An automatic fiber placement anti-collision control method

Abstract

This invention relates to the field of automatic prepreg tow placement and forming technology, specifically to an automatic filament placement anti-collision control method; the method comprises the following steps: acquiring tooling information and reading the initial path information of the filament placement strip; discretizing the path information into multiple filament placement trajectory points, and selecting the i-th filament placement trajectory point P. i Set the safety angle θ and the maximum rotation offset angle M; set the iteration coefficient N and the maximum number of iterations N. max The split-axis algorithm is used to analyze the fiber placement trajectory point P. i Perform collision detection; set the filament placement trajectory point P i The Y-axis rotation amount is modified to β i +θ, continue collision detection. No collision occurs. Take the current filament placement trajectory point P. i The optimized trajectory point; the wire placement trajectory point P i The Y-axis rotation amount is modified to β i -Nθ, continue collision detection. If no collision occurs, take the filament placement trajectory point P after the Y-axis rotation is modified. i The optimized path of the current filament laying strip is output based on the optimized trajectory points; this invention improves production efficiency and ensures the safety of filament laying operations.

Description

Technical Field

[0001] This invention relates to the field of automatic prepreg tow laying and forming technology, specifically to an automatic filament laying anti-collision control method. Background Technology

[0002] Automated fiber placement technology involves fiber placement heads, prepreg narrow strips, path planning, and part surfaces. It involves bundling prepreg yarns into variable-width prepreg narrow strips under pressure rollers, laying them along a planned path on the part surface, and compacting and shaping them. This is a novel automated composite material placement technology. The fiber placement head consists of components such as a clamping device, a cutting and refeeding device, and a heating device. Among these, the heating device, camera, and conduit are moving parts. Typically, these parts are treated as rigid bodies during equipment modeling, making accurate modeling impossible. Therefore, the construction of the fiber placement head cannot accurately reflect these moving parts, leading to collisions between moving parts and parts during operation, compromising production safety. The traditional solution is manual adjustment of the orientation, which is extremely time-consuming, inefficient, and cannot adapt to the curvature of the part's shape. Even after manual adjustment, the risk of collision remains. Therefore, a collision prevention control method is urgently needed for automated fiber placement.

[0003] For example, a Chinese patent, application number 202111537058.6, application date 2021.12.15, entitled "An Automatic Wire Laying Trajectory Layered Simulation Modeling Method Applicable to Complex Rotating Bodies," includes the following steps: Step 1: Import the part's film-coated surface and wire bundle trajectory curves into CATIA; Step 2: In CATIA software, deviate the part's film-coated surface along the layup direction, with the deviation thickness being the thickness of a single layup layer, and create layup layers for all layers using this method; Step 3: In CATIA software, project the wire laying trajectory curves corresponding to each layup layer onto the layup layers created in Step 2; Step 4: Select a typical area on the layup layers created in Step 2, and select the projection trajectory line of the layup layer in Step 3 near the boundary of the typical area as the boundary of the area, and divide the layup layers accordingly. Domain partitioning; After partitioning, the regions are meshed and merged using CATIA's built-in meshing tool. Export the layup layer .dat file containing the mesh information from CATIA. Repeat this process until all layup layer .dat files are exported. Step 5: Import the .dat file containing the layup mesh information generated in Step 4 into the automatic fiber placement software. Map the fiber trajectory information of the layup into the .dat file, and use the automatic fiber placement software's export function to output a .inp file. Output all layup layer .inp files in this way. Step 6: Import all the layup layer .inp files generated in Step 5 into ABAQUS software, and bind each layup layer into a complete laminate model using "tie" connections or other coupling methods. Step 7: In ABAQUS, assign material properties and create boundary conditions and loads for calculation.

[0004] When performing mechanical simulation analysis on composite material parts manufactured using automated fiber placement technology, the aforementioned patent 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 layers of complex rotating structures. However, when modeling the equipment, the aforementioned patent treats moving parts as rigid bodies, which leads to a decrease in modeling accuracy. During the fiber placement process, moving parts collide with other parts, making it difficult to guarantee production safety. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides an automatic anti-collision control method for yarn laying that can prevent collisions between moving parts and other parts during yarn laying, ensure the safety of yarn laying, and quickly output the optimized pose of all trajectory points of the strip, thereby improving production efficiency.

