【本科毕业设计】家用服务型吸尘机器人的发展与现状(外文翻译)

本科毕业设计外文翻译本科毕业设计外文翻译家用服务型吸尘机器人的发展与现状家用服务型吸尘机器人的发展与现状HOME CLEANING SERVICE-ORIENTED DEVELOPMENT AND CURRENT SITUATION OF THE ROBOT学院（部）： 电气与信息工程学院 专业班级： 电气 09-2 学生姓名： # 指导教师： # 2013 年 05 月 30 日1Home 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 Chinas market has great vitality. With the social progress and development, peoples 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 advances 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 engines periphery, therefore may cleans the ground during 2the 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, doesnt 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 robots 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 robots 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 robots key technologies 3.1 Way plan technology The way plan is the working conditions information which arrives according to 3the robot sensation, according to some kind of optimized target, plans one in the initial station and the target point with the environment barrier non-collisions 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 robots 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 informations 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 technologys 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 fusions 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 4information. 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 positions 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 cleaners turbulent flow cavity. 3.4 Chinese Journal of Power Sources The migration power source in vacuums in robots status to be very important, may say that it is vacuums robots 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 5module 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 sources 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 robots 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 professions application prospect, through will use the blue tooth technology to cross the high digital processor cost transfer to users personal computing, then hopeful will vacuum in a short time robots 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 6logic, 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 acts robots key.(3) Chinese Journal of Power Sources is vacuums one of robot research works 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 conditions 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.7家用服务型吸尘机器人的发展与现状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8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,该机器人的控制系统能够准确解读遥控信号,并对机体下达工作指令,随时接收“眼睛”(即红外光电开关和超声传感器)感知的四个方向的外部障碍信息,并据此要求机器人做直线或转向运动,行进中,它不停转动地板刷,把地面上的灰尘全部填进“肚”内,这种机器人一次充电可持续工作半小时,具有智能电源管理功能,延长了运行时间,平均每分钟行走速度为 15 m。