机器人2026，Vol.48Issue(4)：684-696,13.DOI:10.13973/j.cnki.robot.250434
基于边缘拓扑与大邻域搜索的全自主刺绣路径优化方法
Fully Autonomous Embroidery Path Optimization Method Based on Edge Topology and Large Neighborhood Search
摘要
Abstract
Although multiple thread colors and stitch patterns can be precisely controlled by fully autonomous embroidery,the low quality of edge contour extraction and the unreasonable embroidery path design lead to a sharp increase in thread breakage rate,seriously affecting the quality of finished products.Therefore,an autonomous planning framework for complex embroidery process constraints is proposed to alleviate the lack of flexibility in small-batch embroidery.Firstly,an improved Canny operator is used to extract edge contour information.Combined with the inherent curvature constraints of the embroidery machine and the continuous stitch trajectory constraints,a region-wise embroidery path optimization model without thread breakage is constructed.Furthermore,a curvature/tension-driven destroy-and-repair operator is introduced,and an adaptive large neighborhood search algorithm is designed to ensure global embroidery quality.Finally,experimental tests on various patterns,including animals and text,show that the proposed method significantly improves the embroidery efficiency and stability.关键词
刺绣/路径规划/图像边缘检测/自适应大邻域搜索算法Key words
embroidery/path planning/image edge detection/adaptive large neighborhood search algorithm引用本文复制引用
王少奇,蒋立泉,徐卫林..基于边缘拓扑与大邻域搜索的全自主刺绣路径优化方法[J].机器人,2026,48(4):684-696,13.基金项目
国家自然科学基金(52405563) （52405563）
湖北省青年人才专项(2025DJA014) （2025DJA014）
武汉市重点研发计划(2025061202030429). （2025061202030429）
