基于Hausdorff距离的涂胶轨迹平滑算法  

Smoothing Algorithm for Gluing Trajectories Based on Hausdroff Distance

作　　者：周鑫 杨铁牛 李华荣 ZHOU Xin;YANG Tieniu;LI Huarong(Department of Intelligent Manufacturing,Wuyi University,Jiangmen 529000,China;Guangdong Mataike Intelligent Equipment Co.,Ltd.,Jiangmen 529000,China)

机构地区：[1]五邑大学智能制造学部,广东江门529000 [2]广东马泰克智能装备有限公司,广东江门529000

出　　处：《机械工程师》2024年第10期29-35,40,共8页Mechanical Engineer

摘　　要：在自动化涂胶过程中,对于金属端盖这类形状多变的工件,涂胶轨迹的生成过程十分复杂,个性定制化生产成本也会非常高。为了解决这些问题,文中以平面内涂胶的金属端盖工件为研究对象,提出了一种基于Hausdorff距离的涂胶轨迹在线生成方法。首先运用图像识别技术提取出金属端盖的外形轮廓并采用4种参数法进行参数化,然后利用最小二乘法对NURBS曲线进行全局拟合。最后,以Hausdorff距离为判据,选择最适合的涂胶轨迹。研究结果表明,这种算法具有较高的精度和效率,能够快速生成各种金属端盖的平滑涂胶轨迹,并可以避免涂胶过程中出现的抖动等问题,从而保证了涂胶质量。In the automated gluing process,the generation of gluing trajectories is very complex for workpieces with variable shapes such as metal end caps,and the cost of individual customisation is very high.In order to solve these problems,this paper proposes a Hausdorff distance-based online generation method for the gluing trajectory of metal end caps with in-plane gluing.Firstly,the outline of the metal end cap is extracted using image recognition and parameterised using the four parameter method,the least squares method is used to carry out global fitting of the NURBS curve.Finally,the Hausdorff distance is used as a criterion to select the most suitable glue application trajectory.The results show that this algorithm has high accuracy and efficiency,can quickly generate smooth glue application trajectories for various metal end caps,and can avoid problems such as jitter during the glue application process,thus ensuring the quality of the glue application.

关 键 词：HAUSDORFF距离 图像识别 曲线拟合 

分 类 号：TG494.2[金属学及工艺—焊接] TP391.7[自动化与计算机技术—计算机应用技术]