此外,该吸尘机器人采用开放式机器人控制结构,实现硬件可扩展、软件可移植、可集成,使得机器人作为服务载体具有更好的功能适应性。同时,其它院校对移动吸尘机器人也作了大量研究工作,取得了不少的成果。3 吸尘机器人的关键技术3.1 路径规划技术路径规划就是根据机器人所感知到的工作环境信息,按照某种优化指标,在起始点和目标点规划出一条与环境障碍无碰撞的路径,并且实现所需清扫区域的合理完全路径覆盖,其实质就是移动机器人运动过程中的导航和避碰。机器人工作环境不同,分为静态结构化环境、动态巳知环境和动态不确定环境。自 20 世纪70 年代研究以来,移动机器人的路径规划按机器人获取环境信息的方式不同,大致分为三种类型:基于模型的路径规划,主要处理结构化环境,规划方法有栅格法、可视图法、拓扑法等;基于传感器信息的路径规划,主要用于非结构化环境,克服环境条件或形状无法预测的因素,方法有人工势场法、确定栅格法和模糊逻辑算法等;基于行为的移动机器人路径规划是移动机器人路径规划问题研究中的新动向,就是把导航问题分解为许多相对独立的单元即行为基元,如避碰、跟踪、目标制导等。随着计算机技术和传感器技术的发展,多传感器集成与信息融合技术在智能机器人上获得了广泛的应用。非结构化环境下移动机器人是机器人技术发展的重点,基于多传感器信息融合的移动机器人的避障策略及其路径规划技术是其中的关键技术。3.2 多传感器融合技术为了让吸尘机器人正常工作,必须对机器人位置、姿态、速度和系统内部状态进行监控,还要感知机器人所处工作环境的静态和动态信息,使得吸尘机器人相应的工作顺序和操作内容能自然地适应工作环境的变化。通常采用的传感器分为内部传感器和外部传感器,其中内部传感器有编码器、线加速度计、陀螺仪、磁罗盘等用于控制和监测机器人本身;外部传感器包括视觉传感器、超声波传感器、红外线传感器、接触和接近传感器等安装在机器人自身用于感知外部环境9信息。从上述国内外吸尘机器人可以看出,吸尘机器人都采用了大量的传感器,有效地把大量的传感器观测信息进行融合处理,从而使机器人获得最大量的外部环境信息,其主要优点就是在同样的观测条件下,可以协调使用多个传感器,把分布在不同位置的多个同质或异质传感器所提供的局部不完整观测量及相关数据库中的相关信息加以综合,消除多传感器间存在的冗余和矛盾,并加以互补,降低不确定性,从而获得对物体或环境的一致性描述,这都是任何单一传感器所无法获得的。运用多传感器融合技术对提高移动机器人定位、障碍物识别、环境建模、避障的精度等具有重要作用。融合的主要方法有: Kalman 滤波法、Bayes 估计法、统计决策法、D-S 推理法、模糊逻辑法及产生式规则等。3.3 吸尘技术真空吸尘器是由高速旋转的风扇在机体内形成真空从而产生强大的气流,将尘埃和脏物通过吸口吸入机体内的滤尘袋内。吸尘系统包括滤尘器、集尘袋、排气管以及其它一些附件,其吸尘能力取决于风机转速的大小。最近,澳大利亚某公司开发出采用新原理的气流滤尘器。这个吸尘器是一个全封闭系统,既无外部气体吸入,也无机内气体排除,所以就无需滤尘器、集尘袋、排气管等附件。其原理是利用附壁效应去形成低压涡流气体,最后将沉渣截留于吸尘器内的涡流腔内。3.4 电源技术移动电源在吸尘机器人中的地位十分重要,可以说它是吸尘机器人的生命源。移动电源需同时为移动机构提供动力,为控制电路提供稳定的电压,为吸尘操作模块及传感观测模块提供能源等。在这一领域,一般采用化学电池作为移动电源,如铅酸电池、NiCd、NiMi 等。理想的电源在放电过程中应该能够具备:保持恒定的电压;内阻小以便快速放电;可充电;成本低等特点。但实际上没有一种电池可同时具备上述优点。由于室内移动机器人要求具有体积小、自重轻等特点,所以电源的体积重量也是一个重要的考虑因素,这就要求设计人员选择一种体积小、容量大、可重复使用性高的电池,尽可能增加吸尘机器人的不间断工作时间。4 结论与展望吸尘机器人作为服务机器人领域中的一个新产品,将使人们能在无人看守情况下轻松地完成室内环境的吸尘等清洁工作。因此,该吸尘机器人如能大批量生产使成本降低,以低价格进入市场,将会具有巨大的市场前景,有关资料也预测吸10尘机器人是未来几年需求量最大的是服务机器人。尽管目前国内外在吸尘机器人研究开发方面已取得一定的成果,但成本过高和许多关键技术问题急待解决,主要有以下 3 个方面。(1)目前,价格过高是严重影响吸尘机器人打入家电市场的主要因素,为了大幅度降低其成本,必须开发智能传感器、专用运动控制的数字处理芯片;其次,应该看到蓝牙技术在家电行业的应用前景,通过采用蓝牙技术将过高的数字处理器成本转移到用户的个人电脑上,则有望在短期内将吸尘机器人的成本降低在千元左右。(2)未来的吸尘机器人将向自主式和人工智能化发展,因此必须结合现有的基于自适应控制、预测控制、模糊逻辑、神经网络等移动机器人运动规划和控制技术,研究对环境障碍物具有安全可靠的防碰撞功能的智能运动规划与控制器及高效的传感器融合算法,是在现实环境中实现具有良好的自适应性和鲁棒性行为的机器人的关键。 (3)电源技术是吸尘机器人研究工作的核心问题之一,除了为机器人运动、吸尘及控制电路提供能量外,还需优化自动充电方案,保证机器人能及时进行充电,能够自动完成对指定环境的吸尘任务。在研究提高化学电池使用寿命、缩小体积的同时,一种新兴的质子交换膜燃料电池具有功率大、能量高、寿命长和体积小等优点,为移动电源提供了一种合适的电源,目前,上海某大学燃料电池研究所在这方面进行着有益的尝试。随着吸尘机器人关键技术和性能价格比的不断提高或改进,相信在现有的软硬件条件的基础上,未来几年内就会推出价格适中的全自动吸尘机器人产品,进而使吸尘机器人能像普通家电产品一样走进千家万户,为这一高新技术产品带来可观的市场和经济效益。