CN114625025A - Simulation method and system for interference detection of pipe bending - Google Patents
Simulation method and system for interference detection of pipe bending Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 52
- 238000004088 simulation Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000005452 bending Methods 0.000 title claims description 15
- 238000003754 machining Methods 0.000 claims abstract description 26
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 10
- 239000013598 vector Substances 0.000 claims description 36
- 230000005484 gravity Effects 0.000 claims description 3
- 238000012216 screening Methods 0.000 abstract description 5
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Abstract
The invention relates to the technical field of automation control, in particular to a simulation method for interference detection of bent pipe machining. According to the scheme, the collision detection algorithm is divided into three screening conditions, the algorithm calculation amount of each layer of screening conditions is gradually increased layer by layer, and the speed of the detection algorithm can be effectively increased.
Description
Technical Field
The invention relates to the technical field of automation control, in particular to a simulation method and system for interference detection in bent pipe machining.
Background
In order to pre-judge the machining process before the bent pipe machining, the off-line collision detection simulation can greatly reduce the production cost, ensure the quality of workpieces and improve the machining efficiency. The existing scheme is that bent pipe simulation software is adopted, but the existing scheme is only that simulation is carried out on the pipe fitting machining process, interference in the machining process is not judged, the machining program is only the simplest Y, B, C three-axis motion, other sub-module components are not subdivided, and the software interaction mode is not friendly enough.
Therefore, a bending simulation method which is interactive and friendly and can accurately judge whether the pipe fitting collides with a machine tool is needed.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a simulation method for interference detection in bent pipe machining, which improves the detection precision of collision in the bent pipe process to each triangular subdivision surface, greatly reduces the misjudgment rate of collision detection, and can correctly restore the interference collision possibly occurring in the actual machining process only by inputting a correct machine tool model; in addition, the scheme divides the collision detection algorithm into three screening conditions, and the algorithm calculation amount of each layer of screening conditions is gradually increased layer by layer, so that the speed of the detection algorithm can be effectively improved.
The above purpose is realized by the following technical scheme:
a simulation method for interference detection in pipe bending machining comprises the following steps:
(1) carrying out machining movement on the pipe fitting by the machine tool according to a set NC program, wherein the machining movement comprises at least 1 movement end point, and each movement end point is operated according to the step (2);
(2) traversing components of the machine tool and establishing a machine tool component bounding box, establishing a tubular bounding box for the tubular; judging whether the machine tool component bounding box and the pipe fitting bounding box interfere with each other; if the interference occurs, continuing the step (3); if no interference occurs, returning to the step (1) to continue the detection of the next motion end point;
(3) splitting the pipe fitting and the part of the machine tool into a plurality of topological surfaces respectively to obtain a pipe fitting topological surface and a machine tool part topological surface, establishing a bounding box for the pipe fitting topological surface to obtain a pipe fitting topological surface bounding box, and establishing a bounding box for the machine tool part topological surface to obtain a machine tool part topological surface bounding box;
(4) traversing the topological surface of the pipe fitting and the topological surface of the machine tool component in the step (3), and judging whether the bounding box of the topological surface of the pipe fitting and the bounding box of the topological surface of the machine tool component interfere with each other; if the interference occurs, continuing the step (5); if no interference occurs, returning to the step (3);
(5) triangulating the topological surface of the pipe fitting and the topological surface of the machine tool component, establishing bounding boxes for the generated triangles one by one, and if the bounding boxes of two triangles which belong to different surfaces have overlapping parts, performing triangular surface patch intersection detection and judging whether the triangular surfaces are intersected; if the pipe fitting and the machine tool are crossed, the pipe fitting and the machine tool are collided, the detection is stopped, and the step (1) is returned; if the pipe fitting does not intersect with the machine tool, the pipe fitting and the machine tool are not collided, and the step (4) is returned to continue.
