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A robotized interior work process planning algorithm based on surface minimum coverage set

机译：基于表面最小覆盖集的机器人内部工作流程规划算法

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摘要

Interior finishing requires high labor intensity and finishing materials are harmful to workers during the processes, especially the one of wall surface disposal. In order to reduce labor costs and protect the health of workers, applying autonomous interior finishing robots in the wall surface disposal process will be a reasonable choice. In the application of an autonomous interior finishing robot, the path taken by the robot must be planned carefully considering that indoor environments can be very complicated. In addition, different from mobile manipulators, a mobile interior finishing robot has to access larger working space and be able to apply large force to the walls, ceilings. Thus they have to be used in a way similar to mobile crane. That is in order to guarantee stability, in each working station, mechanical stands will be released to support the platform. After finishing required processes, the stands have to be retrieved to move to the next working position. For an interior finishing robot working in this way, it needs to determine the optimal plan to minimize the times of working position change. In this paper, a method based on a minimal cover set of the planar surface is proposed for this purpose. With the derived robot moving plan with minimized steps, the whole moving sequence of the robotic interior finishing unit is determined with Genetic algorithm. The work area needed to be finished in each working position is then divided by using Voronoi graph.
机译：室内装饰需要高劳动强度，整理材料对工艺中的工人有害，尤其是墙面处理之一。为了降低劳动力成本并保护工人的健康，在墙面处理过程中应用自动内部整理机器人将是一个合理的选择。在应用自主内部整理机器人的应用中，必须仔细地计划机器人采取的路径，考虑到室内环境可以非常复杂。此外，与移动机械手不同，移动内部整理机器人必须进入更大的工作空间，并且能够向墙壁，天花板施加大力。因此，它们必须以类似于移动起重机的方式使用。这是为了保证稳定，在每个工作站，机械支架将被释放以支持平台。完成所需的过程后，必须检索支架以移动到下一个工作位置。对于以这种方式工作的内部整理机器人，需要确定最佳计划以最小化工作位置变化的时间。本文提出了一种基于极小覆盖平面表面的方法的方法。利用具有最小化步骤的衍生机器人移动计划，通过遗传算法确定机器人内部精加工单元的整个移动序列。然后使用Voronoi图分开每个工作位置所需的工作区域。

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