家用服务型吸尘机器人的发展与现状-外文翻译.docx

Home cleaning service-oriented development and current situation of the robot1 IntroductionIn recent years, with the rapid development of Chinese industry, cleaner production and sales volume has increased significantly in China's market has great vitality. With the social progress and development, people's material and spiritual improvement of the quality of the urgent need to clean from the heavy work out. Thus the birth of a service-oriented home cleaning robots, mobile robots will be cleaning technology and the organic integration of technology to achieve the family, hotels, office buildings and other indoor environment clean and semi-automatic or fully automatic, so has a broad market prospects. In this paper, cleaning robots, on the domestic and foreign research and its key technologies are introduced, And the development of cleaning robots in the near future a number of issues were discussed.2 Cleaning robot research at home and abroadIn Europe, America and Japan and other developed countries, the development of cleaning robots earlier, is also a wider range of applications, the last two years, has developed a wide range of market-oriented intelligent cleaning robot. 2.1 Abroad present situation Australia some company also to develop may go automatically and clean the room the V4 robot, this kind of completely automatic vacuum cleaner surface is smooth, the volume is very small, assumes the circular, the built-in acquisition radar, may search in each kind of room each, will not collide the furniture or other obstacles. Micro processes the small computer to cause it to have is turning to the roof pinnacle place can survey the direction, choice route of advance's ability. So long as places the completely automatic vacuum cleaner in the ground, it then may start to work automatically. Its acquisition radar can survey is away from the recent wall, is being suitable the first wall attracts floor dust and the foreign matter all around; Then back and forth moves anomalous again in room other positions, and can before the close obstacle changes rapidly. Should vacuum the robot, because 360° has provided the obstacle sensor in main engine's periphery, therefore may cleans the ground during the examination wall and obstacle; After cleaning the place which may go, robot on automatic shut-off power source. No matter the room contour and the area size, the ARNA guidance algorithm guidance robot all not covers up the region movement in any room to carry on the clearing in all directions, because robot guidance along room periphery, therefore it must found her spatial reference diagram, doesn't the robot need any programming “where to teach it to go to”. This robot simplicity of operator, only has 3 buttons: Started, the conclusion as well as the suspension, so long as the people it laid aside simply in needed to sweep clear in the region or the room (this kind of completely automatic vacuum cleaner robot was very light, a hand might easy take up it), pressed down starts the button then. 2.2 Domestic present situation Domestic also started the related research development work at present, specially was moving robot's movement plan and the control aspect has achieved certain achievement, vacuumed the robot for the research development to lay the technology base. Some university developed has developed the omni-directional motion ground cleaning robot, this robot's control system could explain the remote control signal accurately, and to organism issuing working order, momentarily received “the eye” (i.e. infrared light electric switch and supersonic sensor) the sensation four direction exterior barrier information, and requested the robot to make straight line or to change the movement according to the above, marched forward, it did not stop rotates the floor to brush, filled in “the stomach” completely the ground in dust, this kind of robot one time charged works sustain ably for a half hour, had the intelligent power source management function, lengthened the running time, the average each minute running speed is 15 m. In addition, should vacuum the robot to use the open style robot control structure, realizes the hardware to be possible to expand, the software to be possible to transplant, may to integrate, and enables the robot to have the better function compatibility as the service carrier. At the same time, other colleges and universities to move vacuum the robot also to do the massive research work, has made many progresses.3 Vacuum robot's key technologies 3.1 Way plan technology The way plan is the working conditions information which arrives according to the robot sensation, according to some kind of optimized target, plans one in the initial station and the target point with the environment barrier non-collision's way, and realizes must sweep clear the region the reasonable complete way cover, its essence is moves in the robot rate process the guidance and