Further, the triangular patch intersection detection in step (5) specifically includes:
1) judging whether the plane of the triangle is parallel to the straight line of the line segment; if yes, exiting, otherwise, continuing the step 2);
2) judging whether the intersection point of the line segment and the surface where the triangle is located is on the line segment, the plane equation can be expressed as:
X*normal＝d (1)
wherein X is a point on the plane, normal is a vector of the direction of the line segment, d is the distance from the origin to the plane,
with p as a starting point, the coordinates of a point on the ray along the pq direction can be expressed as:
M＝p+t*pq＝p-t*qp (2)
assuming that the point M is the intersection point of the plane and the straight line where pq is located (both the point M and the point a are on the plane), the point M is substituted into the formula (1):
(op-t*qp)*normal＝oa*normal (3)
wherein o is the origin of the coordinate system, p and q are two endpoints of the line segment, a, b and c are three vertexes of a triangle, and normal is a middle vector of the plane equation and is reduced subsequently; that is, op is a direction vector from a point o to a point p, qp is a direction vector from a point q to a point p, oa is a direction vector from a point o to a point a, ob is a direction vector from a point o to a point b, oc is a direction vector from a point o to a point c, ap is a direction vector from a point a to a point p, ac is a direction vector from a point a to a point c, and ab is a direction vector from a point a to a point b; the obtained t is:
t＝(ap*normal)/(qp*normal) (4)
judging whether t is between (0, 1), if yes, continuing the step 3), and if not, returning false;
3) judging whether the intersection point is inside the triangle, wherein the point M inside the triangle abc can be represented by a gravity center coordinate system of the triangle:
M＝(1-lamda2-lamda3)*a+lamda2*b+lamda3*c (5)
where a, b, c are the three vertex coordinates of the triangle, if lamda2 and 1amda3 are both between (0, 1), then representing M inside the triangle abc, we take M into equation 2:
op-t*qp＝(1-lamda2-lamda3)*oa+lamda2*ob+lamda3*oc (6)
finishing to obtain:
lamda2*ab+lamda3*ac+t*qp＝ap (7)
the algorithm of the Cramer rule and the mixed product can be solved:
lamda2＝ac.dot(qp.cross(ap))/qp.dot(ab.cross(ac)) (8)
lamda3＝-ab.dot(qp.cross(ap))/qp.dot(ab.cross(ac)) (9)
wherein dot represents a dot product of two vectors, cross represents a cross product of two vectors, and the triangles intersect when lamda2 and lamda3 satisfy the conditions 0 < lamda2 < 1, 0 < lamda3 < 1, and 0 < lamda2+ lamda3 < 1.
A simulation system for interference detection in pipe bending, for implementing the method of claims 1-2, comprising:
the three-dimensional simulation interface is used for displaying the container model and the pipe fitting, and the display angle can be adjusted through a mouse;
the simulation button can load a machine tool model and a machining NC program after being clicked;
the operation buttons comprise start, pause, continue and end buttons and are used for controlling the start, pause, continue and end of the pipe fitting machining process;
and the progress bar is used for displaying the processing process and the current processing line number.
Further, in the system demonstration process, if the pipe fitting and the machine tool are in interference collision, the pipe fitting turns red and stops moving in the three-dimensional simulation interface; and if the pipe fitting and the machine tool are not interfered and collided, the pipe fitting is turned green in the three-dimensional simulation interface.
Advantageous effects
According to the simulation method for interference detection in pipe bending machining, provided by the invention, the collision detection logic adopts logic judgment screening, firstly, a bounding box with low algorithm complexity is called to screen most of non-collision parts, and finally, the called bounding box is a triangulation with larger time consumption, so that the collision detection speed is greatly improved; through leading-in lathe model, can simulate actual course of working and the pipe fitting condition of warping, the interference condition of pipe fitting in the simulation reality reduces the processing cost of enterprise, improves work efficiency.
Drawings
FIG. 1 is a flow chart of a simulation method for interference detection in pipe bending according to the present invention;
FIG. 2 is a system interface diagram of a simulation system for interference detection in elbow machining according to the present invention;
fig. 3 is a schematic system interface diagram of a pipe fitting collision in the simulation system for interference detection in pipe bending according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples.