[0006] To achieve the above-mentioned technical effects, the technical solution of this application is as follows:

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

[0008] Step 1: Obtain the tooling model information and read the initial path information of the filament-laying strip;

[0009] Step 2: Discretize the initial path information of the fiber placement strip into multiple fiber placement trajectory points, and select the i-th fiber placement 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 The split-axis algorithm is used to analyze the fiber placement trajectory point P. i Perform collision detection; if no collision occurs, proceed to step four; if a collision occurs, proceed to step five.

[0011] Step 4: Place the fiber placement trajectory point P i The Y-axis rotation amount is modified to β i +θ, continue collision detection. If no collision occurs, take the current filament-laying trajectory point P. i The optimized trajectory points are then processed, and step six is ​​executed; if a collision occurs, step seven is executed.

[0012] Step 5: Place the fiber placement trajectory point P i The Y-axis rotation amount is modified to β i -Nθ, continue collision detection. If no collision occurs, take the filament placement trajectory point P after the Y-axis rotation is modified. i The optimized trajectory points are then processed, and step six is ​​executed; if a collision occurs, step seven is executed.

[0013] Step 6: Determine if 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 and solve for the next filament 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 filament placement strip.

[0014] Step 7: Unable to optimize the current fiber placement trajectory point P i Record error messages.

[0015] Furthermore, the fiber placement 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 Let y be the position coordinate of the i-th trajectory point along the x-axis. iLet z be the position coordinate of the i-th trajectory point along the y-axis. i γ represents the position coordinates of the i-th trajectory point along the z-axis; i Let β be the rotation amount of the i-th trajectory point around the X-axis. i Let α be the rotation amount of the i-th trajectory point around the Y-axis. i Let be the amount of rotation of the i-th trajectory point around the Z-axis;

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

[0017] Furthermore, in step four, the wire-laying trajectory point P... i The Y-axis rotation amount is modified to β i +θ, continue collision detection. If no collision occurs, take the current filament-laying trajectory point P. i The specific method for optimizing the trajectory points is as follows: calculate the modified trajectory points. The collision situation is considered; if no collision occurs, the current filament-laying trajectory point P is taken. i For 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 amount is modified to β i +θ, continue collision detection; if a collision occurs, let the angle parameter... Calculate P using the bisection method i The critical value of the increment of rotation around the Y-axis Δβ max Δβ is P i Calculate the modified trajectory points by the increment of rotation around the Y-axis. The collision situation; if no collision occurs, take:

[0019]

[0020] If a collision occurs, proceed to step seven.

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

[0022] S1: The collision critical point is calculated using the bisection method, and P is solved. iThe critical value of the increment of rotation around the Y-axis Δβ max Δβ max ∈[a,b]; where a is Δβ max The lower limit is initially set to 0, and b is Δβ. max The upper limit, the initial value θ, let 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, proceed to step S2; if the result is no collision, proceed to step 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, then 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 five, the wire-laying trajectory point P... i The Y-axis rotation amount is modified to β i -Nθ, continue collision detection. If no collision occurs, take the filament placement trajectory point P after the Y-axis rotation is modified. i The specific method for optimizing the trajectory points is as follows: Let the angle parameter... Calculate P using the bisection method i The critical value of the increment of rotation around the Y-axis Δβmax Δβ is P i Calculate the modified trajectory points by the increment of rotation around the Y-axis. In the case of collision, if no collision occurs, take the filament placement trajectory point P after the Y-axis rotation is modified. i For the optimized trajectory point P i ′ best :

[0026]

[0027] If a collision occurs, proceed to step seven.

