Automatic fiber placement anti-collision control method

Abstract

The invention relates to the technical field of automatic laying and forming of prepreg tows, in particular to an automatic tow laying anti-collision control method. The method comprises the following steps: acquiring tool information, and reading initial path information of a fiber placement strip; dispersing the path information into a plurality of fiber placement track points, selecting the ith fiber placement track point Pi, and setting a safety angle theta and a rotation maximum offset angle M; setting an iteration coefficient N and a maximum value Nmax of iteration times, and performing collision detection on the fiber placement track point Pi by adopting a separation axis algorithm; the Y-axis rotation amount of the fiber placement track point Pi is modified to be beta i + theta, collision detection continues, and when collision does not occur, the current fiber placement track point Pi is taken as the optimized track point; the Y-axis rotation amount of the fiber placement track point Pi is modified to be beta -N < theta >, collision detection continues, if collision does not occur, the fiber placement track point Pi with the modified Y-axis rotation amount is taken as the optimized track point, and the optimized path of the current fiber placement strip is output; the production efficiency is improved, and the safety of fiber placement operation is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic placement and molding of prepreg tows, and in particular to an automatic placement anti-collision control method. Background Art

[0002] Automatic wire placement technology involves wire placement heads, prepreg tapes, planned paths, and part surfaces. It bundles the prepreg bundles into variable-width prepreg tapes under a pressure roller, lays them on the part surface along the planned path, and compacts and shapes them. It is a new type of automated composite material placement technology. The wire placement head is composed of components such as a clamping device, a cutting and re-feeding device, and a heating device. Among them, the heating device, camera, wire tube, etc. are active components. Usually, when modeling the equipment, the components are regarded as rigid bodies and cannot be accurately modeled. Therefore, these active components cannot be actually reflected when constructing the wire placement head. During the operation, there is a phenomenon of collision between active components and parts, and production safety is difficult to guarantee. The traditional solution is to manually adjust the posture, which is extremely time-consuming and inefficient, and cannot be adaptively adjusted according to the curvature of the part shape. There is still a risk of collision after manual adjustment. Therefore, there is an urgent need for a control method to prevent collision during automatic wire placement.

[0003] For example, a Chinese patent with application number 202111537058.6 and application date of December 15, 2021, is named "A method for layered simulation modeling of automatic wire laying trajectories for complex rotating bodies". Its technical solution is as follows: It includes the following steps: Step 1: Import the film surface of the part and the wire bundle trajectory curve into CATIA; Step 2: In the CATIA software, deviate the film surface of the part along the laying direction, and the deviation thickness is the thickness of a single layer, and use this method to create a laying surface for all layers; Step 3: In the CATIA software, project the wire laying trajectory curve corresponding to each layer onto the laying surface created in step 2; Step 4: Select a typical area on the laying surface created in step 2, and select the projection trajectory line of the layer in step 3 as the area boundary near the boundary of the area according to the typical area to divide the laying surface. Domain division; use CATIA's built-in meshing tool to mesh each area after division and merge them, export the ply surface .dat file containing mesh information in CATIA, and repeat this process until the dat files of all ply surfaces are exported; Step 5: Import the .dat file containing the ply mesh information generated in Step 4 into the automatic fiber placement software, map the tow trajectory information of the ply into the .dat file, and use the automatic fiber placement software export function to output the .inp file, and output the .inp files of all ply surfaces in this way; Step 6: Import the .inp files of all ply surfaces generated in Step 5 into ABAQUS software, and use "tie" connection or other coupling methods to bind each ply surface into an overall laminate model; Step 7: In ABAQUS, assign material properties and create boundary conditions and loads for calculation.

[0004] When the above-mentioned patent conducts mechanical simulation analysis on composite parts manufactured using automatic fiber placement technology, it can model based on the actual trajectory of fiber placement and more realistically and accurately reflect the changes in the fiber bundle trajectory on different placement levels on the complex rotating structure. However, when modeling the equipment, the above-mentioned patent regards the active parts as rigid bodies, resulting in a decrease in modeling accuracy. During the fiber placement operation, the active parts collide with other parts, making it difficult to ensure production safety. Summary of the Invention

[0005] In order to solve the problems existing in the above-mentioned prior art, the present invention provides an automatic wire laying anti-collision control method that can avoid collisions between movable parts and other parts during the wire laying operation, ensure the safety of the wire laying operation, and quickly output the optimized posture of all trajectory points of the strip, thereby improving production efficiency.

