智能割草机器人的概述外文翻译.docx

《智能割草机器人的概述外文翻译.docx》由会员分享，可在线阅读，更多相关《智能割草机器人的概述外文翻译.docx（12页珍藏版）》请在课桌文档上搜索。

1、IntelligentplanttrimmingrobotOverviewofIntelligentLawnMowers:Withthedevelopmentofeconomy,urbanconstructioninvariouscountriesisgraduallydeepening,andthegreeningdegreeofurbanareasisalsoimproving.AlargenumberofpublicgreenSpacessuchasparklawn,footballfieldlawnandGOLFcourselawnneedtobemaintained.Amongall

2、kindsoflawnmaintenanceoperations,turfmowingisthemostonerous,whichisnotonlyboring,butalsohighlyrepetitive,andusuallyrequiresalargeamountofmanpowerandmaterialresources.Inordertoreducethelaborintensityandcostoflawnmaintenance,Chinahasputforwardthestrategyoftransformingandupgradinglawnmachineryindustryw

3、ithmodernelectronictechnologyandintelligentcontroltechnologyinrecentyears,hopingtoreplacethetraditionallawnmowerwithintelligentintelligentlawnmowerrobotinthenearfuture.Intelligentlawnmowingrobotbelongstothefieldofciviloutdoormobilerobot.Fromtheperspectiveofsystemscience,itisacomprehensiverobotsystem

4、thatintegratesenvironmentperception,pathdynamicplanninganddecision-making,behaviorcontrolandexecution,andotherfunctions.Thispaperintroducesastandardintelligentlawnmowerrobotsystem,whichusuallyconsistsoffourparts:perceptionsystem,controlsystem,movingmechanismandlawnmowerstructure.Thesensingsystemmoni

5、torstheexternalenvironmentvariables,themovingmechanismandtheoperatingparametersofthemowerinrealtime,andsendstheresultstothecontrolsystem.Thecontrolsystemcomparestheobtaineddatawithitsowndatabase,andsendsoutcorrectioninstructionstothemovingmechanismandthelawnmoweraccordingtothepathplanning,soastoobta

6、instableoperation.Comparedwiththetraditionallawnmowingmachine,theintelligentlawnmowingrobothasthecharacteristicsofenvironmentalprotection,lowmanpowerconsumptionandhighsecurity.Researchoverviewofintelligentlawnmowerrobot:Abroadinthefieldofintelligentmowingrobotresearchanddevelopment,manyofthecompanie

7、sdoalotofwork,hasbeenpartoftheproductlistedasRboomowerFrinediyMachinesdesigncompany,iscurrentlyoneofthemostsuccessfulintelligentmowingrobotproducts,adoptthethree-wheelcaragency,tworearwheelindependentdrive,frontwheelastheuniversalwheel,canrunonthebasisofacertainstrategyrepeatedbacktowithintherangese

8、tinadvance,afterwhenitencountersobstaclesbyultrasonicsensorsandthensimpledetour,butitdoesnotguaranteeinadditiontotheobstaclesofarea.Thereisnoconceptofaglobalmapandnoconceptofwhethermowinganentirelawnhasbeencompleted.Thereareothersimilarproducts,eachwithitsownfeatures,suchasUzeehetti,sOear,adeluxever

9、sionoftheA811Brigio,whichevenhasarainsensorthatautomaticallyhideswhenitrains.Auotmower,fromSweden,sEleetr-Ofux,ispoweredbybatteriesandcanalsobepoweredbysolarpower.BigmowfromBerlbooties,Belgium,hasexcellentpathalgorithm,largebladecoveragearea,highcoverage.Theresearchonlawnmowingrobotcarriedoutbyforei

10、gnscientificresearchinstitutionsmainlyfocusesonthedirectionofintelligentcontroltechnology,navigationtechnologyandpathplanningoflawnmowingrobot,whilethesystemdesignforlawnmowingrobotisrelativelyfew.TheUnitedStatespatentUS4919224usesabatterypowersupply,canstartatapredeterminedtime,withobstaclestoavoid

11、theftandautomaticchargingandotherfunctions,usingthreewiresfornavigation.Whenencounteredrain,wetlands,powershortageandotheroutsidethesituation,backtothegarage,thepatentusesultrasonictodetectobstacles,withshockdetectorandpasswordtopreventillegaluserstooperatethemachine;U.S.patentUS5204814adoptedtoopti

12、mizethenavigationtechnology,comprehensiveutilizationofstoragepathsandenvironmentalinformation,withoutmagneticcurrentofmetalwiresandburiedmetalconductoristhreewaystoguidethemovementofthemowingrobot,thepatentalsochoosetodotheinternalcombustionenginepower,cooperatewiththegeneratorandbatterypackisused,a

