本科畢業(yè)設(shè)計外文翻譯本科畢業(yè)設(shè)計外文翻譯家用服務(wù)型吸塵機器人的發(fā)展與現(xiàn)狀家用服務(wù)型吸塵機器人的發(fā)展與現(xiàn)狀HOME CLEANING SERVICE-ORIENTED DEVELOPMENT AND CURRENT SITUATION OF THE ROBOT學院（部）： 電氣與信息工程學院 專業(yè)班級： 電氣 09-2 學生姓名： # 指導教師： # 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家用服務(wù)型吸塵機器人的發(fā)展與現(xiàn)狀家用服務(wù)型吸塵機器人的發(fā)展與現(xiàn)狀1 引言近年來,隨著中國工業(yè)的快速發(fā)展,吸塵器的產(chǎn)銷量也大幅增加,在我國市場具有旺盛的生命力。隨著社會的進步和發(fā)展,人們的物質(zhì)和精神生活質(zhì)量的提高,迫切需要從繁重的清潔工作中解脫出來。由此誕生了一種家用服務(wù)型吸塵機器人,它將移動機器人技術(shù)和吸塵技術(shù)有機地融合起來,實現(xiàn)家庭、賓館、寫字樓等室內(nèi)環(huán)境的半自動或全自動清潔,因此具有廣闊的市場前景。本文針對清潔機器人,就國內(nèi)外研究現(xiàn)狀及其關(guān)鍵技術(shù)進行了介紹,并對吸塵機器人近期發(fā)展中的若干問題進行了探討。2 國內(nèi)外吸塵機器人研究現(xiàn)狀目前在歐美日等發(fā)達國家,吸塵機器人開發(fā)較早,應(yīng)用范圍也較廣,近兩年來,已經(jīng)開發(fā)出多種面向市場的智能吸塵機器人。2.1 國外現(xiàn)狀澳大利亞某公司也研制出可自動行駛并打掃房間的 V4 型機器人,這種全自動吸塵器表面光滑,體積很小,呈圓形,內(nèi)置搜索雷達,可以搜索各種房間里的每一處,不會碰撞家俱或其它障礙物。微處理小電腦使它具備在拐至屋角處能探測方向、選擇前進路線的能力。只要將全自動吸塵器放在地面上,它便可自動開始工作。其搜索雷達會探測出距離最近的墻壁,先順著墻壁把地板四周的灰塵及異物吸盡;然后再不規(guī)則地來回移動于房間的其它位置,并且能在接近障礙物之前迅速轉(zhuǎn)向。該吸塵機器人由于在主機的周圍 360配備了障礙物傳感器,因此可以在檢測墻壁及障礙物的同時打掃地面;當打掃完可以行駛的場所后,機器人就自動關(guān)閉電源。不管房間的外形及面積的大小、ARNA 導航算法引導機器人在任何房間的所有無遮掩區(qū)域四處運動來進行清潔工作,因為機器人導航沿房間的周圍,所以它要創(chuàng)建自己的空間參考圖,機器人不需要任何編程“教它應(yīng)該去哪里” 。該機器人操作簡單,僅有 3 個按鈕:開始、結(jié)束以及暫停,人們只要簡單地將它放置在需要清掃的區(qū)域或房間中(這種全自動吸塵器機器人很輕,一只手就可以容易拿起它),按下開始按鈕即可。2.2 國內(nèi)現(xiàn)狀國內(nèi)目前也已開始有關(guān)的研究開發(fā)工作,特別是在移動機器人的運動規(guī)劃與8控制方面取得了一定的成就,為研究開發(fā)吸塵機器人奠定了技術(shù)基礎(chǔ)。某大學開發(fā)研制了全方位移動地面清掃機器人,該機器人的控制系統(tǒng)能夠準確解讀遙控信號,并對機體下達工作指令,隨時接收“眼睛”(即紅外光電開關(guān)和超聲傳感器)感知的四個方向的外部障礙信息,并據(jù)此要求機器人做直線或轉(zhuǎn)向運動,行進中,它不停轉(zhuǎn)動地板刷,把地面上的灰塵全部填進“肚”內(nèi),這種機器人一次充電可持續(xù)工作半小時,具有智能電源管理功能,延長了運行時間,平均每分鐘行走速度為 15 m。