CN111983970A - Automatic obstacle avoidance planning method for fast water jet cutting line feeding - Google Patents

Automatic obstacle avoidance planning method for fast water jet cutting line feeding Download PDF

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CN111983970A
CN111983970A CN202010792847.3A CN202010792847A CN111983970A CN 111983970 A CN111983970 A CN 111983970A CN 202010792847 A CN202010792847 A CN 202010792847A CN 111983970 A CN111983970 A CN 111983970A
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fast
point
cuboid
interference
incoming line
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CN111983970B (en
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牟全臣
田大将
姚立民
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Shanghai Digital Design Technology Co ltd
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Shanghai Digital Design Technology Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus

Abstract

The application relates to a water jet fast-feeding automatic obstacle avoidance planning method, which comprises the following steps: step 10, according to the processing starting point P1A point P for inserting a workpiece to be machined2Cut-out point P3And a processing end point P4Generating an initial processing fast incoming line; step 20, calculating the machining starting point P of the water jet cutting head1Wrapping cuboid coordinates corresponding to all the obstacles; and step 30, carrying out coincidence judgment on the wrapped cuboids corresponding to all the obstacles, and combining the obstacles with coincidence relation into a new wrapped cuboid corresponding to the obstacle. According to the method, the fast incoming line is updated by using different algorithms according to different positions of an interference starting point and an interference ending point, the second barrier 4 is judged by using the updated fast incoming line by using the method, the fast incoming line is updated until all barriers 4 are judged to be updated to generate the final fast incoming line, and path planning of automatically avoiding the barriers 4 by the fast incoming line and the fast incoming line is quickly realized.

Description

Automatic obstacle avoidance planning method for fast water jet cutting line feeding
Technical Field
The application belongs to the technical field of numerical control, and particularly relates to a water jet scalpel fast-feeding line automatic obstacle avoidance planning method.
Background
With the rapid development of computer aided design, great progress has been made in the processing of complex workpieces by using a numerical control CAM (computer aided manufacturing), wherein the most central point is to generate a path plan of a workpiece to be processed by using the numerical control CAM, and the path plan mainly comprises a fast-forwarding line part from a processing starting point to the workpiece and a workpiece returning to a processing end point and a workpiece processing part. The fast-forward line planning without considering obstacle avoidance cannot meet the actual generation requirement, and how to carry out automatic obstacle avoidance and then replanning on the fast-forward line is a problem which needs to be solved.
Aiming at the problems, the method adopted at the present stage is to manually adjust the fast forward line which is initially generated and does not consider obstacle avoidance. Manual intervention is time-consuming and labor-consuming, and the fast-forward line path generated by manual intervention often causes waste of the path line and increases the processing time cost.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the defects in the prior art, a rapid water jet fast-feeding automatic obstacle avoidance planning method is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a water jet cutting fast-feeding automatic obstacle avoidance planning method comprises the following steps:
step 10, according to the processing starting point P1A point P for inserting a workpiece to be machined2Cut-out point P3And a processing end point P4Generating an initial processing fast incoming line;
step 20, calculating the machining starting point P of the water jet cutting head1Wrapping cuboid coordinates corresponding to all the obstacles;
step 30, carrying out coincidence judgment on the wrapped cuboids corresponding to all the obstacles, and combining the obstacles with coincidence relation into a new wrapped cuboid corresponding to the obstacle;
step 40, starting from the machining starting point P1Starting to circularly judge discrete points on the forward fast incoming line and the return fast incoming line in the initial fast incoming lines, and calculating a wrapping cuboid of the water jet cutting head 1 at each discrete point;
step 50, judging the interference relationship between the wrapping cuboid of each discrete point and the wrapping cuboid of the first obstacle to determine an interference starting point and an interference end point, and updating the initial processing fast incoming line by using different algorithms according to different positions of the interference starting point and the interference end point;
and step 60, substituting the updated initial processing fast inlet line into the initial processing fast inlet line in the step 10, and circulating the steps 10 to 60 to judge the wrapping cuboid and the next obstacle of each discrete point and update the initial processing fast inlet line until all the obstacles are judged and then updating to generate the final initial processing fast inlet line.