[0028] Furthermore, the wire-laying trajectory point P i The Y-axis rotation amount is modified to β i -Nθ, continue collision detection. If a collision occurs, 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 offset angle M or 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 If P i The increment Nθ of the rotation around the Y-axis should not be greater than the maximum offset angle M or the iteration coefficient N should not be greater than the maximum value N. max If so, the iteration coefficient N will be returned to step five for recalculation.

[0029] Furthermore, after obtaining the tooling model information in step one, the initial path information of the filament laying strip is read using CATIA software.

[0030] Furthermore, the safety angle θ is the minimum angle between the filament-laying head and the laying component.

[0031] Furthermore, the safety angle θ is less than the maximum rotational offset angle M.

[0032] Furthermore, the error information recorded in step seven includes the fiber placement trajectory point P. i The sequence number i and the trajectory P of the filament laying point i The pose information.

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

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

[0035] 1. The method used in this invention can quickly optimize the path trajectory points of the filament layup strip. By setting a safety angle and making adaptive adjustments based on the curvature of the part shape, the optimal pose of the trajectory point is solved, thereby avoiding collisions and quickly outputting the optimized pose of all trajectory points of the strip, improving production efficiency and ensuring the safety of filament layup operations.

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

[0037] 3. This invention optimizes the path trajectory points of the filament laying strip, avoiding downtime and maintenance costs caused by collisions or incorrect laying, and also reducing material waste caused by improper path planning, thereby effectively controlling the overall production cost. Attached Figure Description

[0038] Figure 1 The rotation amount along the Y-axis is β i A schematic diagram showing no collision occurring at +θ.

[0039] Figure 2 The rotation amount along the Y-axis is β i A diagram illustrating a collision occurring at +θ.

[0040] Figure 3 The rotation amount along the Y-axis is β i A schematic diagram of a collision occurring at -Nθ.

[0041] Figure 4 The rotation amount along the Y-axis is β i A schematic diagram showing no collision occurring at -Nθ. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0043] Example 1

[0044] Step 1: Obtain the tooling model information and read the initial path information of the filament-laying strip;

[0045] Step 2: Discretize the initial path information of the fiber placement strip into multiple fiber placement trajectory points, and select the i-th fiber placement 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 The split-axis algorithm is used to analyze the fiber placement trajectory point P. i Perform collision detection; if no collision occurs, proceed to step four; if a collision occurs, proceed to step five.

[0047] Step 4: Place the fiber placement trajectory point P i The Y-axis rotation amount is modified to β i +θ, continue collision detection. If no collision occurs, take the current filament-laying trajectory point P. i The optimized trajectory points are then processed, and step six is ​​executed; if a collision occurs, step seven is executed.

[0048] Step 5: Place the fiber placement trajectory point P i The Y-axis rotation amount is modified to β i -Nθ, continue collision detection. If no collision occurs, take the filament placement trajectory point P after the Y-axis rotation is modified. i The optimized trajectory points are then processed, and step six is ​​executed; if a collision occurs, step seven is executed.

[0049] Step 6: Determine if 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 and solve for the next filament 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 filament placement strip.

[0050] Step 7: Unable to optimize the current fiber placement trajectory point P i Record error messages.

[0051] Example 2

[0052] Step 1: Obtain the tooling model information and read the initial path information of the filament-laying strip;

[0053] Step 2: Discretize the initial path information of the fiber placement strip into multiple fiber placement trajectory points, and select the i-th fiber placement 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 The split-axis algorithm is used to analyze the fiber placement trajectory point P. i Perform collision detection; if no collision occurs, proceed to step four; if a collision occurs, proceed to step five.

[0055] Step 4: Place the fiber placement trajectory point P i The Y-axis rotation amount is modified to β i +θ, continue collision detection. If no collision occurs, take the current filament-laying trajectory point P. i The optimized trajectory points are then processed, and step six is ​​executed; if a collision occurs, step seven is executed.

[0056] Step 5: Place the fiber placement trajectory point P i The Y-axis rotation amount is modified to β i -Nθ, continue collision detection. If no collision occurs, take the filament placement trajectory point P after the Y-axis rotation is modified. i The optimized trajectory points are then processed, and step six is ​​executed; if a collision occurs, step seven is executed.

[0057] Step 6: Determine if 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 and solve for the next filament 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 filament placement strip.

[0058] Step 7: Unable to optimize the current fiber placement trajectory point P i Record error messages.

[0059] The separation axis algorithm used in step three is an existing technology in this field. The specific steps of the separation axis algorithm in step three are as follows: Construct the cuboid bounding box of the filament-laying head and the cuboid bounding box of the part in the tooling model; determine the potential separation axis of the two bounding boxes; project all vertices of the bounding boxes onto each potential separation axis. If the projections on a certain axis do not overlap, then the two bounding boxes have a separation axis, the filament-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 proceed to the next step; determine the potential separation axis between the filament-laying head and the part model mesh; if all the filament-laying head model meshes and the part model meshes have a separation axis, then the filament-laying head and the part do not collide, and the calculation ends; if the projections of a certain filament-laying head model mesh and the part model mesh overlap on all potential separation axes, then the filament-laying head and the part collide, and the calculation ends.

[0060] Example 3

[0061] Step 1: Obtain the tooling model information and read the initial path information of the filament-laying strip;

[0062] Step 2: Discretize the initial path information of the fiber placement strip into multiple fiber placement trajectory points, and select the i-th fiber placement 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 The split-axis algorithm is used to analyze the fiber placement trajectory point P. i Perform collision detection; if no collision occurs, proceed to step four; if a collision occurs, proceed to step five.

[0064] Step 4: Place the fiber placement trajectory point P i The Y-axis rotation amount is modified to β i+θ, continue collision detection. If no collision occurs, take the current filament-laying trajectory point P. i The optimized trajectory points are then processed, and step six is ​​executed; if a collision occurs, step seven is executed.

[0065] Step 5: Place the fiber placement trajectory point P i The Y-axis rotation amount is modified to β i -Nθ, continue collision detection. If no collision occurs, take the filament placement trajectory point P after the Y-axis rotation is modified. i The optimized trajectory points are then processed, and step six is ​​executed; if a collision occurs, step seven is executed.

[0066] Step 6: Determine if 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 and solve for the next filament 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 filament placement strip.

[0067] Step 7: Unable to optimize the current fiber placement trajectory point P i Record error messages.

[0068] The separation axis algorithm used in step three is an existing technology in this field. The specific steps of the separation axis algorithm in step three are as follows: Construct the cuboid bounding box of the filament-laying head and the cuboid bounding box of the part in the tooling model; determine the potential separation axis of the two bounding boxes; project all vertices of the bounding boxes onto each potential separation axis. If the projections on a certain axis do not overlap, then the two bounding boxes have a separation axis, the filament-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 proceed to the next step; determine the potential separation axis between the filament-laying head and the part model mesh; if all the filament-laying head model meshes and the part model meshes have a separation axis, then the filament-laying head and the part do not collide, and the calculation ends; if the projections of a certain filament-laying head model mesh and the part model mesh overlap on all potential separation axes, then the filament-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 Let y be the position coordinate of the i-th trajectory point along the x-axis. i Let z be the position coordinate of the i-th trajectory point along the y-axis. i γ represents the position coordinates of the i-th trajectory point along the z-axis; iLet β be the rotation amount of the i-th trajectory point around the X-axis. i Let α be the rotation amount of the i-th trajectory point around the Y-axis. i Let be the amount of rotation of the i-th trajectory point around the Z-axis;

[0070] The tooling model information in step one includes the tooling's 3D mesh model, the tooling's dimensions, and the tooling's shape.

[0071] In step four, the wire laying trajectory point P is... i The Y-axis rotation amount is modified to β i +θ, continue collision detection. If no collision occurs, take the current filament-laying trajectory point P. i The specific method for optimizing the trajectory points is as follows: Calculate the modified trajectory point P. i ′(x i y i , z i γ i ,β i +θ,α i If no collision occurs, the current filament-laying trajectory point P is taken. i For 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 amount is modified to β i +θ, continue collision detection; if a collision occurs, let the angle parameter... Calculate P using the bisection method i The critical value of the increment of rotation around the Y-axis Δβ max Δβ is P i Calculate the modified trajectory points by the increment of rotation around the Y-axis. The collision situation; if no collision occurs, take:

[0073]

[0074] If a collision occurs, proceed to step seven.

