] Figure 3 is an example of the characteristic structural member of the slope. Detailed Embodiments

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Usually, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0043] Accordingly, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0044] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0045] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "vertical", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, terms such as "first", "second", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0046] The aircraft surface feature segmentation method based on contour constraint optimization of the present invention completes the segmentation task of the target in the image based on a deep learning network. The feature extraction backbone network is used to learn the feature information in the image. Then, based on this feature information, the outer contour constraint of the target is fitted, and the target to be segmented in the image is initially segmented. Finally, the target contour constraint is used to optimize the segmentation result, achieving high-precision segmentation of each target instance in the image.

[0047] Embodiment 1

[0048] An automatic fiber placement roller compaction control method includes the following steps:

[0049] Step S1: Read the initial fiber placement path information and discretely obtain the trajectory points P i ;

[0050] Step S2: Read the fiber placement strip information;

[0051] Step S3: Obtain the tooling model information;

[0052] Step S4: Calculate the minimum tow number I A Path information: Calculate the trajectory points P i Corresponding tow number I A Position points P on the path i A Position coordinate quantities in the tooling coordinate system {P};

[0053] Step S5: Calculate the maximum tow number I B Path information: Calculate the trajectory point P i Corresponding to the tow number I B Position point P on the path i B The position coordinate quantity in the tooling coordinate system {P};

[0054] Step S6: Solve the optimized trajectory point P i '(x i ',y i ',z i ',γ i ',β i ',α i ')

[0055] Step S7: Take P i '(x i ',y i ',z i ',γ i +θ,β i ,α i ) as the final trajectory point.

[0056] The present invention proposes an automatic fiber placement roller compaction control method applicable to structures such as slopes, corner R regions, and honeycomb cores. Through this method, the contact area between the roller and the laid material can be maximized, the roller compaction condition can be improved, the laying quality can be improved, and at the same time, manual intervention can be reduced and the production efficiency can be improved. In particular, for special situations such as the starting end of the fiber being in the corner R region, the lack of wire and wire leakage can also be reduced through this method.

[0057] Embodiment 2

[0058] An automatic fiber placement roller compaction control method includes the following steps:

[0059] Step S1: Read the initial path information of fiber placement and discretize to obtain the trajectory point P i ;

[0060] Step S2: Read the fiber placement strip information;

[0061] Step S3: Obtain the tooling model information;

[0062] Step S4: Calculate the minimum tow number I A Path information: Calculate the trajectory point P i Corresponding to the tow number I A Position point P on the path i A The position coordinate quantity in the tooling coordinate system {P};

[0063] Step S5: Calculate the maximum tow number I B Path information: Calculate the trajectory point P i Corresponding tow number I B Position point P on the path i B Position coordinate quantity in the tooling coordinate system {P};

[0064] Step S6: Solve the optimized trajectory point P i '(x i ',y i ',z i ',γ i ',β i ',α i )

[0065] Step S7: Take P i '(x i ',y i ',z i ',γ i +θ,β i ,α i ) as the final trajectory point.

[0066] In the said Step S1, read the initial fiber placement path information and discretize it into a series of trajectory points (P0, P1, …, P n-1 ), where n is the number of trajectory points, calculate the pose information P i (x i ,y i ,z i ,γ i ,β i ,α i ) of the i-th fiber placement trajectory point Pi in the tooling coordinate system {P}, where x i ,y i ,z i are the position coordinate quantities of the i-th trajectory point, γ i ,β i ,α i are the attitude quantities of the i-th trajectory point, γ i is the rotation quantity around the X-axis, β i is the rotation quantity around the Y-axis, α i is the rotation quantity around the Z-axis; denote the binormal direction vector of the trajectory point P i as the tangent direction vector as the principal normal direction vector as

[0067] In step S2, the total number N of the fiber placement tape filaments is obtained by reading the fiber placement tape information, the width d of a single filament bundle, and the actual number of filament bundles used for each tape should be less than the total number of tape filaments, and the number of filament bundles used for each tape can be different. Sort the total number of tape filaments starting from 1, then the smallest filament number I used is included in the actually used filament numbers of the tape. A and the largest filament number I B .

