基于模糊层次分析的地面找平机器人设计评价

针对建筑施工对地面找平机器人的要求，考虑找平施工指标呈现出的多层面、多环节的特点，本文提出一种基于模糊层次分析法评价地面找平机器人设计的新方法。首先，根据找平需求提出四种设计方案，采用层次分析法建立多指标体系的结构模型评价方法；其次，根据问卷专家库数据求出各个层次指标间的权重矩阵，引入模糊评价方法找出各个层次指标间的模糊评价关系；最后，将层次权重矩阵和模糊评价矩阵进行合成运算，得出综合模糊评价向量。本文不仅比较了不同设计方案在同一准则层、不同子准则层的表现排序并分析了结果原因，而且比较了不同设计方案在全部评价指标下的最优解，从而得到最佳结果并设计出地面找平机器人样机。

Comprehensive evaluation of ground screeding construction robot design based on fuzzy analytic hierarchy Process

In order to meet the requirements from multi-hierarchical and multi-dimensional ground-screeding construction standard, a method of evaluating the design of ground-screeding construction robot based on fuzzy analytic hierarchy process was proposed. Firstly, four design schemes were presented according to practical requirements in ground screeding, and a multi-index model, based on analytic hierarchy process, was applied into the design scheme. Secondly, the weight matrix of indexes in every hierarchies was obtained based on the expert database founded on questionnaires and the fuzzy analytic hierarchy process was introduced to acquire a fuzzy-evaluation matrix of every indexes. Finally, a comprehensive fuzzy-evaluation vector was calculated by union operation with the weight matrix and the fuzzy evaluation matrix. The performances of four design schemes in different subordinate hierarchies under the same superior hierarchy and analyzes how the results come. In addition, the optimal results of the four design schemes under all evaluation indexes are contrasted and the final design scheme blending the four design schemes is proposed and a ground-screeding robot prototype made on the scheme is also presented in this paper.