[0006] In order to achieve the above technical effects, the technical solutions of this application are as follows:

[0007] An automatic wire laying anti-collision control method includes the following specific steps:

[0008] Step 1: Obtain tooling model information and read the initial path information of the fiber placement strip;

[0009] Step 2: Discretize the initial path information of the wire laying strip into multiple wire laying trajectory points, and select the i-th wire laying trajectory point P from them i , and set the safety angle θ and the maximum rotation offset angle M;

[0010] Step 3: Set the iteration coefficient N and the maximum number of iterations N max , using the separation axis algorithm to calculate the wire laying trajectory point P i Perform collision detection; if no collision occurs, proceed to step 4; if a collision occurs, proceed to step 5;

[0011] Step 4: Set the wire laying trajectory point P i The Y-axis rotation is changed to β i +θ, continue collision detection, if no collision occurs, take the current wire laying trajectory point P i is the optimized trajectory point, and execute step 6; if a collision occurs, execute step 7;

[0012] Step 5: Set the wire laying trajectory point P i The Y-axis rotation is changed to β i -Nθ, continue collision detection, if no collision occurs, take the wire laying trajectory point P after the Y-axis rotation is modified i is the optimized trajectory point, and execute step 6; if a collision occurs, execute step 7;

[0013] Step 6: Determine whether the current trajectory point i is less than the number of trajectory points n minus one; if the current trajectory point i is less than the number of trajectory points n minus one, return to step 4 to solve the next fiber placement trajectory point; if the current trajectory point i is not less than the number of trajectory points n minus one, output the optimized path of the current fiber placement strip;

[0014] Step 7: Unable to optimize the current wire laying trajectory point P i , record error information.

[0015] Furthermore, the wire laying trajectory point P i The pose information in the tooling coordinate system is P i (x i ,y i , z i , γ i , β i , α i ), x i is the position coordinate of the i-th trajectory point in the x-axis direction, y iis the position coordinate of the i-th trajectory point in the y-axis direction, z i is the position coordinate of the i-th trajectory point in the z-axis direction; γ i is the rotation amount of the i-th trajectory point around the X axis, β i is the rotation amount of the i-th trajectory point around the Y axis, α i is the rotation amount of the i-th trajectory point around the Z axis;

[0016] Furthermore, the tooling model information in step 1 includes a three-dimensional mesh model of the tooling, the size of the tooling, and the shape of the tooling.

[0017] Furthermore, in step 4, the wire laying trajectory point P i The Y-axis rotation is changed to β i +θ, continue collision detection, if no collision occurs, take the current wire laying trajectory point P i The specific method for optimizing the trajectory point is: Calculate the modified trajectory point If no collision occurs, the current wire laying trajectory point P is taken. i is the optimized trajectory point P i ' best =P i (x i ,y i , z i , γ i , β i , α i ).

[0018] Furthermore, the wire laying trajectory point P i The Y-axis rotation is changed to β i +θ, continue collision detection, if a collision occurs, let the angle parameter Calculate P using the dichotomy method i The incremental critical value Δβ of the rotation around the Y axis max , Δβ is P i The increment of the rotation around the Y axis is used to calculate the modified trajectory point If there is no collision, take:

[0019]

[0020] If there is a collision, go to step seven.

[0021] Furthermore, the binary method is used to calculate P i The incremental critical value Δβ of the rotation around the Y axis max The specific steps are as follows:

[0022] S1: Use the bisection method to calculate the critical point of collision and solve P iThe incremental critical value Δβ of the rotation around the Y axis max , Δβ max ∈[a,b]; where a is Δβ max The lower limit, the initial value is 0, b is Δβ max The upper limit of θ, the initial value, let Then the modified trajectory point is P i ′(x i ,y i , z i , γ i , β i +Δβ,α i ), perform collision detection again, if the result is a collision, execute step S2; if the result is no collision, execute S3;

[0023] S2: If ba<0.01, then Δβ max =Δβ, solve for the next trajectory point P i+1 ; If ba>0.01, then let b=Δβ, Modified trajectory point P i ′(x i ,y i , z i , γ i , β i +Δβ′,α i ), perform collision detection, if the result is a collision, execute S2; if the result is no collision, execute S3.

[0024] S3: If ba<0.01, then Δβ max =Δβ, solve for the next trajectory point P i+1 ; If ba>0.01, let a=Δβ, Modified trajectory point P i ′(x i ,y i , z i , γ i , β i +Δβ′,α i ), perform collision detection, if the result is a collision, execute S2; if the result is no collision, execute S3.

[0025] Furthermore, in step 5, the wire laying trajectory point P i The Y-axis rotation is changed to β i -Nθ, continue collision detection, if no collision occurs, take the wire laying trajectory point P after the Y-axis rotation is modified i The specific method for optimizing the trajectory point is as follows: let the angle parameter Calculate P using the dichotomy method i The incremental critical value Δβ of the rotation around the Y axismax , Δβ is P i The increment of the rotation around the Y axis is used to calculate the modified trajectory point If there is no collision, take the wire laying trajectory point P after the Y-axis rotation is modified. i is the optimized trajectory point P i ' best :

[0026]

[0027] If there is a collision, go to step seven.