[0068] The specific steps of step S4 are as follows:

[0069] Step S41: On the tooling model, the initial fiber placement path is obtained by the equidistant parallel method to get the path of the smallest filament number I A The parallel distance If the distance is positive, it is parallel in the direction of the smallest filament number, otherwise it is parallel in the direction of the largest filament number;

[0070] Step S42: The path of the smallest filament number I A intersects with the normal plane V i at the trajectory point P i to obtain the intersection point P i A , and calculate the position coordinate quantity of P i A in the tooling coordinate system {P}

[0071] Furthermore, the specific steps of step S5 are as follows:

[0072] Step S51: On the tooling model, the initial fiber placement path is obtained by the equidistant parallel method to get the path of the largest filament number I B The parallel distance If the distance is positive, it is parallel in the direction of the smallest filament number, otherwise it is parallel in the direction of the largest filament number;

[0073] Step S52: The path of the largest filament number I B intersects with the normal plane V i at the trajectory point P i to obtain the intersection point P i B , and calculate the position coordinate quantity of P i B in the tooling coordinate system {P}

[0074] Furthermore, step S6 includes:

[0075] Step S61: Solve the attitude quantity of the trajectory point P i ';

[0076] Step S62: Solve the position coordinate quantity of the trajectory point P i '.

[0077] Further, the specific steps of step S61 are as follows:

[0078] Optimize the attitude of the initial filament laying path according to the actual strip width:

[0079] Step S61-1: Calculate the vector

[0080] Step S61-2: Determine the direction between and to make them consistent. If then the optimized binormal direction vector If then the vector

[0081] Step S61-3: Calculate the optimized angle of the end effector's principal normal

[0082] Step S61-4: The optimized γ i ' = γ i + θ.

[0083] The specific steps of step S62 are as follows:

[0084] If the distance D A × D B < 0, then the position coordinate of the trajectory point P i ' (x i ', y i ', z i ) = (x i , y i , z i ). If D A × D B ≥ 0, then translate the point P i B B by the distance D i i i ' (x i ', y i ', z i ).

[0085] Where

[0086]

[0087] Example 3

[0088] This example discloses an automatic filament laying roller compaction control method, and its process is as Figure 1 shown. As an implementation of the present invention, the following is combined with the attachedFigure 2 The present invention will be further described in detail as follows:

[0089] S1: Read the initial fiber placement path information

[0090] Read the initial fiber placement path information and discretize it into a series of trajectory points (P0, P1, …, P n-1 ), where n is the number of trajectory points. Calculate the pose information P i of the i-th fiber placement trajectory point in the tooling coordinate system {P}, which is P i (x i , y i , z i , γ i , β i , α i ), where x i , y i , z i are the position coordinate quantities of the i-th trajectory point, and γ i , β i , α i are the attitude quantities of the i-th trajectory point. γ i is the rotation amount around the X-axis, β i is the rotation amount around the Y-axis, and α i is the rotation amount around the Z-axis. Denote the binormal direction vector of the trajectory point P i as the tangent direction vector as the principal normal direction vector as

[0091]

[0092] S2: Read the fiber placement strip information

[0093] Read the fiber placement strip information to obtain the total number of strip filaments N = 16, the width d of a single filament bundle is 6.35 mm, the minimum filament number I A used in the strip is 1, and the maximum filament number I B used in the strip is 3.

[0094] S3: Obtain the tooling model information

[0095] S4: Calculate the path information of the minimum filament number I A .

[0096] Calculate the position point P i corresponding to the filament number I A on the path of the trajectory point P i A in the tooling coordinate system {P}, and the specific steps are as follows:

[0097] S41: On the tooling model, obtain the minimum tow number I by using the equidistant parallel method for the initial fiber placement path, and obtain the path parallel to the minimum tow number direction by a parallel distance A

[0098] S42: Intersect the minimum tow number I path with the normal plane V at the trajectory point P to obtain the intersection point P, and calculate the position coordinate quantity of P in the tooling coordinate system {P} A i i i A i A

[0099] S5: Calculate the maximum tow number I path information. Calculate the position point P corresponding to the tow number I on the path of the trajectory point P in the tooling coordinate system {P}. The specific steps are as follows: B

[0100] i B i B

[0101] S51: On the tooling model, obtain the maximum tow number I by using the equidistant parallel method for the initial fiber placement path, and obtain the path parallel to the minimum tow number direction by a parallel distance B

[0102] S52: Intersect the maximum tow number I path with the normal plane V at the trajectory point P to obtain the intersection point P, and calculate the position coordinate quantity of P in the tooling coordinate system {P} B i i i B i B

[0103] S6: Solve for the optimized trajectory point P'(x',y',z',γ',β',α'). i ' (x i ', y i ', z i ', γ i ', β i ', α i ')

[0104] S61: Solve for the attitude quantity of the trajectory point P'. Optimize the attitude of the initial fiber placement path according to the actual strip width. The specific steps are as follows: i

[0105]

[0106] ​​​​​​​​​​​​​​​​​​​S61-1: Calculate the vector

[0107] S61-2: Determine And The direction between them to make them consistent. Because The optimized principal normal direction vector

[0108] S61-3: Calculate the optimized angle of the principal normal of the end effector

[0109] S61-4: The optimized γ i ' = γ i + θ.

