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

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

摘要： 为提高机械臂搭载面结构光自动扫描的效率,对视点简化和扫描路径优化方法进行研究。首先针对扫描视点冗余的问题,将扫描过程抽象为集合覆盖问题,并将问题转化为超图模型,以基于超图的改进随机局部搜索算法,在保证扫描完整性的前提下简化视点;其次针对视点路径不合理的问题,考虑视点对应机械臂多种构形选择,以切比雪夫距离作为优化目标建立路径模型,并抽象为广义旅行商问题,通过协同局部搜索的改进模拟退火算法优化扫描路径,得到最优扫描路径。通过仿真和实验验证了算法在视点简化和路径优化上的有效性。

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