[0028] Furthermore, the wire laying trajectory point P i The Y-axis rotation is changed to β i -Nθ, continue collision detection, if a collision occurs, set the iteration coefficient N=N+1, and then judge P i Is the increment Nθ of the rotation around the Y axis greater than the maximum rotation offset angle M or is the iteration coefficient N greater than the maximum value N max ; If Nθ is greater than the maximum rotation offset angle M or the iteration coefficient N is greater than the maximum value N max , then execute step 7 and step 6 at the same time; if P i The increment Nθ of the rotation around the Y axis is not greater than the maximum rotation offset angle M or the iteration coefficient N is not greater than the maximum value N max , then the iteration coefficient N is returned to step 5 and calculated again.

[0029] Furthermore, after obtaining the tooling model information in step 1, the initial path information of the fiber placement strip is read through CATIA software.

[0030] Furthermore, the safety angle θ is the minimum angle between the wire placement head and the placed part.

[0031] Furthermore, the safety angle θ is smaller than the maximum rotation offset angle M.

[0032] Furthermore, the error information recorded in step seven includes the wire laying trajectory point P i The serial number i and the wire laying point trajectory P i 's pose information.

[0033] Furthermore, multiple laying trajectory points are P0, P1, ..., P n-1 ; The optimal path for laying the wire strip is P0′ best , P1′ best ,…,P n-1 ' best ; Where n is the number of trajectory points.

[0034] According to the above technical solution, the beneficial effects of this application are as follows:

[0035] 1. The method adopted by the present invention can quickly optimize the trajectory points of the wire laying strip path. By setting a safety angle and making adaptive adjustments according to the curvature of the part shape, the optimal posture of the trajectory point is solved, thereby avoiding collisions and quickly outputting the optimized posture of all trajectory points of the strip, improving production efficiency and ensuring the safety of the wire laying operation.

[0036] 2. The present invention ensures the consistency and stability of the strip during the laying process by accurately calculating the trajectory points of the strip path, thereby improving the quality and performance of the final product.

[0037] 3. The present invention optimizes the path trajectory points of the fiber laying tape, avoiding downtime and maintenance costs caused by collisions or incorrect laying, and reducing material waste caused by improper path planning, so that the overall production cost is effectively controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 The Y-axis rotation is β i Schematic diagram of no collision at +θ.

[0039] Figure 2 The Y-axis rotation is β i Schematic diagram of a collision occurring at +θ.

[0040] Figure 3 The Y-axis rotation is β i Schematic diagram of collision occurring at -Nθ.

[0041] Figure 4 The Y-axis rotation is β i Schematic diagram of no collision at -Nθ. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0043] Example 1

[0044] Step 1: Obtain tooling model information and read the initial path information of the fiber placement strip;

[0045] Step 2: Discretize the initial path information of the wire laying strip into multiple wire laying trajectory points, and select the i-th wire laying trajectory point P from them i , and set the safety angle θ and the maximum rotation offset angle M;

[0046] Step 3: Set the iteration coefficient N and the maximum number of iterations Nmax , using the separation axis algorithm to calculate the wire laying trajectory point P i Perform collision detection; if no collision occurs, proceed to step 4; if a collision occurs, proceed to step 5;

[0047] Step 4: Set the wire laying trajectory point P i The Y-axis rotation is changed to β i +θ, continue collision detection, if no collision occurs, take the current wire laying trajectory point P i is the optimized trajectory point, and execute step 6; if a collision occurs, execute step 7;

[0048] Step 5: Set the wire laying trajectory point P i The Y-axis rotation is changed to β i -Nθ, continue collision detection, if no collision occurs, take the wire laying trajectory point P after the Y-axis rotation is modified i is the optimized trajectory point, and execute step 6; if a collision occurs, execute step 7;

[0049] Step 6: Determine whether the current trajectory point i is less than the number of trajectory points n minus one; if the current trajectory point i is less than the number of trajectory points n minus one, return to step 4 to solve the next fiber placement trajectory point; if the current trajectory point i is not less than the number of trajectory points n minus one, output the optimized path of the current fiber placement strip;

[0050] Step 7: Unable to optimize the current wire laying trajectory point P i , record error information.