evades bumps. The robot working conditions are different, divide into the static structurization environment, the dynamic sixth branch to know the environment and the dynamic indefinite environment. Since the 1970s research, has moved robot's way plan to be different according to the robot gain environmental information way, divides into three type 3 approximately: Based on the model way plan, mainly processes the structures environment, the plan method has the grid law, to be possible the view law, the analysis situs law and so on; Based on the sensor information's way plan, mainly uses in the non-structurized environment, overcomes the factor which the environmental condition or the shape are unable to predict that the method has the artificial potential field law, the determination grid law and the fuzzy logic algorithm and so on; Is moves in the robot way plan question research based on the behavior motion robot way plan the new trend, is decomposes the guidance problem into many relatively independent units is the element immediately, like evades bumps, the track, the goal guidance and so on. Along with the computer technology and the sensor technology's development, the multi-sensor integrations and the information fusion technology has obtained the widespread application on the intelligent robot. Under the non-structurized environment moves the robot is the robot technological development key point, evades based on the multi-sensor information fusion's motion robot bonds the strategy and the way plan technology is key technologies.3.2 Multi-sensor fusion technology To let vacuum the robot normal work, must to the robot position, the posture, the speed and the system internal behavior carries on the monitoring, but also wants the sensation robot location working conditions the static state and the dynamic information, causes to vacuum the robot corresponding work order and the operation content can adapt the working conditions change naturally. Usually uses the sensor divides into the internal sensor and the exterior sensor, the internal sensor has the encoder, the line accelerometer, the gyroscope, the magnetic compass to urgently need in the control and the monitor robot itself; The exterior sensor including the visual sensor, the ultrasonic sensor, the infrared sensor, the contact and the close sensor and so on installs in robot oneself uses in the sensation external environment information. From above domestic and foreign vacuumed the robot to be possible to see, vacuums the robot to use the massive sensors, carried on effectively the massive sensor observation information fusion processing, thus caused the robot to obtain the most massive external environment information, its principal advantage was under the similar observation condition, might coordinate uses many sensors, distributed, in different position's many homogeneity or the neterogeny sensor provided was partially incomplete observes in the quantity and the related database related information synthesizes, eliminates the redundancy which and the contradiction between the multi-sensors existed, and performed supplementary, reduced the uncertainty, thus obtained to the object or the environment uniform description, this was any. The sole sensor is unable to obtain. To increases the precision which using the multi-sensor fusion technology the motion robot localization, the obstacle recognition, the environment modeling, evade bond and so on to have the influential role. The fusion main method includes: Kaman filtering, Bays estimate law, statistical decision-making law, D-S line or method of reasoning, fuzzy logic law and production pattern rule and so on.3.3 Vacuum technical The vacuum cleaner is by the high speed revolving ventilator in organism the vacuum production, thus produces the formidable air current, dust and in dunghill through suction port inspiration organism in dust filter. Vacuums the system including the dust filter, the collection dust bag, the exhaust pipe as well as other appendices, it vacuums ability to be decided by the air blower rotational speed size. Recently, Australian some company developed uses the new principle the air current dust filter. This vacuum cleaner is an entire loop system, also does not have the exterior gas inspiration, also inorganic in gas purging, therefore does not need appendices and so on dust filter, collection dust bag, exhaust pipe. Its principle is forms the low pressure turbulent flow gas using the attached effect, finally slime interception in vacuum cleaner's turbulent flow cavity. 