In one embodiment, in the step 10, the entry point P is to be formed when generating the initial processing fast incoming line2Translating to P according to Z coordinate1Z coordinate of (3) to generate a point P12Subsequently connecting P1、P12And P12、P2A fast forward line is generated.
In one embodiment, the process end point P is determined in step 104Translating to P according to Z coordinate3Z coordinate of (3) to generate a point P34Subsequently connecting P3、P34And P34、P4A return fast incoming line is generated.
In one embodiment, in the step 20, the water jet cutting head is calculated to be at the machining starting point P1In the coordinate of (2), the minimum value Qmin (x, y, z) and the maximum value Qmax (x, y, z) of the wrapped rectangular parallelepiped of the water jet cutting head at the machining initial position in the direction of the coordinate X, Y, Z are recorded.
In one embodiment, in the step 20, when calculating the parcel cuboid coordinates corresponding to all obstacles, the minimum value Zmin (x, y, z) and the maximum value Zmax (x, y, z) of the parcel cuboid coordinates X, Y, Z corresponding to all obstacles are stored into the set S.
In one embodiment, in the step 30, when the two wrapped cuboids are determined to be overlapped, it is determined whether eight vertex coordinates of one of the wrapped cuboids are in the range of min (x, y, z) and max (x, y, z) of the other wrapped cuboid, and if yes, the two wrapped cuboids intersect.
In one embodiment, in the step 30, the wrapped cuboids of all the obstacles in the set S are determined to overlap each other, and the determination is made between the obstacle S1 and another obstacle S2In the intersection determination, the minimum volume S1_ min (x, y, z) and the maximum volume S1_ max (x, y, z) of the bounding cuboid of the obstacle S1 are changed to have parameters PnewminZmin (x, y, z) + | Qmax (x, y, z) -Qmin (x, y, z) | and Pnewmax＝
Zmax (x, y, z) + | Qmax (x, y, z) -Qmin (x, y, z) | wrapping cuboid and changing to parameter PnewminAnd PnewmaxThe parcel cuboid and the parcel cuboid of the obstacle S2 are subjected to coincidence judgment, if the parcel cuboid and the obstacle S2 coincide, the obstacle S1 and the obstacle S2 are merged into a new obstacle S3, and the parcel cuboid parameter corresponding to the obstacle S3 is min (P)newminS2_ Zmin (x, y, z)) and max (Pnewmax,S2_Zmax(x,y,z))。
In one embodiment, in the steps 40 and 50, the fast forward line in the fast forward line is discretized into N points, and the wrapping cuboid of the cutting head wrapping cuboid at the discrete points is calculated, the discrete points are compared with the machining starting point P1Coordinate difference values are delta X, delta Y and delta Z, wrapping cuboid parameters of the cutting head at discrete points are Qmin (X + delta X, Y + delta Y, Z + delta Z) and Qmax (X + delta X, Y + delta Y, Z + delta Z), circulating discrete points are started from a machining starting point, the wrapping cuboid parameters of the cutting head wrapping cuboid at the discrete points and the first obstacle wrapping cuboid are calculated and used for carrying out coincidence judgment, and an interference starting point G is determined from the machining starting point and the circulating discrete pointsFirstAnd the interference end point GLast。
In one embodiment, when the interference starting point and the interference ending point are on the same fast-forwarding line segment, and the fast-forwarding line segment is perpendicular to the Z axis, the interference is transverse; when the interference starting point and the interference ending point are on the same fast incoming line segment, and the fast incoming line segment is parallel to the Z axis, the longitudinal interference is realized; when the interference starting point and the interference ending point are not on the same fast-forwarding line segment, and the fast-forwarding line segment is vertical or parallel to the Z axis, the corner interference is generated; and after the different types are judged, determining a shorter path, and then carrying out obstacle avoidance updating on the current forward fast incoming line.