[0051] Example 2

[0052] Step 1: Obtain tooling model information and read the initial path information of the fiber placement strip;

[0053] Step 2: Discretize the initial path information of the wire laying strip into multiple wire laying trajectory points, and select the i-th wire laying trajectory point P from them i , and set the safety angle θ and the maximum rotation offset angle M;

[0054] Step 3: Set the iteration coefficient N and the maximum number of iterations N max , using the separation axis algorithm to calculate the wire laying trajectory point P i Perform collision detection; if no collision occurs, proceed to step 4; if a collision occurs, proceed to step 5;

[0055] Step 4: Set the wire laying trajectory point P i The Y-axis rotation is changed to β i +θ, continue collision detection, if no collision occurs, take the current wire laying trajectory point P i is the optimized trajectory point, and execute step 6; if a collision occurs, execute step 7;

[0056] Step 5: Set the wire laying trajectory point P i The Y-axis rotation is changed to β i -Nθ, continue collision detection, if no collision occurs, take the wire laying trajectory point P after the Y-axis rotation is modified i is the optimized trajectory point, and execute step 6; if a collision occurs, execute step 7;

[0057] Step 6: Determine whether the current trajectory point i is less than the number of trajectory points n minus one; if the current trajectory point i is less than the number of trajectory points n minus one, return to step 4 to solve the next fiber placement trajectory point; if the current trajectory point i is not less than the number of trajectory points n minus one, output the optimized path of the current fiber placement strip;

[0058] Step 7: Unable to optimize the current wire laying trajectory point P i , record error information.

[0059] The separation axis algorithm used in step three is the existing technology in this field. The specific steps of using the separation axis algorithm in step three are: constructing the rectangular bounding box of the wire laying head and the rectangular bounding box of the part in the tooling model; determining the potential separation axis of the two bounding boxes; projecting all vertices of the bounding box onto each potential separation axis. If the projections on a certain axis do not overlap, then there is a separation axis between the two bounding boxes, the wire laying head and the part do not collide, and the calculation ends; if the projections on all axes overlap, then the two bounding boxes intersect, and the next step is executed; determine the potential separation axis between the wire laying head and the part model grid; if there is a separation axis between all the wire laying head model grids and the part model grids, then there is no collision between the wire laying head and the part, and the calculation ends; if the projections of a certain wire laying head model grid and the part model grid on all potential separation axes overlap, then the wire laying head and the part collide, and the calculation ends.

[0060] Example 3

[0061] Step 1: Obtain tooling model information and read the initial path information of the fiber placement strip;

[0062] Step 2: Discretize the initial path information of the wire laying strip into multiple wire laying trajectory points, and select the i-th wire laying trajectory point P from them i , and set the safety angle θ and the maximum rotation offset angle M;

[0063] Step 3: Set the iteration coefficient N and the maximum number of iterations N max , using the separation axis algorithm to calculate the wire laying trajectory point P i Perform collision detection; if no collision occurs, proceed to step 4; if a collision occurs, proceed to step 5;

[0064] Step 4: Set the wire laying trajectory point P i The Y-axis rotation is changed to β i+θ, continue collision detection, if no collision occurs, take the current wire laying trajectory point P i is the optimized trajectory point, and execute step 6; if a collision occurs, execute step 7;

[0065] Step 5: Set the wire laying trajectory point P i The Y-axis rotation is changed to β i -Nθ, continue collision detection, if no collision occurs, take the wire laying trajectory point P after the Y-axis rotation is modified i is the optimized trajectory point, and execute step 6; if a collision occurs, execute step 7;

[0066] Step 6: Determine whether the current trajectory point i is less than the number of trajectory points n minus one; if the current trajectory point i is less than the number of trajectory points n minus one, return to step 4 to solve the next fiber placement trajectory point; if the current trajectory point i is not less than the number of trajectory points n minus one, output the optimized path of the current fiber placement strip;

[0067] Step 7: Unable to optimize the current wire laying trajectory point P i , record error information.

[0068] The separation axis algorithm used in step three is the existing technology in this field. The specific steps of using the separation axis algorithm in step three are: constructing the rectangular bounding box of the wire laying head and the rectangular bounding box of the part in the tooling model; determining the potential separation axis of the two bounding boxes; projecting all vertices of the bounding box onto each potential separation axis. If the projections on a certain axis do not overlap, then there is a separation axis between the two bounding boxes, the wire laying head and the part do not collide, and the calculation ends; if the projections on all axes overlap, then the two bounding boxes intersect, and the next step is executed; determine the potential separation axis between the wire laying head and the part model grid; if there is a separation axis between all the wire laying head model grids and the part model grids, then there is no collision between the wire laying head and the part, and the calculation ends; if the projections of a certain wire laying head model grid and the part model grid on all potential separation axes overlap, then the wire laying head and the part collide, and the calculation ends.

[0069] Wire laying trajectory point P i The pose information in the tooling coordinate system is P i (x i ,y i , z i , γ i , β i , α i ), x i is the position coordinate of the i-th trajectory point in the x-axis direction, y i is the position coordinate of the i-th trajectory point in the y-axis direction, z i is the position coordinate of the i-th trajectory point in the z-axis direction; γ iis the rotation amount of the i-th trajectory point around the X axis, β i is the rotation amount of the i-th trajectory point around the Y axis, α i is the rotation amount of the i-th trajectory point around the Z axis;

[0070] The tooling model information in step 1 includes a three-dimensional mesh model of the tooling, the size of the tooling, and the shape of the tooling.