As shown in fig. 1, a simulation method for interference detection in pipe bending includes the following steps:
(1) the machine tool carries out machining movement on the pipe fitting according to a set NC program, the machining movement comprises at least 1 movement end point, and each movement end point is operated according to the step (2);
specifically, after a start button is clicked, the machine tool moves according to a set NC program, collision detection is carried out at each movement end point, and if collision does not occur, the collision detection is finished;
(2) traversing components of the machine tool and establishing a machine tool component bounding box, establishing a tubular bounding box for the tubular; judging whether the machine tool component bounding box and the pipe fitting bounding box interfere with each other; if the interference occurs, continuing the step (3); if no interference occurs, returning to the step (1) to continue the detection of the next motion end point;
specifically, machine tool components and machined pipe fittings in the virtual simulation can be described by topological graphs, so that the collision detection of the machine tool motion part and the machined pipe fittings in pairs is the collision detection between two topological geometric bodies;
first a bounding box is built separately for the two geometries (any geometry described by a topology can be represented using the generic TopodS _ Shape class object),
if the bounding boxes are intersected, the next step is carried out;
otherwise, determining that no collision occurs between the two geometric bodies after the detection is finished;
(3) splitting the pipe fitting and the part of the machine tool into a plurality of topological surfaces respectively to obtain a pipe fitting topological surface and a machine tool part topological surface, establishing a bounding box for the pipe fitting topological surface to obtain a pipe fitting topological surface bounding box, and establishing a bounding box for the machine tool part topological surface to obtain a machine tool part topological surface bounding box;
specifically, each surface of the graph is searched by using a topological search class topex _ Explorer (a class for searching topological and geometric information such as a surface, an edge, a point and the like of a geometric solid) object (a common geometric solid is formed by surrounding a plurality of surfaces, if all the surfaces are triangulated one by one, the intersection detection of triangular patches is performed, the consumed time is more, so that bounding boxes are established for each surface, the consumed time of collision detection is reduced), the intersection detection of the bounding boxes is performed on the searched surface,
if the bounding boxes intersect, then step (4) is performed,
otherwise, searching the next surface of the pipe fitting, if the searching is finished, knowing that the two geometric bodies do not collide, finishing the collision detection, and returning to the step (1);
(4) traversing the topological surfaces of the pipe and the topological surfaces of the machine tool components in the step (3), and judging whether the bounding box of the topological surfaces of the pipe and the bounding box of the topological surfaces of the machine tool components interfere with each other; if the interference occurs, continuing the step (5); if no interference occurs, returning to the step (3);
specifically, a new TopoExp _ Explorer class object is established, each surface of the machine tool component is searched, bounding box intersection tests are carried out on each surface and the surface in the step (3), the step (5) is carried out, if the surfaces are not intersected, the next surface is searched, and if the search is finished, the step (3) is returned;
(5) triangulating the topological surface of the pipe fitting and the topological surface of the machine tool component, establishing bounding boxes for the generated triangles one by one, and if the bounding boxes of two triangles which belong to different surfaces have overlapping parts, performing triangular surface patch intersection detection and judging whether the triangular surfaces are intersected; if the pipe fitting and the machine tool are crossed, the pipe fitting and the machine tool are collided, the detection is stopped, and the step (1) is returned; if the pipe fitting does not intersect with the machine tool, the pipe fitting and the machine tool are not collided, and the step (4) is returned to continue.
Specifically, using a BRepMesh class (used for triangulating objects of a TopoDS _ Shape class and storing subdivision data into objects of the TopoDS _ Shape class) to triangulate two curved surfaces respectively, establishing bounding boxes for the generated triangles one by one, if the bounding boxes of two triangles belonging to different planes have an overlapping part, performing triangular patch intersection detection until the triangular patches are intersected or all triangular patches are detected in pairs, and if the triangular patches are intersected, determining that collision occurs between the objects, stopping detection, and returning to the step 1; and (4) if the detection is finished and the existing triangular patch interference does not occur, returning to the step (4) to continue the detection.