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

[0076] S1: The collision critical point is calculated using the bisection method, and P is solved. iThe critical value of the increment of rotation around the Y-axis Δβ max Δβ max ∈[a,b]; where a is Δβ max The lower limit is initially set to 0, and b is Δβ. max The upper limit, the initial value θ, let 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, proceed to step S2; if the result is no collision, proceed to step 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, then 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 five, the wire laying trajectory point P is... i The Y-axis rotation amount is modified to β i -Nθ, continue collision detection. If no collision occurs, take the filament placement trajectory point P after the Y-axis rotation is modified. i The specific method for optimizing the trajectory points is as follows: Let the angle parameter... Calculate P using the bisection method i The critical value of the increment of rotation around the Y-axis Δβ maxΔβ is P i Calculate the modified trajectory points by the increment of rotation around the Y-axis. In the case of collision, if no collision occurs, take the filament placement trajectory point P after the Y-axis rotation is modified. i For the optimized trajectory point P i ′ best :

[0080]

[0081] If a collision occurs, proceed to step seven.

[0082] The wire laying trajectory point P i The Y-axis rotation amount is modified to β i -Nθ, continue collision detection. If a collision occurs, 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 offset angle M or 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 If P i The increment Nθ of the rotation around the Y-axis should not be greater than the maximum offset angle M or the iteration coefficient N should not be greater than the maximum value N. max If so, the iteration coefficient N will be returned to step five for recalculation.

[0083] After obtaining the tooling model information in step one, the initial path information of the filament laying strip is read using CATIA software.

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

[0085] The error information recorded in step seven includes the wire-laying trajectory point P. i The sequence number i and the trajectory P of the filament laying point i The pose information.

[0086] Multiple wire-laying trajectory points are P0, P1, ..., P n-1 The optimized path for the fiber placement 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 one: acquire the tooling model information and read the initial path information of the filament placement strip; the filament placement 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 Let y be the position coordinate of the i-th trajectory point along the x-axis. i Let z be the position coordinate of the i-th trajectory point along the y-axis. i γ represents the position coordinates of the i-th trajectory point along the z-axis; i Let β be the rotation amount of the i-th trajectory point around the X-axis. i Let be the amount of rotation of the i-th trajectory point around the Y-axis, which is . Figure 1 β in i :P i Rotation amount, α i Let be the amount of rotation of the i-th trajectory point around the Z-axis;

[0089] Step 2: Discretize the initial path information of the fiber placement strip into multiple fiber placement trajectory points, and select the i-th fiber placement 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 The split-axis algorithm is used to analyze the fiber placement trajectory point P. i Collision detection was performed, and no collision was detected.

[0091] Step 4: Place the fiber placement trajectory point P i The Y-axis rotation amount is modified to β i +θ, which is like Figure 1 β in i +θ:P i Rotation amount, continue collision detection, if no collision is detected, take the current filament placement trajectory point P. i The optimized trajectory points, i.e., as Figure 1 China P i ′ best Rotation amount;

[0092] Step 5: Determine if 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 for the next filament 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 filament placement strip.

[0093] Example 5

[0094] like Figure 2As shown, step one: acquire the tooling model information and read the initial path information of the filament placement strip; the filament placement 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 Let y be the position coordinate of the i-th trajectory point along the x-axis. i Let z be the position coordinate of the i-th trajectory point along the y-axis. i γ represents the position coordinates of the i-th trajectory point along the z-axis; i Let β be the rotation amount of the i-th trajectory point around the X-axis. i Let be the amount of rotation of the i-th trajectory point around the Y-axis, which is . Figure 2 β in i :P i Rotation amount, α i Let be the amount of rotation of the i-th trajectory point around the Z-axis;

[0095] Step 2: Discretize the initial path information of the fiber placement strip into multiple fiber placement trajectory points, and select the i-th fiber placement 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 The split-axis algorithm is used to analyze the fiber placement trajectory point P. i Collision detection was performed, and no collision was detected.