The invention has the beneficial effects that: according to the automatic obstacle avoidance planning method for the water jet cutter fast incoming line, after the initial processing fast incoming line is generated, the overlapped judgment is carried out on all the obstacle wrapped cuboids, and the calculated amount is reduced; and updating the fast incoming line by using different algorithms according to different positions of the interference starting point and the interference ending point, judging a second obstacle by using the updated fast incoming line by using the method, and updating the fast incoming line until all the obstacles are judged to be updated to generate a final fast incoming line, thereby quickly realizing path planning of automatically avoiding the obstacles by the forward fast incoming line and the return fast incoming line in the water jet path.
Drawings
The technical solution of the present application is further explained below with reference to the drawings and the embodiments.
FIG. 1 is a schematic diagram of a path initial fast-forwarding line generation and cutting head wrapping cuboid in an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating intersection and merging determination of two obstacles according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a possibility of forming a coordinate system by feature vectors according to an embodiment of the present application;
FIG. 4 is a schematic diagram of three types of interference starting points and interference ending points according to an embodiment of the present application;
fig. 5 is a schematic diagram of a final fast forward line obstacle avoidance planning according to an embodiment of the present application;
fig. 6 is a flowchart of an automatic obstacle avoidance planning method using a water jet fast-entry line according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.
The technical solutions of the present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
A water jet cutting fast-feeding automatic obstacle avoidance planning method comprises the following steps:
step 10, according to the processing starting point P1A point P for inserting a workpiece 3 to be machined2Cut-out point P3And a processing end point P4Generating an initial processing fast incoming line;
step 20, calculating the machining starting point P of the water jet cutting head 11Coordinates of the wrapped cuboid corresponding to all the obstacles 4;
step 30, carrying out coincidence judgment on the wrapped cuboids corresponding to all the obstacles 4, and combining the obstacles 4 with coincidence relation into a new wrapped cuboid corresponding to the obstacle 4;
step 40, starting from the machining starting point P1Starting to circularly judge discrete points 5 on the forward fast incoming line and the return fast incoming line in the initial fast incoming line, and calculating a wrapping cuboid of the water jet cutting head 1 at each discrete point 5;
step 50, judging the interference relationship between the wrapping cuboid of each discrete point 5 and the wrapping cuboid of the first barrier 4 to determine an interference starting point and an interference end point, and updating the initial processing fast incoming line by using different algorithms according to different positions of the interference starting point and the interference end point;
and step 60, substituting the updated initial processing fast inlet line into the initial processing fast inlet line in the step 10, and circulating the steps 10 to 60 to judge the wrapping cuboid and the next obstacle of each discrete point 5 and update the initial processing fast inlet line until all the obstacles 4 are judged, and then updating to generate the final initial processing fast inlet line. The fast incoming line after the first barrier is updated is used, and the interference starting point and the interference ending point of the second barrier are sequentially judged in a circulating mode from the fast incoming line starting point and are updated; and then judging a third obstacle by using a new fast forward line until all the obstacles are judged to be completed.
In one embodiment, step 10 is to create an initial processing fast incoming line to be cut into point P2Translating to P according to Z coordinate1Z coordinate of (3) to generate a point P12Subsequently connecting P1、P12And P12、P2A fast forward line is generated.
In one embodiment, the process ends at point P in step 104Translating to P according to Z coordinate3Z coordinate of (3) to generate a point P34Subsequently connecting P3、P34And P34、P4A return fast incoming line is generated.
In one embodiment, step 20 is to calculate the machining starting point P of the water jet cutting head 11In the coordinate of (2), the minimum value Qmin (x, y, z) and the maximum value Qmax (x, y, z) of the wrapped rectangular parallelepiped of the water jet cutting head 1 at the machining initial position in the direction of the coordinate X, Y, Z are recorded.