13、doptsthedistributedcontrolmode.Theresearchonlawn-mowingrobotstartedlateinChina,andtherearefewresearchunitsinvolvedinthisfield,butsomeachievementshavebeenmade.ThemechanicalschoolofnanjinguniversityofscienceandtechnologydesignedMOROmobilemowingrobot,andsuccessfullydevelopedMORO.I,MORO.IIandothermodels

14、ofmowingrobot.Nanjinguniversityofscienceandtechnologytothegeneraldesignofthemowingrobot,pathplanningandobstacleavoidance,positioningsystem,controlsystemandsoon,amorecomprehensivediscussionwascarriedouttheoreticallyandputsforwardthegeneralschemeofacheapandpractical,alsoaccordingtotherobotdynamicsequa

15、tionisdeducedtheformulaforcalculationofdrivingmomentforthechoiceofmotor,controlsystemhardwarecircuitprovidesthecalculationbasisofmaincomponentsparameterslaidthefoundationforfurtherin-depthstudymowingrobot.ThemainnavigationequipmentofMOROmobilelawnmowerrobotisdrivewheelencoderandmagneticheadingsensor

16、,whichcanautomaticallygeneratebeacon-freeboundarytorealizethewholeareacoveringwalking.Thevolumeoftherobotisabout80X51X40Cm3,theweightisabout50kg,thebladespeedisupto5000rmin,suitableforlargelawnmowingwork.Inaddition,NanjingUniversityofScienceandTechnologyalsointroducedthecutting-edgetechnologyinthefi

17、eldofroboticstothelawnmowerrobot,suchastheInternet-basedrobotcontroltechnologyandthekeytechnologyofsolarlawnmower.Differentfromotherwheeledmowingrobots,JiangsuUniversitydevelopedacrawlermowingrobot,whichhasthefunctionofGPSpositioningandnavigation.Itcanoperateefficientlyandatahighspeed,andissuitablef

18、orlargeareasofgrassland.Thisrobotiscomposedoftwoparts,onepartistheS.RFrobotproducedbyGuangmaodacompany,theotherpartistheself-designedlawnmowerplatform.Inaddition,JiangsuUniversityalsoprovidesareasonablecuttingheightfordifferentlawns,whichprovidesanimportantbasisfortheresearchoflawn-mowingrobot.Thene

19、cessityofresearchonintelligentlawnmowerrobot:Withthedevelopmentofeconomy,lawnindustryhasbecomeanewindustryinChina.Lawnhasbasicallybeenappliedinurbanlandscapingandsportsgroundconstruction.Thelawnindustrybeganaperiodofslow,steady,andgatheringstrength.Thatpromptedthelawnindustrybegantoexperienceatransf

20、ormationprocessfromlabor-intensivetoknowledge-intensive,lawnmowingmaintenance,inparticular,urgentlyneedsamoreefficient,lowerconsumptionandenergyconsumptionandpersonneslawnmachineryandequipment,butautomaticallylawnmowerofforeignequipmentexpensivepricesandmonopolytechnologyrestrictedtheourcountrytopro

21、moteprogressinautomationandintelligenceoflawnmachinery,somustdependonownstrengthresearchwithindependentintellectualpropertyrightsintelligentmowingrobot.Intoday,srapiddevelopmentofscienceandtechnology,people,slivinglevelgraduallyimprove,someapplicationsinindustrialscienceandtechnologyisgraduallyoutof

22、thefactory,thestudyofintelligentmowingrobotprovidesanewsubjectforthedevelopmentofservicerobots,alsoisakindofpracticalapplicationservicerobotstoattemptandexploration,and,moreimportantly,thedevelopmentoftheintelligentmowingrobotcanofferbeneficialreferencefortheprocessofindustrializationofhumanoidrobot

23、.Inaddition,thestudyofintelligentmowingrobothascertainacademicvalue.Intelligentmowingrobotbelongstooutdoormobilerobot,anditwillworkintheopenunstructuredspacewhenmowinggrass.Howtorealizethemovementofrobotintheunstructuredspaceisanimportanttopicofrobotresearchtoday.Basedonthecharacteristicsofmowingwor

24、k,intelligentmowingrobotisalsoneededtocompletelycovertheentireworkingintervalinarelativelyidealway.Thereflectedregionfullpathplanningproblemisalsoaresearchhotspotofpathplanning.Inthemanufacturingprocessofintelligentgreenplantpruningrobot,ifthetechnologicalprocessmanagementofeachlinkisnotreasonablean

25、dscientific,itwillcausethesafeoperationproblemoftherobot.Theuseoftherobotintelligentsystemcaneffectivelymonitorthesafetyfactoroftherobotoperationinanall-roundway,findtheworkfault,facilitatetheequipmentmanagementandtechnicalpersonnelcancheckandrepairintime,andquicklyeliminatethehiddenclangerofsafety.