[0071] In step 4, the wire laying trajectory point P i The Y-axis rotation is changed to β i +θ, continue collision detection, if no collision occurs, take the current wire laying trajectory point P i The specific method for optimizing the trajectory point is as follows: Calculate the modified trajectory point P i ′(x i ,y i , z i , γ i , β i +θ,α i ) collision situation, if no collision occurs, take the current wire laying trajectory point P i is the optimized trajectory point P i ' best =P i (x i ,y i , z i , γ i , β i , α i ).

[0072] The wire laying trajectory point P i The Y-axis rotation is changed to β i +θ, continue collision detection, if a collision occurs, let the angle parameter Calculate P using the dichotomy method i The incremental critical value Δβ of the rotation around the Y axis max , Δβ is P i The increment of the rotation around the Y axis is used to calculate the modified trajectory point If there is no collision, take:

[0073]

[0074] If there is a collision, go to step seven.

[0075] Calculate P using the dichotomy method i The incremental critical value Δβ of the rotation around the Y axis max The specific steps are as follows:

[0076] S1: Use the bisection method to calculate the critical point of collision and solve P iThe incremental critical value Δβ of the rotation around the Y axis max , Δβ max ∈[a,b]; where a is Δβ max The lower limit, the initial value is 0, b is Δβ max The upper limit of θ, the initial value, let Then the modified trajectory point is P i ′(x i ,y i , z i , γ i , β i +Δβ,α i ), perform collision detection again, if the result is a collision, execute step S2; if the result is no collision, execute S3;

[0077] S2: If ba<0.01, then Δβ max =Δβ, solve for the next trajectory point P i+1 ; If ba>0.01, then let b=Δβ, Modified trajectory point P i ′(x i ,y i , z i , γ i , β i +Δβ′,α i ), perform collision detection, if the result is a collision, execute S2; if the result is no collision, execute S3.

[0078] S3: If ba<0.01, then Δβ max =Δβ, solve for the next trajectory point P i+1 ; If ba>0.01, let a=Δβ, Modified trajectory point P i ′(x i ,y i , z i , γ i , β i +Δβ′,α i ), perform collision detection, if the result is a collision, execute S2; if the result is no collision, execute S3.

[0079] In step 5, the wire laying trajectory point P i The Y-axis rotation is changed to β i -Nθ, continue collision detection, if no collision occurs, take the wire laying trajectory point P after the Y-axis rotation is modified i The specific method for optimizing the trajectory point is as follows: let the angle parameter Calculate P using the dichotomy method i The incremental critical value Δβ of the rotation around the Y axis max, Δβ is P i The increment of the rotation around the Y axis is used to calculate the modified trajectory point If there is no collision, take the wire laying trajectory point P after the Y-axis rotation is modified. i is the optimized trajectory point P i ' best :

[0080]

[0081] If there is a collision, go to step seven.

[0082] The wire laying trajectory point P i The Y-axis rotation is changed to β i -Nθ, continue collision detection, if a collision occurs, set the iteration coefficient N=N+1, and then judge P i Is the increment Nθ of the rotation around the Y axis greater than the maximum rotation offset angle M or is the iteration coefficient N greater than the maximum value N max ; If Nθ is greater than the maximum rotation offset angle M or the iteration coefficient N is greater than the maximum value N max , then execute step 7 and step 6 at the same time; if P i The increment Nθ of the rotation around the Y axis is not greater than the maximum rotation offset angle M or the iteration coefficient N is not greater than the maximum value N max , then the iteration coefficient N is returned to step 5 and calculated again.

[0083] After obtaining the tooling model information in step 1, the initial path information of the wire laying strip is read through CATIA software.

[0084] The safety angle θ is the minimum angle between the wire placement head and the placed part; the safety angle θ is smaller than the maximum rotation offset angle M.

[0085] The error information recorded in step 7 includes the wire laying trajectory point P i The serial number i and the wire laying point trajectory P i 's pose information.

[0086] Multiple wire laying trajectory points are P0, P1, ..., P n-1 ; The optimal path for laying the wire strip is P0′ best , P1′ best ,…,P n-1 ' best ; Where n is the number of trajectory points.