In one embodiment, in step 20, when calculating the parcel cuboid coordinates corresponding to all the obstacles 4, the minimum value Zmin (x, y, z) and the maximum value Zmax (x, y, z) of the parcel cuboid coordinates X, Y, Z corresponding to all the obstacles 4 are stored into the set S.
In one embodiment, in step 30, when the two wrapped cuboids are determined to be overlapped, it is determined whether eight vertex coordinates of one wrapped cuboid are in the range of min (x, y, z) and max (x, y, z) of the other wrapped cuboid, and if yes, the two wrapped cuboids intersect.
In one embodiment, in step 30, the wrapped cuboids of all the obstacles 4 in the set S are determined to overlap each other, and when the intersection determination is made between the obstacle 4S1 and another obstacle 4S2, the minimum volume S1_ min (x, y, z) and the maximum volume S1_ max (x, y, z) of the wrapped cuboids of the obstacle 4S1 are changed to have parameters PnewminZmin (x, y, z) + | Qmax (x, y, z) -Qmin (x, y, z) | and PnewmaxA wrapped cuboid of Zmax (x, y, z) + | Qmax (x, y, z) -Qmin (x, y, z) | modified to a parameter PnewminAnd PnewmaxThe parcel cuboid of the obstacle 4S2 and the parcel cuboid of the obstacle 4S2 are subjected to coincidence judgment, if the two are coincided, the obstacle 4S1 and the obstacle 4S2 are merged into a new obstacle 4S3, and the parcel cuboid parameter corresponding to the obstacle 4S3 is min (P < P >) (S < S >) (SnewminS2_ Zmin (x, y, z)) and max (PnewmaxS2_ Zmax (x, y, z)). The intersection judgment is performed on all obstacles by way of example: for example, there are 5 obstacles such as A, B, C, D, E, cycle crossing judgment is performed on B, C, D, E from a, if a new obstacle is formed (for example, A, C crosses to form an obstacle F), the set of obstacles is B, D, E, F, and then, a cycle D, E, F is started from B until all obstacles are not crossed, namely, the process is stopped. The barriers S1 and S2 can not be directly wrapped by the cutting heads for judgment of intersection, and the position of the cutting heads wrapping the cuboid in the machining process is also considered, so that the barrier wrapping cuboid is changed into the barrier wrapping cuboid with the cutting heads, and the parameters are PnewminAnd Pnewmax。
In one embodiment, in step 40 and step 50, the fast forward line in the forward fast forward line is discretized into N points, a wrapping cuboid of the cutting head 1 wrapping the cuboid at a discrete point 5 is calculated, and the discrete point 5 and the processing starting point P are calculated1Coordinate difference values are delta X, delta Y and delta Z, parameters of a wrapped cuboid of the cutting head 1 at discrete points 5 are Qmin (X + delta X, Y + delta Y, Z + delta Z) and Qmax (X + delta X, Y + delta Y, Z + delta Z), and circulation is started from a machining starting pointCalculating and using a wrapping cuboid parameter of the cutting head 1 wrapping the cuboid at the discrete point 5 and a first barrier 4 wrapping the cuboid to carry out coincidence judgment, and determining an interference starting point G from the machining starting point to the circulating discrete point 5FirstAnd the interference end point GLast。
In one embodiment, when the interference starting point and the interference ending point are on the same fast-forwarding line segment, and the fast-forwarding line segment is perpendicular to the Z axis, the interference is transverse; when the interference starting point and the interference ending point are on the same fast incoming line segment, and the fast incoming line segment is parallel to the Z axis, the longitudinal interference is realized; when the interference starting point and the interference ending point are not on the same fast-forwarding line segment, and the fast-forwarding line segment is vertical or parallel to the Z axis, the corner interference is generated; and after the different types are judged, determining a shorter path, and then carrying out obstacle avoidance updating on the current forward fast incoming line.
