鞋胶喷涂的路径生成与优化  

Path Planning and Optimization for Shoe Glue Spraying

作　　者：江婧 刘利刚[1] Jiang Jing;Liu Ligang(School of Mathematical Sciences,University of Science and Technology of China,Hefei 230026)

机构地区：[1]中国科学技术大学数学科学学院,合肥230026

出　　处：《计算机辅助设计与图形学学报》2020年第5期830-836,共7页Journal of Computer-Aided Design & Computer Graphics

基　　金：国家自然科学基金(61672482).

摘　　要：为了实现鞋底涂胶自动化,提出一种在三维鞋底曲面上自动生成鞋胶喷涂路径的方法,其对非平面、不同形状的鞋型均可适用.该方法首先使用Fast Marching算法对预处理过后的三维扫描鞋底曲面模型计算测地距离,得到鞋底外轮廓的等距线;再将等距线断开重新连接形成一条连续螺旋路径;在连接螺旋路径时,针对鞋底形状特点确定最佳断开位置,并提出一种连接策略,使相邻等距线连线更加平滑;为使该螺旋路径更加符合实际喷涂工作需求,通过设计带光滑的能量项,运用拉格朗日乘子法对路径及喷头朝向进行优化.在三维扫描得到的鞋底数据上实验表明,该方法可自动高效地生成鞋底喷胶路径.This paper proposes a method to generate glue spraying path on 3D sole surfaces for automating the sole glue spraying,which is capable to handle variant types of 3D scanning shoe surfaces.First,we calculate the geodesic distances on sole surface and obtain isolines of its exterior contour.Second,we disconnect and reconnect isolines to form a continuous spiral path.During the reconnection,we determine the optimal disconnection position for the shape characteristics of the sole and propose an approach to make adjacent equidistant lines connection smoother.Finally,to make the spiral path more suitable for the actual spraying,we construct an energy function to optimize the path position and the nozzle orientation,containing the smoothing energy term,and solve it with the Lagrange multiplier method.Experimental results have shown the feasibility and practicability of our method.

关 键 词：测地距离 等距线 螺旋路径 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]