[0110] S62: Solve the trajectory point P i ' position coordinate quantity

[0111] Because D A × D B ≥ 0, by translating P In the direction of i B Point D B Distance, obtain the position coordinate quantity (x i ', y i ', z i ') of the trajectory point P i ', where

[0112]

[0113] Is the final trajectory point.

[0114] By optimizing the pose information of the fiber placement path points through the above embodiments, the compaction situation between the pressure roller and the fiber can be improved, the fiber compaction can be ensured, the situation of missing filaments and wire leakage can be reduced, the manual intervention can be reduced, and the production efficiency can be improved.

[0115] Embodiment 4

[0116] This embodiment discloses an automatic fiber placement pressure roller compaction control method. As an implementation of the present invention, the present invention will be further described in detail below with reference to the attached Figure 3 :

[0117] S1: Read the initial fiber placement path information

[0118] Read the initial fiber placement path information and discretize it into a series of trajectory points (P0, P1,..., P n-1 ), where n is the number of trajectory points. Calculate the pose information P i Of the i-th fiber placement trajectory point P i (x i , yi , z i , γ i , β i , α i ), where x i , y i , z i are the position coordinate quantities of the i-th trajectory point, and γ i , β i , α i are the attitude quantities of the i-th trajectory point. γ i is the rotation quantity around the X-axis, β i is the rotation quantity around the Y-axis, and α i is the rotation quantity around the Z-axis. Denote the binormal direction vector of the trajectory point P i as the tangent direction vector as the principal normal direction vector as

[0119]

[0120] S2: Read the fiber placement tape information

[0121] Read the fiber placement tape information to obtain the total number of fiber bundles in the tape N = 8, the width of a single fiber bundle d = 6.35 mm, the minimum fiber bundle number I A in the actually used fiber bundle numbers of the tape and the maximum fiber bundle number I B = 8.

[0122] S3: Obtain the tooling model information

[0123] S4: Calculate the minimum fiber bundle number I A path information.

[0124] Calculate the position point P i corresponding to the fiber bundle number I A on the path of the trajectory point P i A in the tooling coordinate system {P}. The specific steps are as follows:

[0125] S41: On the tooling model, use the equidistant parallel method for the initial fiber placement path to obtain the path of the minimum fiber bundle number I A and parallel the distance in the direction of the minimum fiber bundle number

[0126] S42: Intersect the path of the minimum fiber bundle number I A with the normal plane V i at the trajectory point P i to obtain the intersection point P i A , and calculate the position coordinate quantities of P i A in the tooling coordinate system {P}

[0127] S5: Calculate the maximum tow number I B Path information.

[0128] Calculate the trajectory point P i Corresponding tow number I B Position point P on the path i B The position coordinate quantity in the tooling coordinate system {P} is as follows:

[0129] S51: On the tooling model, obtain the maximum tow number I by using the equidistant parallel method for the initial filament laying path B Path, because the parallel distance is negative, so it is parallel 22.225 mm in the direction of the maximum tow number.

[0130] S52: The maximum tow number I B Path and the normal plane V i at the trajectory point P i Find the intersection to obtain the intersection point P i B , calculate P i B The position coordinate quantity in the tooling coordinate system {P}

[0131] S6: Solve the optimized trajectory point P i '(x i ',y i ',z i ',γ i ',β i ',α i ')

[0132] S61: Solve the attitude quantity of the trajectory point P i '

[0133] Optimize the attitude of the initial filament laying path according to the actual strip width. The specific steps are as follows:

[0134] S61-1: Calculate the vector

[0135] S61-2: Determine and The direction between them to make them consistent. Because So the optimized principal normal direction vector

[0136] S61-3: Calculate the optimized angle of the principal normal of the end effector

[0137] S61-4: Optimized γi ' = γ i + θ。

[0138] S62: Solve the locus point P i ' position coordinate quantity

[0139] Due to the distance D A × D B <0, then the locus point P i ' position coordinate quantity (x i ', y i ', z i ) = (x i , y i , z i ),

[0140] S7: Take P i '(x i , y i , z i , γ i + θ, β i , α i ) as the final locus point.