In step (5) of this embodiment, the intersection detection of the triangular patch specifically includes:
1) judging whether the plane of the triangle is parallel to the straight line of the line segment; if yes, exiting, otherwise, continuing the step 2);
2) judging whether the intersection point of the line segment and the surface where the triangle is located is on the line segment, the plane equation can be expressed as:
X*normal＝d 1)
wherein X is a point on the plane, normal is a vector of the direction of the line segment, d is the distance from the origin to the plane,
with p as a starting point, the coordinates of a point on the ray along the pq direction can be expressed as:
m + t pq-p-t qp 2) assuming that the point M is the intersection of the plane and the straight line where pq is located (the point M and the point a are both points on the plane), the result is obtained by substituting in formula (1):
(op-t*qp)*norma1＝oa*normal (3)
wherein o is the origin of the coordinate system, p and q are two endpoints of the line segment, a, b and c are three vertexes of a triangle, and normal is a middle vector of the plane equation and is reduced subsequently; that is, op is a direction vector from a point o to a point p, qp is a direction vector from a point q to a point p, oa is a direction vector from a point o to a point a, ob is a direction vector from a point o to a point b, oc is a direction vector from a point o to a point c, ap is a direction vector from a point a to a point p, ac is a direction vector from a point a to a point c, and ab is a direction vector from a point a to a point b; the obtained t is:
t＝(ap*normal)/(qp*normal) (4)
judging whether t is between (0, 1), if yes, continuing the step 3), and if not, returning false;
3) and judging whether the intersection point is in the triangle, wherein the inner result point M of the triangle abc can be represented by a gravity center coordinate system of the triangle:
M＝(1-lamda2-lamda3)*a+lamda2*b+lamda3*c (5)
where a, b, c are the three vertex coordinates of the triangle, if lamda2 and 1amda3 are both between (0, 1), then representing M inside the triangle abc, we take M into equation 2:
op-t*qp＝(1-lamda2-lamda3)*oa+lamda2*ob+lamda3*oc (6)
finishing to obtain:
lamda2*ab+lamda3*ac+t*qp＝ap (7)
the algorithm of the Cramer rule and the mixed product can be solved:
lamda2＝ac.dot(qp.cross(ap))/qp.dot(ab.cross(ac)) (8)
lamda3＝-ab.dot(qp.cross(ap))/qo.dot(ab.cross(ac)) (9)
wherein dot represents the dot product of two vectors, cross represents the cross product of two vectors,
lamda2 and lamda3 satisfy the conditions 0 < lamda2 < 1, 0 < lamda3 < 1, and 0 < lamda2+ lamda3 < 1, and the two triangles intersect each other.
As shown in fig. 2, the present embodiment further provides a simulation system for interference detection of pipe bending, which is used to implement the simulation method for interference detection of pipe bending, and the system includes:
the three-dimensional simulation interface is used for displaying the container model and the pipe fitting, and the display angle can be adjusted through a mouse;
the simulation button can load a machine tool model and a machining NC program after being clicked;
the operation buttons comprise start, pause, continue and end buttons and are used for controlling the start, pause, continue and end of the pipe fitting machining process;
the progress bar is used for displaying the processing process and the current processing line number; the processing progress bar is provided with a dragging function besides processing display, the dragging progress bar can display the processing state corresponding to the dragged progress bar, the dragging mode comprises two modes, one mode is that the progress bar is dragged in the moving process, the second mode is that a pause button is pressed, the progress bar is dragged again, then a continuation button is pressed, and the processing progress bar can move at the processing line number corresponding to the progress bar.
As shown in fig. 3, in the system demonstration process, if the pipe fitting and the machine tool are interfered and collided, the pipe fitting turns red and stops moving in the three-dimensional simulation interface; and if the pipe fitting and the machine tool are not interfered and collided, the pipe fitting is turned green in the three-dimensional simulation interface.
While the invention has been described with reference to specific preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A simulation method for interference detection in pipe bending machining is characterized by comprising the following steps:
(1) the machine tool carries out machining movement on the pipe fitting according to a set NC program, the machining movement comprises at least 1 movement end point, and each movement end point is operated according to the step (2);
(2) traversing components of the machine tool and establishing a machine tool component bounding box, establishing a tubular bounding box for the tubular; judging whether the machine tool component bounding box and the pipe fitting bounding box interfere with each other; if the interference occurs, continuing the step (3); if no interference occurs, returning to the step (1) to continue the detection of the next motion end point;
(3) splitting the pipe fitting and the part of the machine tool into a plurality of topological surfaces respectively to obtain a pipe fitting topological surface and a machine tool part topological surface, establishing a bounding box for the pipe fitting topological surface to obtain a pipe fitting topological surface bounding box, and establishing a bounding box for the machine tool part topological surface to obtain a machine tool part topological surface bounding box;
(4) traversing the topological surface of the pipe fitting and the topological surface of the machine tool component in the step (3), and judging whether the bounding box of the topological surface of the pipe fitting and the bounding box of the topological surface of the machine tool component interfere with each other; if the interference occurs, continuing the step (5); if no interference occurs, returning to the step (3);
(5) triangulating the topological surface of the pipe fitting and the topological surface of the machine tool component, establishing bounding boxes for the generated triangles one by one, and if the bounding boxes of two triangles which belong to different surfaces have overlapping parts, performing triangular surface patch intersection detection and judging whether the triangular surfaces are intersected; if the pipe fitting and the machine tool are crossed, the pipe fitting and the machine tool are collided, the detection is stopped, and the step (1) is returned; if the pipe fitting does not intersect with the machine tool, the pipe fitting and the machine tool are not collided, and the step (4) is returned to continue.
