关键词: 自动化三维测量, 集合覆盖问题, 路径优化, 广义旅行商问题

Abstract: Research has been conducted to enhance the efficiency of the robotic arm carrying surface structure light for automatic scanning.The focus is on simplifying viewpoints and optimizing scanning paths.Addressing the issue of redundant scanning viewpoints,the scanning process is abstracted as a set cover problem and transformed into a hypergraph model.An improved random local search algorithm based on hypergraphs is then applied to simplify viewpoints while ensuring scanning completeness.Additionally,to tackle the problem of unreasonable viewpoint paths,multiple robotic arm configurations corresponding to viewpoints are considered.A Chebyshev distance-based optimization objective is established for path modeling,abstracted as a generalized traveling salesman problem.An improved simulated annealing algorithm with collaborative local search is employed to optimize the scanning path,resulting in the optimal trajectory.The effectiveness of the algorithm in viewpoint simplification and path optimization is validated through simulation and experimentation.

Key words: automatic 3D measurement, set covering problem, path optimization, generalized traveling salesman problem