外文翻譯--家用服務型吸塵機器人的發(fā)展與現(xiàn)狀

1 附錄 Home cleaning service-oriented development and current situation of the robot 1 Introduction In 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 abroad In 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 Japan produced vacuum cleaner Japan some company to promote the family in 2002 to use vacuum cleaner robots trial seize the opportunity 1 in the first half of the year. This robot may when according to the room shape the floor condition, the quantity of refuse carries on the automatic cleaning the work, first along the room all around will walk a memory room shape, then, while avoids the obstacle by vertical, the crosswise way back and forth to move carries on cleanly after the clearing completes, the automatic stopping This vacuum cleaner robot equipment has 50 sensors, but on the other hand on the one hand walks automatically carries on the cleaning. It uses the light and the ultrasonic wave range sensor, the feeling presses the sensor to avoid the obstacle； Built-in has the rotation sensor, uses for to control walks the posture maintains decides marches forward the direction； Has installed the rudder sensor, may examine marches forward the direction error which produces as a result of the rug pattern influence, even if therefore, in the shop has on rugs floor also to be able the straight line advance. In addition, this robot in vivo also installs has prevents heat source and so on dropping variance sensor which, sensation warming stove from high place and so on. Stair rolls down thermal seniors, to examine own receives the external force size definite weight sensor and the skid resistant sensor, the examination increase power load sensor. It may most little maintain with the ordinary obstacle 10 cm the distances but when surveys the heat source, will 2 handle jointly with the heat source will maintain at least 50 cm the distances. Its contour size for wide 292 mm, long 367 mm, high 265 mm, heavy 9.8 kg, the maximum traveling speed is 30 cm/s. When the sensor survey on floors trash, will enhance the suction to usual15 times, simultaneously the traveling speed drop will be 15 cm/s, will carry on the cleaning carefully. Will not be having trash place by the 30cm/s speed migration the suction also 1O reduce, a charge may work 55 min will sweep clear 80 m2 the rooms, will vacuum the power is 90W. 2.2 Australias V4 vacuums robot 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 have is turning to roof pinnacle place can survey the direction, choice route of advances ability. So long as place the completely automatic vacuum cleaner in the ground, it then may start to work automatically. Its acquisition radar can surveys away from the recent wall, is being suitable the first wall attracts floor dust 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 360has provided the obstacle sensor in main engines 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, doesnt the robot need any programming where to teach it to go to. This robot simplicity of operator only has 3 buttons： Starts the conclusion as well as the suspension so long as the people in 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. 2.3 Swiss trilobita vacuum cleaner is small “the trilobita” Is Switzerland develops the production the completely automatic vacuum cleaner. Is small “the trilobita” high 13cm, diameter 35cm, the surface is smooth, assumes the circular, the built-in acquisition radar, may survey rapidly and avoids the table leg, the glassware, the pet or any other obstacles. Once micro processes the small computer to distinguish these obstacles, it may choose the route, and makes to the entire room judges and calculates, guaranteed that the room each corner is swept clear. And so on some do not have the natural barrier place in the staircase stair, so long as has magnet, will be small “the trilobita” then not to surmount. After being small “the 3 trilobita” starts the start, I vivo 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, it then can survey like the entire room the pattern, calculates time which the cleaning entire room needs. So long as a close obstacles, it will then establish the line of march, will not leave out each corner. Is small “the trilobita” attracts brushes installs the Chinese dress to have a patent design pulley, may cross the electric wire or the rug edge, is not impeded. When power source insufficiency, will be small “the trilobita” to return to charge automatically Booth to charge voluntarily. If this time room did not have the cleaning to finish, is small “the trilobita” to have the memory function, after sufficient good electricity, return to the original position to continue to vacuum. 2.4 American Rumba (Roomba) vacuum cleaner By the American some institute artificial intelligence laboratory developments wisdom automatic vacuum cleaner, the utilization artificial intelligence revolution and the guidance detection technology, cleans each inch floor intelligently, the real suction hole which and revolving matching is in sole possession of brushes, the clean effect is specially good. By the American TIME evolution was in 2002 one of coolest inventions. So long as presses down the switch, the Roomba completely automatic will assign the region to vacuum cleans, bumps into obstacle servo-assisted steering, will meet the staircase also automatically to detect cannot fall down, the special real suction hole, revolving will brush with revolving side brush the design, regardless of will be the rug or the floor, clean will be very convenient. Highly only some 10 cm, diameter 34 cm Roomba may with case sneak under the bed bottom or the sofa carries on cleans. The Roomba pattern is by mathematics operation idea design movement route. After Roomba start, will follow the spiral-shaped route revolution, by the helix revolution way which will expand