[0087] Example 4

[0088] like Figure 1 As shown, step 1: obtain tooling model information and read the initial path information of the wire laying strip; the wire laying trajectory point P iThe pose information in the tooling coordinate system is P i (x i ,y i , z i , γ i , β i , α i ), x i is the position coordinate of the i-th trajectory point in the x-axis direction, y i is the position coordinate of the i-th trajectory point in the y-axis direction, z i is the position coordinate of the i-th trajectory point in the z-axis direction; γ i is the rotation amount of the i-th trajectory point around the X axis, β i is the rotation amount of the i-th trajectory point around the Y axis, which is Figure 1 β in i :P i Rotation amount, α i is the rotation amount of the i-th trajectory point around the Z axis;

[0089] Step 2: Discretize the initial path information of the wire laying strip into multiple wire laying trajectory points, and select the i-th wire laying trajectory point P from them i , and set the safety angle θ and the maximum rotation offset angle M;

[0090] Step 3: Set the iteration coefficient N and the maximum number of iterations N max , using the separation axis algorithm to calculate the wire laying trajectory point P i Perform collision detection and detect that no collision occurs;

[0091] Step 4: Set the wire laying trajectory point P i The Y-axis rotation is changed to β i +θ, that is, Figure 1 β in i +θ:P i 'Rotation amount, continue collision detection, detect no collision, take the current wire laying trajectory point P i is the optimized trajectory point, that is, Figure 1 Medium P i ' best Rotation amount;

[0092] Step 5: Determine whether the current trajectory point i is less than the number of trajectory points n minus one; if the current trajectory point i is less than the number of trajectory points n minus one, solve the next wire laying trajectory point; if the current trajectory point i is not less than the number of trajectory points n minus one, output the optimized path of the current wire laying strip.

[0093] Example 5

[0094] like Figure 2As shown, step 1: obtain tooling model information and read the initial path information of the wire laying strip; the wire laying trajectory point P i The pose information in the tooling coordinate system is P i (x i ,y i , z i , γ i , β i , α i ), x i is the position coordinate of the i-th trajectory point in the x-axis direction, y i is the position coordinate of the i-th trajectory point in the y-axis direction, z i is the position coordinate of the i-th trajectory point in the z-axis direction; γ i is the rotation amount of the i-th trajectory point around the X axis, β i is the rotation amount of the i-th trajectory point around the Y axis, which is Figure 2 β in i :P i Rotation amount, α i is the rotation amount of the i-th trajectory point around the Z axis;

[0095] Step 2: Discretize the initial path information of the wire laying strip into multiple wire laying trajectory points, and select the i-th wire laying trajectory point P from them i , and set the safety angle θ and the maximum rotation offset angle M;

[0096] Step 3: Set the iteration coefficient N and the maximum number of iterations N max , using the separation axis algorithm to calculate the wire laying trajectory point P i Perform collision detection and detect that no collision occurs;

[0097] Step 4: Set the wire laying trajectory point P i The Y-axis rotation is changed to β i +θ, continue collision detection, and if a collision is detected, it is Figure 2 Medium Beta i +θ:P i 'Rotation amount (collision); let the angle parameter Calculate P using the dichotomy method i The incremental critical value Δβ of the rotation around the Y axis max , which is Figure 2 Medium Beta i +Δβ max :P i 'Rotation amount (critical value), Δβ is P i The increment of the rotation around the Y axis is used to calculate the modified trajectory point If there is no collision, take: is the optimized wire laying trajectory point, which is Figure 2 Medium Beta i +Δβ max -θ:P i ' best Rotation amount, and execute step 5; if a collision occurs, execute step 6;

[0098] Step 5: Determine whether the current trajectory point i is less than the number of trajectory points n minus one; if the current trajectory point i is less than the number of trajectory points n minus one, solve the next fiber placement trajectory point; if the current trajectory point i is not less than the number of trajectory points n minus one, output the optimized path of the current fiber placement strip;

[0099] Step 6: Unable to optimize the current wire laying trajectory point P i , record error information.

[0100] Example 6

[0101] like Figure 3 and Figure 4 As shown, Figure 1 As shown, step 1: obtain tooling model information and read the initial path information of the wire laying strip; the wire laying trajectory point P i The pose information in the tooling coordinate system is P i (x i ,y i , z i , γ i , β i , α i ), x i is the position coordinate of the i-th trajectory point in the x-axis direction, y i is the position coordinate of the i-th trajectory point in the y-axis direction, z i is the position coordinate of the i-th trajectory point in the z-axis direction; γ i is the rotation amount of the i-th trajectory point around the X axis, β i is the rotation amount of the i-th trajectory point around the Y axis, which is Figure 3 β in i :P i Rotation (collision), α i is the rotation amount of the i-th trajectory point around the Z axis; Figure 3 The part curve shown in i ∶P i The lines of rotation (collision) intersect, indicating that a collision will occur;

[0102] Step 2: Discretize the initial path information of the wire laying strip into multiple wire laying trajectory points, and select the i-th wire laying trajectory point P from them i , and set the safety angle θ and the maximum rotation offset angle M;