The embodiment also discloses the following implementation scenarios:
as shown in fig. 1, first, according to the starting point P of the processing1A point P for inserting a workpiece 3 to be machined2Cut-out point P3And a processing end point P4To generate an initial processing fast run. The swing angle transition problem between the fast incoming line and the cut-in and cut-out line 2 needs to be considered when the fast incoming line of the initial processing is generated, so that the angle transition does not exist between the fast incoming line and the cut-in and cut-out, and the cut-in point P needs to be arranged when the fast incoming line of the initial processing is generated2Translating to P according to Z coordinate1Z coordinate of (3) to generate a point P12Subsequently connecting P1、P12And P12、P2Generating a forward fast incoming line; will process the end point P4Translating to P according to Z coordinate3Z coordinate of (3) to generate a point P34Subsequently connecting P3、P34And P34、P4A return fast incoming line is generated.
A wrapped rectangular parallelepiped of the water jet cutting head 1 at the machining initial position is calculated as shown in fig. 1, and the minimum value Qmin (x, y, z) and the maximum value Qmax (x, y, z) of coordinates XYZ of the rectangular parallelepiped are recorded. Respectively calculating wrapping cuboids of all barriers 4 and storing the minimum value Zmin (x, y, z) and the maximum value Zmax (x, y, z) of coordinates XYZ of all cuboids into a set S;when the two wrapped cuboids are subjected to intersection judgment (superposition judgment), judging whether eight vertex coordinates of one wrapped cuboid are in the min (x, y, z) and max (x, y, z) ranges of the other wrapped cuboid or not, and if yes, intersecting the eight vertex coordinates; when the intersection judgment is performed between all the obstacle 4 wrapped cuboids in the set S as shown in fig. 2, and when the intersection judgment is performed between the obstacles 4S1 and S2, S1_ min (x, y, z) and S1_ max (x, y, z) wrapping the cuboid of the obstacle 4S1 are changed to have the parameter PnewminZmin (x, y, z) + | Qmax (x, y, z) -Qmin (x, y, z) | and PnewmaxThe wrapping cuboid using Zmax (x, y, z) + | Qmax (x, y, z) -Qmin (x, y, z) | may be determined to intersect with the wrapping cuboid using the obstacle 4S2 by the above method, if the intersection is found, S1 and S2 are combined into a new obstacle 4S3, and the wrapping cuboid parameter corresponding to S3 is min (P) in which S3 corresponds to (i) a wrapping cuboid parameter of min (P) is determined to be a wrapping cuboid parameter of (i) a wrapping cuboid, and (ii) a wrapping parameter of (i) a wrappingnewminS2_ Zmin (x, y, z)) and max (Pnewmax,S2_Zmax(x,y,z))。
Aiming at the fact that the fast-advancing line in the fast-advancing line is scattered into N points, calculating a wrapping cuboid of the cutting head 1 at the scattered point 5, wherein the coordinate difference value between the scattered point 5 and the processing starting point is delta X, delta Y and delta Z, and the parameters of the wrapping cuboid of the cutting head 1 at the scattered point 5 are Qmin (X + delta X, Y + delta Y, Z + delta Z) and Qmax (X + delta X, Y + delta Y, Z + delta Z); as shown in fig. 3, discrete points 5 are circulated from the machining starting point, the wrapping cuboid of the cutting head 1 at the discrete points 5 is calculated by the method, the wrapping cuboid parameters and the first barrier 4 are used for wrapping the cuboid for intersection judgment, and the interference starting point G is determined from the machining starting point and the circulation discrete points 5First(first discrete point 5 generating interference) and end point G of interferenceLast(the first discrete point after interference 5 that does not interfere);
as shown in fig. 4, the interference starting point and the interference ending point are classified into three types according to their positions in the fast incoming line: the transverse interference is positioned at the upper right corner of the attached drawing, when an interference starting point and an interference ending point are on the same fast-forwarding line segment, the fast-forwarding line segment is vertical to the Z axis, and the length of the path 1 (1-3) and the length of the path 2 (2-1-2-3) are compared to determine a shorter path; longitudinal interference is positioned at the lower left corner of the attached drawing, when an interference starting point and an interference ending point are on the same fast incoming line segment, the fast incoming line segment is parallel to the Z axis, and the length of the path 1 (1-3) and the length of the path 2 (2-1-2-3) are compared to determine a shorter path; and corner interference is positioned at the upper left corner of the drawing, when the interference starting point and the interference ending point are not on the same fast-forwarding line segment, the fast-forwarding line segment is vertical or parallel to the Z axis, and the length of the path 1 (1-2) and the path 2 (2-1-2-4) are compared to determine a shorter path. And after the different types are judged, determining a shorter path, and then carrying out obstacle avoidance updating on the current forward fast incoming line.