此外,該吸塵機器人采用開放式機器人控制結(jié)構(gòu),實現(xiàn)硬件可擴展、軟件可移植、可集成,使得機器人作為服務(wù)載體具有更好的功能適應(yīng)性。同時,其它院校對移動吸塵機器人也作了大量研究工作,取得了不少的成果。3 吸塵機器人的關(guān)鍵技術(shù)3.1 路徑規(guī)劃技術(shù)路徑規(guī)劃就是根據(jù)機器人所感知到的工作環(huán)境信息,按照某種優(yōu)化指標,在起始點和目標點規(guī)劃出一條與環(huán)境障礙無碰撞的路徑,并且實現(xiàn)所需清掃區(qū)域的合理完全路徑覆蓋,其實質(zhì)就是移動機器人運動過程中的導航和避碰。機器人工作環(huán)境不同,分為靜態(tài)結(jié)構(gòu)化環(huán)境、動態(tài)巳知環(huán)境和動態(tài)不確定環(huán)境。自 20 世紀70 年代研究以來,移動機器人的路徑規(guī)劃按機器人獲取環(huán)境信息的方式不同,大致分為三種類型:基于模型的路徑規(guī)劃,主要處理結(jié)構(gòu)化環(huán)境,規(guī)劃方法有柵格法、可視圖法、拓撲法等;基于傳感器信息的路徑規(guī)劃,主要用于非結(jié)構(gòu)化環(huán)境,克服環(huán)境條件或形狀無法預測的因素,方法有人工勢場法、確定柵格法和模糊邏輯算法等;基于行為的移動機器人路徑規(guī)劃是移動機器人路徑規(guī)劃問題研究中的新動向,就是把導航問題分解為許多相對獨立的單元即行為基元,如避碰、跟蹤、目標制導等。隨著計算機技術(shù)和傳感器技術(shù)的發(fā)展,多傳感器集成與信息融合技術(shù)在智能機器人上獲得了廣泛的應(yīng)用。非結(jié)構(gòu)化環(huán)境下移動機器人是機器人技術(shù)發(fā)展的重點,基于多傳感器信息融合的移動機器人的避障策略及其路徑規(guī)劃技術(shù)是其中的關(guān)鍵技術(shù)。3.2 多傳感器融合技術(shù)為了讓吸塵機器人正常工作,必須對機器人位置、姿態(tài)、速度和系統(tǒng)內(nèi)部狀態(tài)進行監(jiān)控,還要感知機器人所處工作環(huán)境的靜態(tài)和動態(tài)信息,使得吸塵機器人相應(yīng)的工作順序和操作內(nèi)容能自然地適應(yīng)工作環(huán)境的變化。通常采用的傳感器分為內(nèi)部傳感器和外部傳感器,其中內(nèi)部傳感器有編碼器、線加速度計、陀螺儀、磁羅盤等用于控制和監(jiān)測機器人本身;外部傳感器包括視覺傳感器、超聲波傳感器、紅外線傳感器、接觸和接近傳感器等安裝在機器人自身用于感知外部環(huán)境9信息。從上述國內(nèi)外吸塵機器人可以看出,吸塵機器人都采用了大量的傳感器,有效地把大量的傳感器觀測信息進行融合處理,從而使機器人獲得最大量的外部環(huán)境信息,其主要優(yōu)點就是在同樣的觀測條件下,可以協(xié)調(diào)使用多個傳感器,把分布在不同位置的多個同質(zhì)或異質(zhì)傳感器所提供的局部不完整觀測量及相關(guān)數(shù)據(jù)庫中的相關(guān)信息加以綜合,消除多傳感器間存在的冗余和矛盾,并加以互補,降低不確定性,從而獲得對物體或環(huán)境的一致性描述,這都是任何單一傳感器所無法獲得的。運用多傳感器融合技術(shù)對提高移動機器人定位、障礙物識別、環(huán)境建模、避障的精度等具有重要作用。融合的主要方法有: Kalman 濾波法、Bayes 估計法、統(tǒng)計決策法、D-S 推理法、模糊邏輯法及產(chǎn)生式規(guī)則等。3.3 吸塵技術(shù)真空吸塵器是由高速旋轉(zhuǎn)的風扇在機體內(nèi)形成真空從而產(chǎn)生強大的氣流,將塵埃和臟物通過吸口吸入機體內(nèi)的濾塵袋內(nèi)。