26、Inparticular,theuseofthelawnmowerhasbecomeanimportantguaranteefortheeffectiveworkingsafetyofmechanicalenergyandthepremiseforthesafeproductionofenterprises.Finally,theautomaticpathplanningfunctionoftheintelligentgreenplantpruningrobotcaneffectivelyimprovetheworkefficiency,graduallyimprovetheperforman

27、ceoftherobot,soastocontinuouslyimprovetherequirementsofthetargetequipment,andthenmeettheactualrequirements.Thisisalsotherobotintoproductionandqualityassurance,throughtheuseofrobotintelligentsystemscientificandreasonablerealization,constantlysummarizethedomesticrobotshortboard,researchmethodsandtechn

28、ology,andtheactualsituationofitsproductioncombined,toachievethemodernizationofthemanufacturingofintelligentrobots,andeffectivelyintotheactualuse.Ofcourse,theactualuseofrobotscausesnoiseandemissionpollution.Sothesetwothingshavetobetakenintoaccountintheprocessofmakingrobots.Saveenergyandrealizethesust

29、ainableuseofenergy;Reducenoiseanddonotaffectresidents*IivesiDischargepollution-free,protecttheenvironment.Tosumup,theresearchonintelligentlawnmowerrobothasimportantcommercialvalue,positivesocialvalueandcertainacademicvalue,whichcanreflectthedevelopmentlevelofautomationtechnologyandroboticsinChina.Th

30、erefore,itisverynecessarytocarryoutrelatedresearchworkonintelligentlawnmowerrobot.Selectionofdrivingschemeofintelligentmowerrobot:1.awnmowerrobotbelongstooutdoormobilerobot.Therearevariousdrivingschemesforthistypeofrobotforreference.Accordingtotheworkingcharacteristicsofoutdoormobilerobot,thedriving

31、schemeofautonomousmobilerobotplatformisdiscussedindetail.TherearemanykindsofoutdoormobiIerobots,suchaswheeled,trackedandfoot.Wheelandcrawlerdrivingmodesaresuitableforrelativelysmoothroadsurfaces,whilefootdrivingmodesaresuitableforspecialandrelativelyharshenvironments.SomemobiIerobotsmixthesedrivingm

32、odesinordertoadapttovariousroadsurfaces.Themowingrobotgenerallyworksonthelawnwithgoodconditions.Combinedwithotherworkrequirements,themowingrobotmostlychoosesthewheel-drivenmode.Selectionofsensorparts:Inordertoworkautonomouslyinunknownortime-varyingenvironments,mobilerobotsshouldhavetheabilitytofeelt

33、heoperatingenvironmentandplantheirownmovements.Mobilerobotobstacleavoidanceisthekeyproblemofhowtousesensorstoperceivetheenvironmentintheprocessofmovementandfixingtherobotsintheworkarea,anykindofsensorhasitsownadvantagesanddisadvantages,chooseneedtocarefullyconsidervariousfactors,sensorsystemintheope

34、rationofthemobilerobot,themachineisneededformobilerobotintonearbytheexistenceofinformationaswellastheobstaclesanddistanceqrobots,robotnavigationrelatedpositioninformation.Theintelligentlawnmowingrobotworksintheopenoutdoorspace.Whenitperformsthelawnmowingtask,itneedstoobtaintheinformationoftheperiphe

35、ralobstaclesandthepositionoftherobotitself.Thesensorsinvolvedincludethedistancesensorandthepositionsensor.Inaddition,becausetheintelligentmowingrobotisequippedwithahigh-speedrotatingblade,therelevantsensorsshouldbeselectedtoensureitssafety.Thecommonlyuseddistancesensorsofmobilerobotsincludeultrasoni

36、csensors,infraredsensorsandlaserrangingsensors.Amongthem,thecostoflaserrangingsensorisrelativelyhigh,anditisnotsuitableforcivilservicerobotsystem,soitwillnotbeconsideredinthispaper.Ultrasonicsensorisasensordevelopedbyusingthereflectioncharacteristicsofultrasonicwave,theeffectivedetectionrangeis30cm-

37、2m;Theinfraredsensorisaproximitysensor,andtheinfraredwavelengthemittedisaboutwithintherangeofseveralhundrednanometers.Itbelongstoshortwavelengthelectromagnetic,andtheeffectivedetectionrangeisusuallylessthan30cm.Theintelligentlawn-mowingrobotneedstodetecttheobstaclesintheLCM-1.5moutsidethevehiclewhen