[0097] Step 4: Place the fiber placement trajectory point P i The Y-axis rotation amount is modified to β i +θ, continue collision detection; if a collision is detected, then... Figure 2 beta i +θ:P i Rotation amount (collision); let the angle parameter Calculate P using the bisection method i The critical value of the increment of rotation around the Y-axis Δβ max That is Figure 2 beta i +Δβ max :P i Rotation amount (critical value), Δβ is P i Calculate the modified trajectory points by the increment of rotation around the Y-axis. The collision situation; if no collision occurs, take: The optimized wire-laying trajectory points are, in other words, the points where the wire is laid. Figure 2 beta i +Δβ max -θ:P i ′ best Calculate the rotation amount and proceed to step five; if a collision occurs, proceed to step six.

[0098] Step 5: Determine if 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 for the next filament 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 filament placement strip.

[0099] Step 6: Unable to optimize current fiber placement trajectory point P i Record error messages.

[0100] Example 6

[0101] like Figure 3 and Figure 4 As shown, Figure 1 As shown, step one: acquire the tooling model information and read the initial path information of the filament placement strip; the filament placement 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 Let y be the position coordinate of the i-th trajectory point along the x-axis. i Let z be the position coordinate of the i-th trajectory point along the y-axis. i γ represents the position coordinates of the i-th trajectory point along the z-axis; i Let β be the rotation amount of the i-th trajectory point around the X-axis. i Let be the amount of rotation of the i-th trajectory point around the Y-axis, which is . Figure 3 β in i :P i Rotation (collision), α i Let be the amount of rotation of the i-th trajectory point around the Z-axis; Figure 3 The part curve shown is related to β. i ∶P i The intersection of straight lines representing rotation (collision) indicates that a collision will occur;

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

[0103] Step 3: Use the split-axis algorithm to analyze the fiber placement trajectory point P. i Collision detection is performed. If a collision is detected, the iteration coefficient N = 1 and the maximum number of iterations N is set. max ;

[0104] Step 4: Place the fiber placement trajectory point P i The Y-axis rotation amount is modified to β i -Nθ, continue collision detection. If no collision occurs, proceed to step five, such as... Figure 4 β shown i -Nθ:P i Rotation amount; if a collision occurs, proceed to step six, such as... Figure 4 β shown i -Nθ:P i Rotation amount (collision);

[0105] Step 5: Set the angle parameter Calculate P using the bisection method i The critical value of the increment of rotation around the Y-axis Δβ max That is Figure 4 beta i -Nθ+Δβ max :P i Rotation amount (critical value), Δβ is P i Calculate the modified trajectory points by the increment of rotation around the Y-axis. In the case of collision, if no collision occurs, take the filament placement trajectory point P after the Y-axis rotation is modified. i For the optimized trajectory points The optimized wire-laying trajectory points are, in other words, the points where the wire is laid. Figure 4 beta i -Nθ+Δβ max -θ:P i ′ best Rotation amount; if a collision occurs, proceed to step seven;

[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 offset angle M or 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 If P i The increment Nθ of the rotation around the Y-axis should not be greater than the maximum offset angle M or the iteration coefficient N should not be greater than the maximum value N. max If so, the iteration coefficient N will be returned to step five for recalculation;

[0107] Step 7: Unable to optimize the current fiber placement trajectory point P iRecord error messages;

[0108] Step 8: Determine if 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 and solve for the next filament 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 filament placement strip.

[0109] The above description is a detailed description of the preferred embodiments of this application. However, the embodiments are not intended to limit the scope of the patent application of this application. All equivalent changes or modifications made under the technical spirit of this application should fall within the patent scope covered by this application.

