自走式墨出しロボットのための高効率作業計画

抄録

We have developed fully automated mobile marking robot system. Until now there are no report about productivity using marking robot system at construction site in previous research. In this paper we proposed a highly efficient work planning method for improving efficiency for marking robot. Minimizing time required for moving all the marking positions leads to improvement of the work efficiency. Marking robot must move to all the marking positions and draw lines according to floor layout plan. First, we developed a method to reduce the number of moves by clustering several lines. Minimizing the time for moving all the marking positions is similar to traveling salesman problem (TSP). Second, we proposed the method to search the optimized moving path by solving the TSP taking into account the moving method of the marking robot. Finally we implemented proposed method to marking robot system and used it at construction site. We found that proposed method 24% improved working time than that without it.