And updating the advancing fast-forward line again on the second barrier 4 by using the updated advancing fast-forward line until all the barriers 4 are circulated, and generating the final advancing fast-forward line. As shown in fig. 5, the method is used to perform automatic obstacle avoidance planning on the fast-forward return line, so as to generate a final fast-forward return line.
The invention has the beneficial effects that: according to the automatic obstacle avoidance planning method for the water jet cutter fast incoming line, after the initial processing fast incoming line is generated, the overlapped judgment is carried out on cuboid wrapped by all obstacles 4, and the calculated amount is reduced; and updating the fast incoming line by using different algorithms according to different positions of the interference starting point and the interference ending point, judging the second barrier 4 by using the updated fast incoming line by using the method and updating the fast incoming line until all barriers 4 are judged to be updated to generate the final fast incoming line, and rapidly realizing path planning of automatically avoiding the barriers 4 by the fast incoming line and the fast incoming line.
In light of the foregoing description of the preferred embodiments according to the present application, it is to be understood that various changes and modifications may be made without departing from the spirit and scope of the invention. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of the claims.

Claims (9)

1. A water jet cutting fast-feeding automatic obstacle avoidance planning method is characterized by comprising the following steps:
step 10, according to the processing starting point P1A workpiece to be machinedPoint of entry P2Cut-out point P3And a processing end point P4Generating an initial processing fast incoming line;
step 20, calculating the machining starting point P of the water jet cutting head1Wrapping cuboid coordinates corresponding to all the obstacles;
step 30, carrying out coincidence judgment on the wrapped cuboids corresponding to all the obstacles, and combining the obstacles with coincidence relation into a new wrapped cuboid corresponding to the obstacle;
step 40, starting from the machining starting point P1Starting to circularly judge discrete points on the forward fast incoming line and the return fast incoming line in the initial fast incoming lines, and calculating a wrapping cuboid of the water jet cutting head at each discrete point;
step 50, judging the interference relationship between the wrapping cuboid of each discrete point and the wrapping cuboid of the first barrier 4 to determine an interference starting point and an interference end point, and updating the initial processing fast incoming line by using different algorithms according to different positions of the interference starting point and the interference end point;
and step 60, substituting the updated initial processing fast inlet line into the initial processing fast inlet line in the step 10, and circulating the steps 10 to 60 to judge the wrapping cuboid and the next obstacle of each discrete point and update the initial processing fast inlet line until all the obstacles are judged and then updating to generate the final initial processing fast inlet line.
2. The method for planning automatic obstacle avoidance for water jet cutter fast incoming line according to claim 1, wherein in the step 10, the point of entry P is to be determined when the initial processing fast incoming line is generated2Translating to P according to Z coordinate1Z coordinate of (3) to generate a point P12Subsequently connecting P1、P12And P12、P2A fast forward line is generated.
3. The method for planning automatic obstacle avoidance for fast line feeding of water jet cutter as claimed in claim 2, wherein in the step 10, a processing end point P is determined4Translating to P according to Z coordinate3Z coordinate of (3) to generate a point P34Subsequently connecting P3、P34And P34、P4A return fast incoming line is generated.