2. The simulation method for interference detection in pipe bending according to claim 1, wherein the intersection detection of the triangular patches in the step (5) is specifically:
1) judging whether the plane where the triangle is located is parallel to the straight line where the line segment is located; if yes, exiting, otherwise, continuing the step 2);
2) judging whether the intersection point of the line segment and the surface where the triangle is located is on the line segment, the plane equation can be expressed as:
X*normal＝d (1)
wherein X is a point on the plane, normal is a vector of the direction of the line segment, d is the distance from the origin to the plane,
with p as a starting point, the coordinates of a point on the ray along the pq direction can be expressed as:
M＝p+t*pq＝p-t*qp (2)
assuming that the point M is the intersection point of the plane and the straight line where pq is located (both the point M and the point a are on the plane), the point M is substituted into the formula (1):
(op-t*qp)*normal＝oa*normal (3)
wherein o is the origin of the coordinate system, p and q are two endpoints of the line segment, a, b and c are three vertexes of a triangle, and normal is a middle vector of the plane equation and is reduced subsequently; that is, op is a direction vector from a point o to a point p, qp is a direction vector from a point q to a point p, oa is a direction vector from a point o to a point a, ob is a direction vector from a point o to a point b, oc is a direction vector from a point o to a point c, ao is a direction vector from a point a to a point p, ac is a direction vector from a point a to a point c, and ab is a direction vector from a point a to a point b; the obtained t is:
t＝(ap*normal)/(qp*normal) (4)
judging whether t is between (0, 1), if yes, continuing the step 3), and if not, returning false;
3) judging whether the intersection point is inside the triangle, wherein the point M inside the triangle abc can be represented by a gravity center coordinate system of the triangle:
M＝(1-lamda2-lamda3)*a+lamda2*b+lamda3*c (5)
where a, b, c are the three vertex coordinates of the triangle, if lamda2 and lamda3 are both between (0, 1), then representing M inside the triangle abc, we take M into equation 2:
op-t*qp＝(1-lamda2-lamda3)*oa+lamda2*ob+lamda3*oc (6)
finishing to obtain:
lamda2*ab+lamda3*ac+t*qp＝ap (7)
the algorithm of the Cramer rule and the mixed product can be solved:
lamda2＝ac.dot(qp.cross(ap))/qp.dot(ab.cross(ac)) (8)
lamda3＝-ab.dot(qp.cross(ap))/qp.dot(ab.cross(ac)) (9)
wherein dot represents the dot product of two vectors, cross represents the cross product of two vectors,
lamda2 and lamda3 satisfy the conditions 0 < lamda2 < 1, 0 < lamda3 < 1, and 0 < lamda2+ lamda3 < 1, and the two triangles intersect each other.
3. A simulation system for interference detection in pipe bending, for implementing the method of claims 1-2, comprising:
the three-dimensional simulation interface is used for displaying the container model and the pipe fitting, and the display angle can be adjusted through a mouse;
the simulation button can load a machine tool model and a machining NC program after being clicked;
the operation buttons comprise start, pause, continue and end buttons and are used for controlling the start, pause, continue and end of the pipe fitting machining process;
and the progress bar is used for displaying the processing process and the current processing line number.
4. The simulation system for interference detection of pipe bending machining according to claim 3, wherein in the system demonstration process, if the pipe fitting and the machine tool are in interference collision, the pipe fitting turns red and stops moving in the three-dimensional simulation interface; and if the pipe fitting and the machine tool are not interfered and collided, the pipe fitting is turned green in the three-dimensional simulation interface.
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