糖果包装机虚拟拆装碰撞检测研究  

Virtual Disassembly Collision Detection of Candy Packaging Machine

作　　者：晏祖根[1] 肖俊 董旭涓 YAN Zugen;XIAO Jun;DONG Xujuan(Harbin University of Commerce,Harbin 150028,China;Bedrock Technology(Hangzhou)Development Co.,Ltd.,Hangzhou 311100,China)

机构地区：[1]哈尔滨商业大学,哈尔滨150028 [2]基岩科技(杭州)开发有限公司,杭州311100

出　　处：《包装工程》2024年第9期158-163,共6页Packaging Engineering

摘　　要：目的为了提高虚拟装配系统中碰撞检测的效率,提出以AABB包围盒粗检测和深度图细检测的碰撞检测方法。方法首先利用SolidWorks软件建立BZ350糖果包装机模型,以STL格式导入到引擎中,通过对零件先建立AABB包围盒做粗检测后,分别对2个零件获取对应的深度图,使用OpenCV对2张深度图相叠加,根据叠加后像素值的大小来判断零件是否发生了碰撞。结果实验表明,当叠加后深度值小于100的数量占所有深度值不为0的数量的比例大于86.2736%时,即可认定两零件发生碰撞。结论对比传统检测算法,此算法在保证了检测速度和检测精度的前提下,对复杂模型的检测具有优势,并且保证了运行的速度在40帧/s以上的流畅运行。The work aims to propose a collision detection method combining AABB enclosing box coarse detection and depth map fine detection,in order to improve the efficiency of collision detection in the virtual assembly system.First of all,SolidWorks software was used to build a model of the BZ350 candy packaging machine and import it into the engine in STL format.An AABB enclosing box was built for the part to carry out coarse detection,and then the corresponding depth maps for the two parts were obtained respectively,and the two depth maps were superposed with OpenCV.Next,according to the superimposed pixel values,whether the parts collided or not was judged.The experiment showed that when the number of superimposed depth values less than 100 accounted for more than 86.2736%of all depth values other than 0,it could be recognized that the two parts collided.Compared with the traditional detection algorithm,this algorithm has advantages for the detection of complex models under the premise of guaranteeing the detection speed and detection accuracy and ensuring that the running speed is above 40 frames/s to run smoothly.

关 键 词：糖果包装机 碰撞检测 实验研究 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]