3.4 Chinese Journal of Power Sources The migration power source in vacuums in robot's status to be very important, may say that it is vacuums robot's life source. Moves the power source to need at the same time provides the power for the shifting mechanism, provides the stable voltage for the control circuit, is vacuums the operation module and the sensing observation module provides the energy and so on. In this domain, uses the chemical cell achievement to move the power source generally, like lead-acid battery, NiCd, NiMi and so on. The ideal power source should be able to have in the discharge process: Maintains the constant voltage; The interface resistance is small, so that rapid discharge; May charge; Cost low status characteristic. But in fact does not have one kind of battery to be possible simultaneously to have the above merit. Because the indoor motion robot requests slightly to have the volume, to be self-possessed lightly and so on characteristics, therefore power source's volume weight is also an important consideration factor, this request designers choose one kind of volume to be small, the capacity big, may duplicate the use high battery, increases as far as possible vacuums robot's non-stop run time.4 Conclusions with forecast To vacuum the robot achievement to serve in the robot domain a new product, will enable the people with ease to complete the indoor environment in nobody guarding situation to vacuum and so on clearing. Therefore, should vacuum the robot like to be able the production in enormous quantities to cause cost reduction, enters the market by the low price, will have the giant market prospect, the pertinent data also forecast what will vacuum the robot is a future several year demand is biggest serves the robot. Although present domestic and foreign is vacuuming the robot research development aspect to make certain progress, but the cost is excessively high and many key technologies question urgently needing solution, mainly has the following 3 aspects. (1) at present, the price is excessively high is the serious influence vacuums the robot to enter the electrical appliances market the primary factor, to reduce its cost large scale, must develop the intelligent sensor, the special-purpose motion control digital processing chip; Next, should see the blue tooth technology in the electrical appliances profession's application prospect, through will use the blue tooth technology to cross the high digital processor cost transfer to user's personal computing, then hopeful will vacuum in a short time robot's cost reduction about thousand Yuan.(2) future will vacuum the robot to independent -like and artificial wisdom can melt the development, must therefore unify existing based on motion robot movement plans and the control technology and so on adaptive control, predictive control, fuzzy logic, neural network, will study has the safe reliable against collision function intelligent movement plan and the controller and the highly effective sensor fusion algorithm to the environment obstacle, will be realizes in the realistic environment has good auto-adapted and the robust sex act's robot's key.(3) Chinese Journal of Power Sources is vacuums one of robot research work's core questions, besides for the robot movement, vacuums and the control circuit provides the energy, but must optimize the automatic charge plan, guaranteed that the robot can carry on the charge promptly, can complete automatically to assigns the environment to vacuum the duty. During the research enhances the chemical cell service life, reduced volume, one kind of emerging proton exchange membrane fuel cell has the power to be big, the energy is high, the life is long and volume small and so on merits, to move the power source to provide one kind of appropriate power source, at present, the Shanghai some University fuel cell research institute was carrying on the beneficial attempt in this aspect. Along with vacuums the robot key technologies and the performance price compared to enhances or the improvement unceasingly, believed that in the existing software and hardware condition's foundation, in several years will promote the moderate cost the completely automatic to vacuum next the robot product, will then cause to vacuum the robot to be able to look like the ordinary electrical appliances product to enter everyone equally, will bring the considerable market and the economic efficiency for this high-tech product.家用服务型吸尘机器人的发展与现状1引言近年来,随着中国工业的快速发展,吸尘器的产销量也大幅增加,在我国市场具有旺盛的生命力。随着社会的进步和发展,人们的物质和精神生活质量的提高,迫切需要从繁重的清洁工作中解脱出来。由此诞生了一种家用服务型吸尘机器人,它将移动机器人技术和吸尘技术有机地融合起来,实现家庭、宾馆、写字楼等室内环境的半自动或全自动清洁,因此具有广阔的市场前景。本文针对清洁机器人,就国内外研究现状及其关键技术进行了介绍,并对吸尘机器人近期发展中的若干问题进行了探讨。2国内外吸尘机器人研究现状目前在欧美日等发达国家,吸尘机器人开发较早,应用范围也较广,近两年来,已经开发出多种面向市场的智能吸尘机器人。2.1国外现状澳大利亚某公司也研制出可自动行驶并打扫房间的V4型机器人,这种全自动吸尘器表面光滑,体积很小,呈圆形,内置搜索雷达,可以搜索各种房间里的每一处,不会碰撞家俱或其它障碍物。微处理小电脑使它具备在拐至屋角处能探测方向、选择前进路线的能力。只要将全自动吸尘器放在地面上,它便可自动开始工作。其搜索雷达会探测出距离最近的墙壁,先顺着墙壁把地板四周的灰尘及异物吸尽;然后再不规则地来回移动于房间的其它位置,并且能在接近障碍物之前迅速转向。该吸尘机器人由于在主机的周围360°配备了障碍物传感器,因此可以在检测墙壁及障碍物的同时打扫地面;当打扫完可以行驶的场所后,机器人就自动关闭电源。不管房间的外形及面积的大小、ARNA导航算法引导机器人在任何房间的所有无遮掩区域四处运动来进行清洁工作,因为机器人导航沿房间的周围,所以它要创建自己的空间参考图,机器人不需要任何编程“教它应该去哪里”。该机器人操作简单,仅有3个按钮:开始、结束以及暂停,人们只要简单地将它放置在需要清扫的区域或房间中(这种全自动吸尘器机器人很轻,一只手就可以容易拿起它),按下开始按钮即可。2.2国内现状国内目前也已开始有关的研究开发工作,特别是在移动机器人的运动规划与控制方面取得了一定的成就,为研究开发吸尘机器人奠定了技术基础。某大学开发研制了全方位移动地面清扫机器人,该机器人的