[0141] By optimizing the pose information of the fiber placement locus point through the above embodiments, the contact area between the pressure roller and the die surface can be maximized, the compaction between the pressure roller and the fiber can be improved, the fiber compaction can be ensured, and thus the placement quality can be improved.

Claims

1. An automatic wire laying roller compaction control method, characterized in that: The steps include: Step S1: Read the initial fiber laying path information and obtain the discrete trajectory points P i ; Step S2: reading the laying strip information; Step S3: Obtain tooling model information; Step S4: Calculate the minimum tow number I A Path information: Calculate trajectory point P i Corresponding tow number I A Point P on the path i A Position coordinates in the tooling coordinate system {P}; Step S5: Calculate the maximum tow number I B Path information: Calculate trajectory point P i Corresponding tow number I B Point P on the path i B Position coordinates in the tooling coordinate system {P}; Step S6: Solve for the optimized trajectory point P i '(x i ',y i ',z i ',γ i ',β i ',α i '); Step S7: i '(x i ',y i ',z i ',γ i +θ,β i ,α i ) is the final trajectory point.

2. The automatic wire laying roller compaction control method according to claim 1, characterized in that: In step S1, the initial path information of the laying wire is read and discretized into a series of trajectory points (P0, P1, ..., P n-1 ), where n is the number of trajectory points, calculate the i-th laying trajectory point P i The pose information P in the tooling coordinate system {P} i (x i ,y i ,z i ,γ i ,β i ,α i ), where x i ,y i ,z i is the position coordinate of the i-th trajectory point, γ i ,β i ,α i is the attitude value of the ith trajectory point, γ i is the rotation around the X axis, β i is the rotation around the Y axis, α i is the rotation amount around the Z axis; the trajectory point P i The subnormal direction vector is The tangent direction vector is The principal normal direction vector is 3. The automatic wire laying roller compaction control method according to claim 2, characterized in that: In step S2, the laying strip information is read to obtain the total number of strip tows N and the width d of a single tow. The total number of strip tows is sorted from 1, and the tow number actually used in the strip includes the minimum tow number I used. A and maximum tow number I B .

4. The automatic wire laying roller compaction control method according to claim 3 is characterized in that: The specific steps of step S4 are: Step S41: On the tooling model, the initial path of the wire laying is obtained by using the equidistant parallel method to obtain the minimum wire bundle number I A Path, parallel distance If the distance is positive, it is parallel to the direction of the smallest tow number, otherwise it is parallel to the direction of the largest tow number; Step S42: Minimum tow number I A Path and trajectory point P i Normal plane V i Find the intersection point P i A , calculate P i A Position coordinates in the tooling coordinate system {P} 5. The automatic wire laying roller compaction control method according to claim 4, characterized in that: The specific steps of step S5 are: Step S51: On the tooling model, the initial path of the wire laying is obtained by using the equidistant parallel method to obtain the maximum tow number I B Path, parallel distance If the distance is positive, it is parallel to the direction of the smallest tow number, otherwise it is parallel to the direction of the largest tow number; Step S52: Maximum tow number I B Path and trajectory point P i Normal plane V i Find the intersection point P i B , calculate P i B Position coordinates in the tooling coordinate system {P} 6. The automatic wire laying roller compaction control method according to claim 5, characterized in that: The step S6 comprises: Step S61: Find the trajectory point P i 'Posture quantity; Step S62: Find the trajectory point P i 'Position coordinates.

7. The automatic wire laying roller compaction control method according to claim 6, characterized in that: The specific steps of step S61 are: According to the actual strip width, optimize the initial path posture of the wire laying: Step S61-1: Calculate vector Step S61-2: Determination and between the directions to keep them consistent. Then the optimized subnormal direction vector like Then the vector Step S61-3: Calculate the optimized angle of the principal normal of the end effector Step S61-4: Optimized γ i '=γ i +θ.

8. The automatic wire laying roller compaction control method according to claim 7, characterized in that: The specific steps of step S62 are: If the distance D A ×D B <0, then the trajectory point P i 'Position coordinates (x i ',y i ', z i ')=(x i ,y i ,z i ), if D A ×D B ≥0, then by Direction translation P i B Point D B Distance, get trajectory point P i 'Position coordinates (x i ',y i ',z i ').

9. The automatic wire laying roller compaction control method according to claim 8, characterized in that: in

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