38、itisrunning,soultrasonicsensorsorinfraredsensorscannotbeusedalone.Therefore,thispaperchoosesthecombinationofultrasonicsensorandinfraredsensortorealizetheobstacledistancedetectionoftheintelligentlawn-mowingrobot.Inaddition,theintelligentlawn-mowingrobotworksintheoutdoorenvironmentwherethetemperaturec

39、hangesgreatly,andthemeasurementresultsoftheultrasonicsensorwillbesubjecttotemperaturechangesanddeviationsfromtheactualvalue.Therefore,inordertoobtainaccurateandstabledatacollection,aseparatetemperaturesensorisrequiredtocollecttheambienttemperaturetocorrecttheerrorsgenerated.Whentheintelligentmowingr

40、obotruns,theinternalmowingbladewillrotateatahighspeed,whichwillcausepotentialharmtopeopleandanimals.Specialattentionshouldbepaidtosafetyissues,sotheintelligentmowingrobotinthispaperalsousescontactsensorsandhumanbodythermalreleasesensors.Thecontactsensorbelongstothetactilesensor,whichissetaroundthero

41、botintheformofarray.Whentherobotcollideswiththeobjectaccidentally,itisusedtogeneratetheinterruptsignal.Humanthermalreleasesensorisasensorthatdetectstheinfraredradiationemittedbyhumanoranimalbodyandoutputselectricalsignals.Whentheintelligentmowingrobotisworking,ifsomeoneoranimalentersthesetsaferange,

42、itwillissuethecorrespondingalarmsignal.Designofcontrolsystemofintelligentmowingrobot:Thecontrolsystemofintelligentlawnmowingrobotisanimportantpartofintelligentlawnmowingrobot,whichneedstocarryoutaseriesofdecisioncontroltotherobot,anditevendecidestheadvantagesanddisadvantagesoftherobot,sperformanceto

43、acertainextent.Therefore,thechipselection,controlstrategyandcommunicationmodeoftheintelligentlawnmowingrobotshouldbediscussedindetail,andthebestplanshouldbedecided.Advantagesofroboticlawnmowers:Robotlawnmowercanworkindependently,whetheritisamoretraditionalinternalcombustionengineaspowersystemofthela

44、wnmowerisrelativelynewinlawnmowerbatteryasapowersystem,bothbecauseoftheirsimplestructureandtheprincipleofscienceandtechnologycontentislow,lowdegreeofautomation,mustbecontrolbypeople,comparedwiththeoriginalistoimprovetheefficiencyofacertainhumanwork,butnotcompletelytheliberationofhuman.Therobotmoweri

45、sautomaticallycontrolledbytheintelligentsystemandcanfinishthemowingoperationindependently,whichgreatlysaveshumanresources.Themainadvantagesofroboticlawnmowerscanbeanalyzedfromthefollowingpoints:Robotmowershavelittlepollution.Thetraditionalmowerswithinternalcombustionenginesasthepowersystemneedtocons

46、umeoil.Duetothecharacteristicsoftheequipment,theenergyconversionrateislow,resultinginalotofunnecessaryenergywaste.Inaddition,thetraditionallawnmowerproducesalotofnoisewhenworking,andthissoundpollutionwillcausegreatharmtothesurroundingenvironmentandhaveacertainnegativeimpactonthementalhealthofworkers

47、.Therobotlawnmowerusescleanenergyanddoesnotrequiredirectcontactbetweenhumansandmachines,whichislessharmfultotheenvironmentandpeople.Robotmowerhashighefficiency,whichisdividedintotwoaspects:workingefficiencyandenergyutilizationefficiency.Thetraditionallawnmowerwithinternalcombustionengineasthepowersy

48、stemisheavy,inflexibleandeasilysubjecttoterrainrestrictions,resultinginlowworkingefficiency.Therelativelynewmowerswithbatteryaspowersystemarelimitedinpowerduetotheinfluenceofbatteryvolume,sotheymayneedtochargeformanytimesinoneoperation,whichwillactuallyreducetheworkingefficiency.Therobotmowerisequip

49、pedwithterraindetectorandsensor,whichcanautomaticallyanalyzetheterrainandadjustthebestworkingroutetomaintainhighefficiency.Andtherobotmowerhasbuilt-inautomaticreturnprogram,whentheenergyshortagewillautomaticallyreturntothebasetocharge,withoutmanualintervention.Robotlawnmowerhashighsafety.Traditionallawnmowersarehigh-powermachines.Ifafaultoccursduringwork,itiseasytocauseharmtoworkers.Thenewlawnmowercompletelyliberatesmanfromsuchdangeraswell.Alawnmowerrobotusuallyworksonadefinitesurface,whichrequirestherobottobeabletomoveindependentlytoeachsi