智能割草机器人的概述外文翻译.docx

IntelligentplanttrimmingrobotOverviewofIntelligentLawnMowers:Withthedevelopmentofeconomy,urbanconstructioninvariouscountriesisgraduallydeepening,andthegreeningdegreeofurbanareasisalsoimproving.AlargenumberofpublicgreenSpacessuchasparklawn,footballfieldlawnandGOLFcourselawnneedtobemaintained.Amongallkindsoflawnmaintenanceoperations,turfmowingisthemostonerous,whichisnotonlyboring,butalsohighlyrepetitive,andusuallyrequiresalargeamountofmanpowerandmaterialresources.Inordertoreducethelaborintensityandcostoflawnmaintenance,Chinahasputforwardthestrategyoftransformingandupgradinglawnmachineryindustrywithmodernelectronictechnologyandintelligentcontroltechnologyinrecentyears,hopingtoreplacethetraditionallawnmowerwithintelligentintelligentlawnmowerrobotinthenearfuture.Intelligentlawnmowingrobotbelongstothefieldofciviloutdoormobilerobot.Fromtheperspectiveofsystemscience,itisacomprehensiverobotsystemthatintegratesenvironmentperception,pathdynamicplanninganddecision-making,behaviorcontrolandexecution,andotherfunctions.Thispaperintroducesastandardintelligentlawnmowerrobotsystem,whichusuallyconsistsoffourparts:perceptionsystem,controlsystem,movingmechanismandlawnmowerstructure.Thesensingsystemmonitorstheexternalenvironmentvariables,themovingmechanismandtheoperatingparametersofthemowerinrealtime,andsendstheresultstothecontrolsystem.Thecontrolsystemcomparestheobtaineddatawithitsowndatabase,andsendsoutcorrectioninstructionstothemovingmechanismandthelawnmoweraccordingtothepathplanning,soastoobtainstableoperation.Comparedwiththetraditionallawnmowingmachine,theintelligentlawnmowingrobothasthecharacteristicsofenvironmentalprotection,lowmanpowerconsumptionandhighsecurity.Researchoverviewofintelligentlawnmowerrobot:Abroadinthefieldofintelligentmowingrobotresearchanddevelopment,manyofthecompaniesdoalotofwork,hasbeenpartoftheproductlistedasRboomowerFrinediyMachinesdesigncompany,iscurrentlyoneofthemostsuccessfulintelligentmowingrobotproducts,adoptthethree-wheelcaragency,tworearwheelindependentdrive,frontwheelastheuniversalwheel,canrunonthebasisofacertainstrategyrepeatedbacktowithintherangesetinadvance,afterwhenitencountersobstaclesbyultrasonicsensorsandthensimpledetour,butitdoesnotguaranteeinadditiontotheobstaclesofarea.Thereisnoconceptofaglobalmapandnoconceptofwhethermowinganentirelawnhasbeencompleted.Thereareothersimilarproducts,eachwithitsownfeatures,suchasUzeehetti,sOear,adeluxeversionoftheA811Brigio,whichevenhasarainsensorthatautomaticallyhideswhenitrains.Auotmower,fromSweden,sEleetr-Ofux,ispoweredbybatteriesandcanalsobepoweredbysolarpower.BigmowfromBerlbooties,Belgium,hasexcellentpathalgorithm,largebladecoveragearea,highcoverage.Theresearchonlawnmowingrobotcarriedoutbyforeignscientificresearchinstitutionsmainlyfocusesonthedirectionofintelligentcontroltechnology,navigationtechnologyandpathplanningoflawnmowingrobot,whilethesystemdesignforlawnmowingrobotisrelativelyfew.TheUnitedStatespatentUS4919224usesabatterypowersupply,canstartatapredeterminedtime,withobstaclestoavoidtheftandautomaticchargingandotherfunctions,usingthreewiresfornavigation.Whenencounteredrain,wetlands,powershortageandotheroutsidethesituation,backtothegarage,thepatentusesultrasonictodetectobstacles,withshockdetectorandpasswordtopreventillegaluserstooperatethemachine;U.S.patentUS5204814adoptedtooptimizethenavigationtechnology,comprehensiveutilizationofstoragepathsandenvironmentalinformation,withoutmagneticcurrentofmetalwiresandburiedmetalconductoristhreewaystoguidethemovementofthemowingrobot,thepatentalsochoosetodotheinternalcombustionenginepower,cooperatewiththegeneratorandbatterypackisused,adoptsthedistributedcontrolmode.Theresearchonlawn-mowingrobotstartedlateinChina,andtherearefewresearchunitsinvolvedinthisfield,butsomeachievementshavebeenmade.ThemechanicalschoolofnanjinguniversityofscienceandtechnologydesignedMOROmobilemowingrobot,andsuccessfullydevelopedMORO.I,MORO.IIandothermodelsofmowingrobot.Nanjinguniversityofscienceandtechnologytothegeneraldesignofthemowingrobot,pathplanningandobstacleavoidance,positioningsystem,controlsystemandsoon,amorecomprehensivediscussionwascarriedouttheoreticallyandputsforwardthegeneralschemeofacheapandpractical,alsoaccordingtotherobotdynamicsequationisdeducedtheformulaforcalculationofdrivingmomentforthechoiceofmotor,controlsystemhardwarecircuitprovidesthecalculationbasisofmaincomponentsparameterslaidthefoundationforfurtherin-depthstudymowingrobot.ThemainnavigationequipmentofMOROmobilelawnmowerrobotisdrivewheelencoderandmagneticheadingsensor,whichcanautomaticallygeneratebeacon-freeboundarytorealizethewholeareacoveringwalking.Thevolumeoftherobotisabout80X51X40Cm3,theweightisabout50kg,thebladespeedisupto5000rmin,suitableforlargelawnmowingwork.Inaddition,NanjingUniversityofScienceandTechnologyalsointroducedthecutting-edgetechnologyinthefieldofroboticstothelawnmowerrobot,suchastheInternet-basedrobotcontroltechnologyandthekeytechnologyofsolarlawnmower.Differentfromotherwheeledmowingrobots,JiangsuUniversitydevelopedacrawlermowingrobot,whichhasthefunctionofGPSpositioningandnavigation.Itcanoperateefficientlyandatahighspeed,andissuitableforlargeareasofgrassland.Thisrobotiscomposedoftwoparts,onepartistheS.RFrobotproducedbyGuangmaodacompany,theotherpartistheself-designedlawnmowerplatform.Inaddition,JiangsuUniversityalsoprovidesareasonablecuttingheightfordifferentlawns,whichprovidesanimportantbasisfortheresearchoflawn-mowingrobot.Thenecessityofresearchonintelligentlawnmowerrobot:Withthedevelopmentofeconomy,lawnindustryhasbecomeanewindustryinChina.Lawnhasbasicallybeenappliedinurbanlandscapingandsportsgroundconstruction.Thelawnindustrybeganaperiodofslow,steady,andgatheringstrength.Thatpromptedthelawnindustrybegantoexperienceatransformationprocessfromlabor-intensivetoknowledge-intensive,lawnmowingmaintenance,inparticular,urgentlyneedsamoreefficient,lowerconsumptionandenergyconsumptionandpersonneslawnmachineryandequipment,butautomaticallylawnmowerofforeignequipmentexpensivepricesandmonopolytechnologyrestrictedtheourcountrytopromoteprogressinautomationandintelligenceoflawnmachinery,somustdependonownstrengthresearchwithindependentintellectualpropertyrightsintelligentmowingrobot.Intoday,srapiddevelopmentofscienceandtechnology,people,slivinglevelgraduallyimprove,someapplicationsinindustrialscienceandtechnologyisgraduallyoutofthefactory,thestudyofintelligentmowingrobotprovidesanewsubjectforthedevelopmentofservicerobots,alsoisakindofpracticalapplicationservicerobotstoattemptandexploration,and,moreimportantly,thedevelopmentoftheintelligentmowingrobotcanofferbeneficialreferencefortheprocessofindustrializationofhumanoidrobot.Inaddition,thestudyofintelligentmowingrobothascertainacademicvalue.Intelligentmowingrobotbelongstooutdoormobilerobot,anditwillworkintheopenunstructuredspacewhenmowinggrass.Howtorealizethemovementofrobotintheunstructuredspaceisanimportanttopicofrobotresearchtoday.Basedonthecharacteristicsofmowingwork,intelligentmowingrobotisalsoneededtocompletelycovertheentireworkingintervalinarelativelyidealway.Thereflectedregionfullpathplanningproblemisalsoaresearchhotspotofpathplanning.Inthemanufacturingprocessofintelligentgreenplantpruningrobot,ifthetechnologicalprocessmanagementofeachlinkisnotreasonableandscientific,itwillcausethesafeoperationproblemoftherobot.Theuseoftherobotintelligentsystemcaneffectivelymonitorthesafetyfactoroftherobotoperationinanall-roundway,findtheworkfault,facilitatetheequipmentmanagementandtechnicalpersonnelcancheckandrepairintime,andquicklyeliminatethehiddenclangerofsafety.Inparticular,theuseofthelawnmowerhasbecomeanimportantguaranteefortheeffectiveworkingsafetyofmechanicalenergyandthepremiseforthesafeproductionofenterprises.Finally,theautomaticpathplanningfunctionoftheintelligentgreenplantpruningrobotcaneffectivelyimprovetheworkefficiency,graduallyimprovetheperformanceoftherobot,soastocontinuouslyimprovetherequirementsofthetargetequipment,andthenmeettheactualrequirements.Thisisalsotherobotintoproductionandqualityassurance,throughtheuseofrobotintelligentsystemscientificandreasonablerealization,constantlysummarizethedomesticrobotshortboard,researchmethodsandtechnology,andtheactualsituationofitsproductioncombined,toachievethemodernizationofthemanufacturingofintelligentrobots,andeffectivelyintotheactualuse.Ofcourse,theactualuseofrobotscausesnoiseandemissionpollution.Sothesetwothingshavetobetakenintoaccountintheprocessofmakingrobots.Saveenergyandrealizethesustainableuseofenergy;Reducenoiseanddonotaffectresidents*IivesiDischargepollution-free,protecttheenvironment.Tosumup,theresearchonintelligentlawnmowerrobothasimportantcommercialvalue,positivesocialvalueandcertainacademicvalue,whichcanreflectthedevelopmentlevelofautomationtechnologyandroboticsinChina.Therefore,itisverynecessarytocarryoutrelatedresearchworkonintelligentlawnmowerrobot.Selectionofdrivingschemeofintelligentmowerrobot:1.awnmowerrobotbelongstooutdoormobilerobot.Therearevariousdrivingschemesforthistypeofrobotforreference.Accordingtotheworkingcharacteristicsofoutdoormobilerobot,thedrivingschemeofautonomousmobilerobotplatformisdiscussedindetail.TherearemanykindsofoutdoormobiIerobots,suchaswheeled,trackedandfoot.Wheelandcrawlerdrivingmodesaresuitableforrelativelysmoothroadsurfaces,whilefootdrivingmodesaresuitableforspecialandrelativelyharshenvironments.SomemobiIerobotsmixthesedrivingmodesinordertoadapttovariousroadsurfaces.Themowingrobotgenerallyworksonthelawnwithgoodconditions.Combinedwithotherworkrequirements,themowingrobotmostlychoosesthewheel-drivenmode.Selectionofsensorparts:Inordertoworkautonomouslyinunknownortime-varyingenvironments,mobilerobotsshouldhavetheabilitytofeeltheoperatingenvironmentandplantheirownmovements.Mobilerobotobstacleavoidanceisthekeyproblemofhowtousesensorstoperceivetheenvironmentintheprocessofmovementandfixingtherobotsintheworkarea,anykindofsensorhasitsownadvantagesanddisadvantages,chooseneedtocarefullyconsidervariousfactors,sensorsystemintheoperationofthemobilerobot,themachineisneededformobilerobotintonearbytheexistenceofinformationaswellastheobstaclesanddistanceqrobots,robotnavigationrelatedpositioninformation.Theintelligentlawnmowingrobotworksintheopenoutdoorspace.Whenitperformsthelawnmowingtask,itneedstoobtaintheinformationoftheperipheralobstaclesandthepositionoftherobotitself.Thesensorsinvolvedincludethedistancesensorandthepositionsensor.Inaddition,becausetheintelligentmowingrobotisequippedwithahigh-speedrotatingblade,therelevantsensorsshouldbeselectedtoensureitssafety.Thecommonlyuseddistancesensorsofmobilerobotsincludeultrasonicsensors,infraredsensorsandlaserrangingsensors.Amongthem,thecostoflaserrangingsensorisrelativelyhigh,anditisnotsuitableforcivilservicerobotsystem,soitwillnotbeconsideredinthispaper.Ultrasonicsensorisasensordevelopedbyusingthereflectioncharacteristicsofultrasonicwave,theeffectivedetectionrangeis30cm-2m;Theinfraredsensorisaproximitysensor,andtheinfraredwavelengthemittedisaboutwithintherangeofseveralhundrednanometers.Itbelongstoshortwavelengthelectromagnetic,andtheeffectivedetectionrangeisusuallylessthan30cm.Theintelligentlawn-mowingrobotneedstodetecttheobstaclesintheLCM-1.5moutsidethevehiclewhenitisrunning,soultrasonicsensorsorinfraredsensorscannotbeusedalone.Therefore,thispaperchoosesthecombinationofultrasonicsensorandinfraredsensortorealizetheobstacledistancedetectionoftheintelligentlawn-mowingrobot.Inaddition,theintelligentlawn-mowingrobotworksintheoutdoorenvironmentwherethetemperaturechangesgreatly,andthemeasurementresultsoftheultrasonicsensorwillbesubjecttotemperaturechangesanddeviationsfromtheactualvalue.Therefore,inordertoobtainaccurateandstabledatacollection,aseparatetemperaturesensorisrequiredtocollecttheambienttemperaturetocorrecttheerrorsgenerated.Whentheintelligentmowingrobotruns,theinternalmowingbladewillrotateatahighspeed,whichwillcausepotentialharmtopeopleandanimals.Specialattentionshouldbepaidtosafetyissues,sotheintelligentmowingrobotinthispaperalsousescontactsensorsandhumanbodythermalreleasesensors.Thecontactsensorbelongstothetactilesensor,whichissetaroundtherobotintheformofarray.Whentherobotcollideswiththeobjectaccidentally,itisusedtogeneratetheinterruptsignal.Humanthermalreleasesensorisasensorthatdetectstheinfraredradiationemittedbyhumanoranimalbodyandoutputselectricalsignals.Whentheintelligentmowingrobotisworking,ifsomeoneoranimalentersthesetsaferange,itwillissuethecorrespondingalarmsignal.Designofcontrolsystemofintelligentmowingrobot:Thecontrolsystemofintelligentlawnmowingrobotisanimportantpartofintelligentlawnmowingrobot,whichneedstocarryoutaseriesofdecisioncontroltotherobot,anditevendecidestheadvantagesanddisadvantagesoftherobot,sperformancetoacertainextent.Therefore,thechipselection,controlstrategyandcommunicationmodeoftheintelligentlawnmowingrobotshouldbediscussedindetail,andthebestplanshouldbedecided.Advantagesofroboticlawnmowers:Robotlawnmowercanworkindependently,whetheritisamoretraditionalinternalcombustionengineaspowersystemofthelawnmowerisrelativelynewinlawnmowerbatteryasapowersystem,bothbecauseoftheirsimplestructureandtheprincipleofscienceandtechnologycontentislow,lowdegreeofautomation,mustbecontrolbypeople,comparedwiththeoriginalistoimprovetheefficiencyofacertainhumanwork,butnotcompletelytheliberationofhuman.Therobotmowerisautomaticallycontrolledbytheintelligentsystemandcanfinishthemowingoperationindependently,whichgreatlysaveshumanresources.Themainadvantagesofroboticlawnmowerscanbeanalyzedfromthefollowingpoints:Robotmowershavelittlepollution.Thetraditionalmowerswithinternalcombustionenginesasthepowersystemneedtoconsumeoil.Duetothecharacteristicsoftheequipment,theenergyconversionrateislow,resultinginalotofunnecessaryenergywaste.Inaddition,thetraditionallawnmowerproducesalotofnoisewhenworking,andthissoundpollutionwillcausegreatharmtothesurroundingenvironmentandhaveacertainnegativeimpactonthementalhealthofworkers.Therobotlawnmowerusescleanenergyanddoesnotrequiredirectcontactbetweenhumansandmachines,whichislessharmfultotheenvironmentandpeople.Robotmowerhashighefficiency,whichisdividedintotwoaspects:workingefficiencyandenergyutilizationefficiency.Thetraditionallawnmowerwithinternalcombustionengineasthepowersystemisheavy,inflexibleandeasilysubjecttoterrainrestrictions,resultinginlowworkingefficiency.Therelativelynewmowerswithbatteryaspowersystemarelimitedinpowerduetotheinfluenceofbatteryvolume,sotheymayneedtochargeformanytimesinoneoperation,whichwillactuallyreducetheworkingefficiency.Therobotmowerisequippedwithterraindetectorandsensor,whichcanautomaticallyanalyzetheterrainandadjustthebestworkingroutetomaintainhighefficiency.Andtherobotmowerhasbuilt-inautomaticreturnprogram,whentheenergyshortagewillautomaticallyreturntothebasetocharge,withoutmanualintervention.Robotlawnmowerhashighsafety.Traditionallawnmowersarehigh-powermachines.Ifafaultoccursduringwork,itiseasytocauseharmtoworkers.Thenewlawnmowercompletelyliberatesmanfromsuchdangeraswell.Alawnmowerrobotusuallyworksonadefinitesurface,whichrequirestherobottobeabletomoveindependentlytoeachsi