[0103] Step 3: Use the separation axis algorithm to calculate the wire laying trajectory point P i Perform collision detection, detect a collision, set the iteration coefficient N = 1 and the maximum number of iterations N max ;

[0104] Step 4: Set the wire laying trajectory point P i The Y-axis rotation is changed to β i -Nθ, continue collision detection, if no collision occurs, execute step 5, such as Figure 4 β shown in i -Nθ:P i 'Rotation amount; if a collision occurs, execute step 6, such as Figure 4 β shown in i -Nθ:P i 'Rotation amount (collision);

[0105] Step 5: Set the angle parameter Calculate P using the dichotomy method i The incremental critical value Δβ of the rotation around the Y axis max , which is Figure 4 Medium Beta i -Nθ+Δβ max :P i 'Rotation amount (critical value), Δβ is P i The increment of the rotation around the Y axis is used to calculate the modified trajectory point If there is no collision, take the wire laying trajectory point P after the Y-axis rotation is modified. i is the optimized trajectory point is the optimized wire laying trajectory point, which is Figure 4 Medium Beta i -Nθ+Δβ max -θ:P i ' best Rotation amount; if collision occurs, execute step 7;

[0106] Step 6: Let the iteration coefficient N = N + 1, and then determine P i Is the increment Nθ of the rotation around the Y axis greater than the maximum rotation offset angle M or is the iteration coefficient N greater than the maximum value N max ; If Nθ is greater than the maximum rotation offset angle M or the iteration coefficient N is greater than the maximum value N max , then execute step 7 and step 8 at the same time; if P i The increment Nθ of the rotation around the Y axis is not greater than the maximum rotation offset angle M or the iteration coefficient N is not greater than the maximum value N max , then the iteration coefficient N is returned to step 5 and calculated again;

[0107] Step 7: Unable to optimize the current wire laying trajectory point P i, record error information;

[0108] Step 8: Determine whether the current trajectory point i is less than the number of trajectory points n minus one; if the current trajectory point i is less than the number of trajectory points n minus one, return to step 4 to solve the next wire laying trajectory point; if the current trajectory point i is not less than the number of trajectory points n minus one, output the optimized path of the current wire laying strip.

[0109] The above description is a detailed description of the preferred feasible embodiment of the present application, but the embodiment is not intended to limit the scope of the patent application of the present application. Any equivalent changes or modifications completed under the technical spirit suggested by the present application should fall within the scope of the patent covered by the present application.

Claims

1. An automatic wire placement anti-collision control method, characterized in that: The specific steps include: Step 1: Obtain tooling model information and read initial path information of the fiber placement strip; Step 2: Discretize the initial path information of the wire laying strip into multiple wire laying trajectory points, and select the i-th wire laying trajectory point P from them i , and set the safety angle θ and the maximum rotation offset angle M; Step 3: Set the iteration coefficient N and the maximum number of iterations N max , using the separation axis algorithm to calculate the wire laying trajectory point P i Perform collision detection; if no collision occurs, proceed to step 4; if a collision occurs, proceed to step 5; Step 4: Set the wire laying trajectory point P i The Y-axis rotation is changed to β i +θ, continue collision detection, if no collision occurs, take the current wire laying trajectory point P i is the optimized trajectory point, and execute step 6; if a collision occurs, execute step 7; Step 5: Set the wire laying trajectory point P i The Y-axis rotation is changed to β i -Nθ, continue collision detection, if no collision occurs, take the wire laying trajectory point P after the Y-axis rotation is modified i is the optimized trajectory point, and execute step 6; if a collision occurs, execute step 7; Step 6: Determine whether the current trajectory point i is less than the number of trajectory points n minus one; if the current trajectory point i is less than the number of trajectory points n minus one, return to step 4 to solve the next fiber placement trajectory point; If the current trajectory point i is not less than the number of trajectory points n minus one, output the optimized path of the current laying strip; Step 7: Unable to optimize the current wire laying trajectory point P i , record error information.

2. The automatic wire placement anti-collision control method according to claim 1, characterized in that: The wire laying trajectory point P i The pose information in the tooling coordinate system is P i (x i ,y i , z i , γ i , β i , α i ), x i is the position coordinate of the i-th trajectory point in the x-axis direction, y i is the position coordinate of the i-th trajectory point in the y-axis direction, z i is the position coordinate of the i-th trajectory point in the z-axis direction; γ i is the rotation amount of the i-th trajectory point around the X axis, β i is the rotation amount of the i-th trajectory point around the Y axis, α i The rotation amount of the i-th trajectory point around the Z axis.

3. The automatic wire placement anti-collision control method according to claim 1, characterized in that: The tooling model information in step 1 includes a three-dimensional mesh model of the tooling, the size of the tooling, and the shape of the tooling.