4. The method for planning automatic obstacle avoidance for fast water jet cutting line feeding according to claim 1, wherein in the step 20, the water jet cutting head is calculated to be at a processing starting point P1In the coordinate of (2), the minimum value Qmin (x, y, z) and the maximum value Qmax (x, y, z) of the wrapped rectangular parallelepiped of the water jet cutting head at the machining initial position in the direction of the coordinate X, Y, Z are recorded.
5. The water jet scalpel fast entry automatic obstacle avoidance planning method according to claim 1, wherein in the step 20, when calculating parcel cuboid coordinates corresponding to all obstacles, the minimum value Zmin (x, y, z) and the maximum value Zmax (x, y, z) of the parcel cuboid coordinates X, Y, Z corresponding to all obstacles are stored in the set S.
6. The water jet scalpel fast entry automatic obstacle avoidance planning method according to claim 5, wherein in the step 30, when the two wrapped cuboids are subjected to coincidence judgment, it is judged whether eight vertex coordinates of one of the wrapped cuboids are in min (x, y, z) and max (x, y, z) ranges of the other wrapped cuboid, and if yes, the two wrapped cuboids intersect.
7. The method for planning automatic obstacle avoidance for fast entry of water jet scalpel according to claim 6, wherein in the step 30, the judgment of mutual overlapping of the wrapped cuboids of all obstacles in the set S is performed, and when the judgment of intersection between the obstacle S1 and another obstacle S2 is performed, the minimum volume S1_ min (x, y, z) and the maximum volume S1_ max (x, y, z) of the wrapped cuboids of the obstacle S1 are changed to be parameters PnewminZ min (x, y, Z) + | Qmax (x, y, Z) -Qmin (x, y, Z) | and PnewmaxA wrapped cuboid of Zmax (x, y, z) + | Qmax (x, y, z) -Qmin (x, y, z) | modified to a parameter PnewminAnd PnewmaxThe package cuboid of (1) and the package cuboid of the obstacle S2 are subjected to coincidence judgment, and if the package cuboids coincide with each other, the obstacle S1 and the obstacle S2 are mergedIs a new obstacle S3, and the parcel cuboid parameter corresponding to the obstacle S3 is min (P)newminS2_ Zmin (x, y, z)) and max (Pnewmax,S2_Zmax(x,y,z))。
8. The water jet scalpel fast-entry automatic obstacle avoidance planning method according to claim 1, wherein in the step 40 and the step 50, the fast-entry line in the forward fast-entry line is discretized into N points, the wrapping cuboid of the cutting head wrapping cuboid at the discrete point is calculated, and the discrete point and the processing starting point P are calculated1Coordinate difference values are delta X, delta Y and delta Z, wrapping cuboid parameters of the cutting head at discrete points are Qmin (X + delta X, Y + delta Y, Z + delta Z) and Qmax (X + delta X, Y + delta Y, Z + delta Z), circulating discrete points are started from a machining starting point, the wrapping cuboid parameters of the cutting head wrapping cuboid at the discrete points and the first obstacle wrapping cuboid are calculated and used for carrying out coincidence judgment, and an interference starting point G is determined from the machining starting point and the circulating discrete pointsFirstAnd the interference end point GLast。
9. The automatic obstacle avoidance planning method for the water jet scalpel fast incoming line according to claim 8, wherein when the interference starting point and the interference ending point are on the same fast incoming line segment, and the fast incoming line segment is in transverse interference when being vertical to the Z axis; when the interference starting point and the interference ending point are on the same fast incoming line segment, and the fast incoming line segment is parallel to the Z axis, the longitudinal interference is realized; when the interference starting point and the interference ending point are not on the same fast-forwarding line segment, and the fast-forwarding line segment is vertical or parallel to the Z axis, the corner interference is generated; and after the different types are judged, determining a shorter path, and then carrying out obstacle avoidance updating on the current forward fast incoming line.
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