吸塵系統(tǒng)包括濾塵器、集塵袋、排氣管以及其它一些附件,其吸塵能力取決于風機轉(zhuǎn)速的大小。最近,澳大利亞某公司開發(fā)出采用新原理的氣流濾塵器。這個吸塵器是一個全封閉系統(tǒng),既無外部氣體吸入,也無機內(nèi)氣體排除,所以就無需濾塵器、集塵袋、排氣管等附件。其原理是利用附壁效應(yīng)去形成低壓渦流氣體,最后將沉渣截留于吸塵器內(nèi)的渦流腔內(nèi)。3.4 電源技術(shù)移動電源在吸塵機器人中的地位十分重要,可以說它是吸塵機器人的生命源。移動電源需同時為移動機構(gòu)提供動力,為控制電路提供穩(wěn)定的電壓,為吸塵操作模塊及傳感觀測模塊提供能源等。在這一領(lǐng)域,一般采用化學電池作為移動電源,如鉛酸電池、NiCd、NiMi 等。理想的電源在放電過程中應(yīng)該能夠具備:保持恒定的電壓;內(nèi)阻小以便快速放電;可充電;成本低等特點。但實際上沒有一種電池可同時具備上述優(yōu)點。由于室內(nèi)移動機器人要求具有體積小、自重輕等特點,所以電源的體積重量也是一個重要的考慮因素,這就要求設(shè)計人員選擇一種體積小、容量大、可重復使用性高的電池,盡可能增加吸塵機器人的不間斷工作時間。4 結(jié)論與展望吸塵機器人作為服務(wù)機器人領(lǐng)域中的一個新產(chǎn)品,將使人們能在無人看守情況下輕松地完成室內(nèi)環(huán)境的吸塵等清潔工作。因此,該吸塵機器人如能大批量生產(chǎn)使成本降低,以低價格進入市場,將會具有巨大的市場前景,有關(guān)資料也預測吸10塵機器人是未來幾年需求量最大的是服務(wù)機器人。盡管目前國內(nèi)外在吸塵機器人研究開發(fā)方面已取得一定的成果,但成本過高和許多關(guān)鍵技術(shù)問題急待解決,主要有以下 3 個方面。(1)目前,價格過高是嚴重影響吸塵機器人打入家電市場的主要因素,為了大幅度降低其成本,必須開發(fā)智能傳感器、專用運動控制的數(shù)字處理芯片;其次,應(yīng)該看到藍牙技術(shù)在家電行業(yè)的應(yīng)用前景,通過采用藍牙技術(shù)將過高的數(shù)字處理器成本轉(zhuǎn)移到用戶的個人電腦上,則有望在短期內(nèi)將吸塵機器人的成本降低在千元左右。(2)未來的吸塵機器人將向自主式和人工智能化發(fā)展,因此必須結(jié)合現(xiàn)有的基于自適應(yīng)控制、預測控制、模糊邏輯、神經(jīng)網(wǎng)絡(luò)等移動機器人運動規(guī)劃和控制技術(shù),研究對環(huán)境障礙物具有安全可靠的防碰撞功能的智能運動規(guī)劃與控制器及高效的傳感器融合算法,是在現(xiàn)實環(huán)境中實現(xiàn)具有良好的自適應(yīng)性和魯棒性行為的機器人的關(guān)鍵。 (3)電源技術(shù)是吸塵機器人研究工作的核心問題之一,除了為機器人運動、吸塵及控制電路提供能量外,還需優(yōu)化自動充電方案,保證機器人能及時進行充電,能夠自動完成對指定環(huán)境的吸塵任務(wù)。在研究提高化學電池使用壽命、縮小體積的同時,一種新興的質(zhì)子交換膜燃料電池具有功率大、能量高、壽命長和體積小等優(yōu)點,為移動電源提供了一種合適的電源,目前,上海某大學燃料電池研究所在這方面進行著有益的嘗試。隨著吸塵機器人關(guān)鍵技術(shù)和性能價格比的不斷提高或改進,相信在現(xiàn)有的軟硬件條件的基礎(chǔ)上,未來幾年內(nèi)就會推出價格適中的全自動吸塵機器人產(chǎn)品,進而使吸塵機器人能像普通家電產(chǎn)品一樣走進千家萬戶,為這一高新技術(shù)產(chǎn)品帶來可觀的市場和經(jīng)濟效益。