| 摘要 |
FIELD: robotics.SUBSTANCE: invention relates to use of robotic devices for processing three-dimensional objects and can be used in agriculture, industry, construction, as well as in flaw detection. Method comprises using the robotic processing device, a manipulator of which holds a detachable working tool. Method is characterized by that it comprises steps of: a) serial placing the robotic processing device on previously calculated or randomly selected discrete work positions, in close proximity to a 3D object, b) determining actual coordinates and orientation of the robotic processing device at each work position occupied by the robotic processing device using positioning system, c) determining for each occupied work position, taking into account the size of the working tool and a mobile chassis and actual coordinates and orientation defined at step b), the possibility of achieving at least part of the processing area of a 3D object by the working tool from said occupied work position. In the absence of such area, the robotic processing device is moved into a new work position, steps a)-c) are repeated for the new work position, working tool motion path is being calculated for part of the processing area of a 3D object, obtained from the occupied work position, and part of the processing area of a 3D object is being processed. When determining possibility to achieve at least part of the processing area from said occupied work position by means of the working tool and calculating the working tool motion path, previously processed processing areas are being excluded.EFFECT: method provides the accurate and full automated processing three-dimensional objects in real conditions at their location.6 cl, 2 dwg |
