Metal surface coating technology plays a crucial role in various aspects of metal engineering such as enhancing metal oxidation resistance, corrosion prevention, insulation, decoration, and surface performance. This paper presents a machine vision–based automatic planning algorithm for microdroplet coating trajectory on irregularly shaped regions of metal surfaces, aiming to achieve uniform coating on different surface shapes and sizes. First, the process of microdroplet shape changes on metal surfaces is analyzed, the wetting circle diameter of a fully spread microdroplet is estimated, and the distance between two neighboring microdroplets is confirmed. Then, color pattern image processing (region contour extraction, feature point extraction, deburring, and equidistant offset algorithms) and template matching technology are developed to extract coating trajectory contours and accurately locate the workpieces on the workbench. To ensure a smooth and continuous coating trajectory, rational cubic Bézier curves are employed to interpolate the contour feature points, forming C1 continuous curves. Finally, taking into consideration the distance between two neighboring microdroplets, the continuous curves are equidistant offset and equichord discretized to determine the microdroplet locations. The experimental results demonstrate that the proposed algorithm successfully achieves arbitrary workpiece positioning, automatic planning of coating trajectory and uniform microdroplet coating on different surface shapes and sizes.
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