Claims

1. An automatic filament placement anti-collision control method, characterized in that, The specific steps include the following: Step 1: Obtain the tooling model information and read the initial path information of the filament-laying strip; Step two: Discretize the initial path information of the fiber placement tape into a plurality of fiber placement track points, and select the i-th fiber placement track point P i and set a safety angle θ and a maximum offset angle of rotation M; Step three: set iteration coefficient N and maximum iteration number N max , the separation axis algorithm is used to detect collision of the filament laying track point P i ; if no collision occurs, step four is executed; if collision occurs, step five is executed; Step 4: Place the fiber placement trajectory point P i The Y-axis rotation amount is modified to β i +θ, continue collision detection. If no collision occurs, take the current filament-laying trajectory point P. i The optimized trajectory points are then processed, and step six is ​​executed; if a collision occurs, step seven is executed. Step 5: Place the fiber placement trajectory point P i The Y-axis rotation amount is modified to β i -Nθ, continue collision detection. If no collision occurs, take the filament placement trajectory point P after the Y-axis rotation is modified. i The optimized trajectory points are then processed, and step six is ​​executed; if a collision occurs, step seven is executed. Step 6: Determine if 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 and solve for the next filament-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 filament-laying strip; Step 7: Unable to optimize the current fiber placement trajectory point P i Record error messages.

2. The automatic filament placement anti-collision control method according to claim 1, characterized in that: The fiber 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 Let y be the position coordinate of the i-th trajectory point along the x-axis. i Let z be the position coordinate of the i-th trajectory point along the y-axis. i γ represents the position coordinates of the i-th trajectory point along the z-axis; i Let β be the rotation amount of the i-th trajectory point around the X-axis. i Let α be the rotation amount of the i-th trajectory point around the Y-axis. i Let be the amount of rotation of the i-th trajectory point around the Z-axis.

3. The automatic filament placement anti-collision control method according to claim 1, characterized in that: The tooling model information in step one includes the tooling's three-dimensional mesh model, the tooling's dimensions, and the tooling's shape.

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

5. The automatic filament placement anti-collision control method according to claim 4, characterized in that: The wire laying trajectory point P i The Y-axis rotation amount is modified to β i +θ, continue collision detection; if a collision occurs, let the angle parameter... Calculate P using the bisection method i The critical value of the increment of rotation around the Y-axis Δβ max Δβ is P i Calculate the modified trajectory points by the increment of rotation around the Y-axis. The collision situation; if no collision occurs, take: If a collision occurs, proceed to step seven.

6. The automatic filament placement anti-collision control method according to claim 5, characterized in that: Calculate P using the bisection method i The critical value of the increment of rotation around the Y-axis Δβ max The specific steps are as follows: S1: The collision critical point is calculated using the bisection method, and P is solved. i The critical value of the increment of rotation around the Y-axis Δβ max Δβ max ∈[a,b]; where a is Δβ max The lower limit is initially set to 0, and b is Δβ. max The upper limit, the initial value θ, let 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, proceed to step S2; if the result is no collision, proceed to step 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, then 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 filament placement anti-collision control method according to claim 1, characterized in that: In step five, the wire laying trajectory point P is... i The Y-axis rotation amount is modified to β i -Nθ, continue collision detection. If no collision occurs, take the filament placement trajectory point P after the Y-axis rotation is modified. i The specific method for optimizing the trajectory points is as follows: Let the angle parameter... Calculate P using the bisection method i The critical value of the increment of rotation around the Y-axis Δβ max Δβ is P i Calculate the modified trajectory points by the increment of rotation around the Y-axis. In the case of collision, if no collision occurs, take the filament placement trajectory point P after the Y-axis rotation is modified. i For the optimized trajectory point P i ′ best : If a collision occurs, proceed to step seven.

8. The automatic filament placement anti-collision control method according to claim 7, characterized in that: In step five, the wire laying trajectory point P is... i The Y-axis rotation amount is modified to β i -Nθ, continue collision detection; If a collision occurs, 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 offset angle M or 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 If P i The increment N0 of the rotation around the Y-axis is not greater than the maximum offset angle M or the iteration coefficient N is not greater than the maximum value N. max If so, the iteration coefficient N will be returned to step five for recalculation.

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

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

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

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

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

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