4. The automatic wire placement anti-collision control method according to claim 1, characterized in that: In step 4, the wire laying trajectory point P i The Y-axis rotation is changed to β i +θ, continue collision detection, if no collision occurs, take the current wire laying trajectory point P i The specific method for optimizing the trajectory point is as follows: Calculate the modified trajectory point P i ′(x i ,y i , z i , γ i , β i +θ,α i ) collision situation, if no collision occurs, take the current wire laying trajectory point P i is the optimized trajectory point P i ' best =P i (x i ,y i , z i , γ i , β i , α i ).

5. The automatic wire placement anti-collision control method according to claim 4, characterized in that: The wire laying trajectory point P i The Y-axis rotation is changed to β i +θ, continue collision detection, if a collision occurs, let the angle parameter Calculate P using the dichotomy method i The incremental critical value Δβ of the rotation around the Y axis max , Δβ is P i The increment of the rotation around the Y axis is used to calculate the modified trajectory point If there is no collision, take: If there is a collision, go to step seven.

6. The automatic wire placement anti-collision control method according to claim 5, characterized in that: Calculate P using the dichotomy method i The incremental critical value Δβ of the rotation around the Y axis max The specific steps are as follows: S1: Use the bisection method to calculate the critical point of collision and solve P i The incremental critical value Δβ of the rotation around the Y axis max , Δβ max ∈[a,b]; where a is Δβ max The lower limit, the initial value is 0, b is Δβ max The upper limit of θ, the initial value, let Then the modified trajectory point is P i ′(x i ,y i , z i , γ i , β i +Δβ,α i ), perform collision detection again, if the result is a collision, execute step S2; if the result is no collision, execute S3; S2: If ba<0.01, then Δβ max =Δβ, solve for the next trajectory point P i+1 ; If ba>0.01, then let b=Δβ, Modified trajectory point P i ′(x i ,y i , z i , γ i , β i +Δβ′,α i ), perform collision detection, if the result is a collision, execute S2; if the result is no collision, execute S3; S3: If ba<0.01, then Δβ max =Δβ, solve for the next trajectory point P i+1 ; If ba>0.01, let a=Δβ, Modified trajectory point P i ′(x i ,y i , z i , γ i , β i +Δβ′,α i ), perform collision detection, if the result is a collision, execute S2; if the result is no collision, execute S3.

7. The automatic wire placement anti-collision control method according to claim 1, characterized in that: In step 5, the wire laying trajectory point P i The Y-axis rotation is changed to β i -Nθ, continue collision detection, if no collision occurs, take the wire laying trajectory point P after the Y-axis rotation is modified i The specific method for optimizing the trajectory point is: let the angle parameter Calculate P using the dichotomy method i The incremental critical value Δβ of the rotation around the Y axis max , Δβ is P i The increment of the rotation around the Y axis is used to calculate the modified trajectory point If there is no collision, take the wire laying trajectory point P after the Y-axis rotation is modified. i is the optimized trajectory point P i ' best : If there is a collision, go to step seven.

8. The automatic wire placement anti-collision control method according to claim 7, characterized in that: In step 5, the wire laying trajectory point P i The Y-axis rotation is changed to β i -Nθ, continue collision detection; If a collision occurs, let the iteration coefficient N = N + 1, and then judge P i Is the increment Nθ of the rotation around the Y axis greater than the maximum rotation offset angle M or is the iteration coefficient N greater than the maximum value N max ; If Nθ is greater than the maximum rotation offset angle M or the iteration coefficient N is greater than the maximum value N max , then execute step 7 and step 6 at the same time; if P i The increment N0 of the rotation around the Y axis is not greater than the maximum rotation offset angle M or the iteration coefficient N is not greater than the maximum value N max , then the iteration coefficient N is returned to step 5 and calculated again.

9. The automatic wire placement anti-collision control method according to claim 1, characterized in that: After obtaining the tooling model information in step 1, the initial path information of the wire laying strip is read through CATIA software.

10. The automatic wire placement anti-collision control method according to claim 1, characterized in that: The safety angle θ is the minimum angle between the wire placement head and the placed part.

11. The automatic wire placement anti-collision control method according to claim 10, characterized in that: The safety angle θ is smaller than the maximum rotation offset angle M.

12. The automatic wire placement anti-collision control method according to claim 1, characterized in that: The error information recorded in step seven includes the wire laying trajectory point P i The serial number i and the wire laying point trajectory P i 's pose information.

13. The automatic wire placement anti-collision control method according to claim 1, characterized in that: Multiple wire laying trajectory points are P0, P1, ..., P n-1 ; The optimal path for laying the wire strip is P0′ best , P1′ best ,…,P n-1 ' best ; Where n is the number of trajectory points.

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