gradually covers the space, when will bump will touch the wall or the furniture and so on large-scale obstacle, its special obstacle induction regulator can resist the wall surface protection fuselage not to receive damages, Roomba along the wall or the furniture advance, by now the body side hair brush sweeps into the corner perhaps the furniture edge sully dust detritus in the vacuum cleaner. Have swept clear part of space after the wall or the furniture, Roomba will transfer a 90direction and sweeps the room according or the above route another head, was so alternately redundant, the screw revolution route to be possible back and forth to attract the room, the cleaning finishes namely the automatic stopping. This only heavy 2.5Kg, selects the charge method the vacuum cleaner convenience to be practical, the selling price is only 200 US dollars, already went on the market in Europe and America. 2.5 Domestic present situation 4 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 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” completed the ground in dust, this kind of robot one time charged works sustainably for a half hour, had the intelligent power source management function, lengthened the running time, the average each minute running speed is 15m. 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, enables the robot to have the better function compatibility as the service carrier. At the same time, other colleges and universities to moved vacuum the robot also to do the massive research work, has made many progresses. 3 Vacuum robots key technologies A idealization to vacuum the robot assembly system to be usually composed of four parts: the shifting mechanism, the sensation system, the control system and vacuum the system. The shifting mechanism is vacuum robots main body, had decided vacuum cleaners movement space, uses the wheeled organization generally； the sensation system uses the ultrasonic wave distance gauge, the contact and the close sensor, the infrared sensor and the CCD camera generally and so on； along with the recent years computer technology, the artificial intelligence technology, the sensing technology as well as the motion robot technologys rapidly expand, vacuumed the robot control systems research and the development has had the solid foundation and the good prospects for development. Vacuums robots control and the working conditions often is indefinite or changeable, must therefore give dual attention to the security reliability, the anti jamming as well as understand the environment through the suitable modeling method, obtain the environment more information, in recent years indicated to intelligent robots research, regarding the work in the multiple structure environments independent- like migration robot, must further enhance its independent degree, mainly depends upon the pattern recognition and the intelligence method, but also needs to further develop the overall situation model, thus gains the overall situation information influence big key technologies is : the multi-sensor fusion technology, vacuum the technology, the Chinese Journal of Power Source and so on. 3.1 Way plan technology 5 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-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 type3 approximately: Based on the model way plan, mainly processes the structurized environment, the plan method has the grid law ,to be possible the view law, the analysis sites 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； behavior based mobile robot path planning is the light mobile robot path planning problem for research in the new trends, is the navigation problem is decomposed into many relatively independent unit that acts primitives such as collision avoidance, target tracking, guidance. With the development of computer technology and the development of sensor technology, multi-sensor integration and information fusion technology in intelligent robot has obtained the widespread application, unstructured environment, mobile robot is the robot technology development, based on multi-sensor information fusion for mobile robot obstacle avoidance strategy and path planning technology is one of the key technology for. 3.2 Multi-sensor fusion technology In order to make the robot vacuum cleaners work, must be on the position of the robot, posture, speed and system state monitoring, and robotic perception the working environment of static and dynamic information, the robot cleaner corresponding work order and operation content can be naturally adapt to changes in the work environment, usually divided into internal and external sensor, wherein the internal sensor encoder, linear accelerometer, gyroscope, magnetic compass is used to control and monitor the robot itself； the external sensor includes visual sensors, ultrasonic sensors, infrared sensors, contact and proximity sensor, installed in the robot itself for the sense of purpose external environment information. From the domestic cleaning robot can be seen, the cleaning robot uses a large number of sensors, effectively putting a lot of sensor observation information fusion processing, thus enabling the robot to obtain the most substantial external environment information, its main advantage is in the same observation conditions, can coordinate the use of multiple sensors, the distributions in different positions the more homogeneous or 6 heterogeneous sensor provided by the local incomplete measurements and related database of relevant information to be integrated, elimination of multiple sensor has complex and contradictory, and complementary, to reduce uncertainty, and thus access to the object or environment consistency description, this is a single sensor cannot be obtained. Application of multi-sensor fusion technology to improve the mobile robot, obstacle recognition environment modeling, obstacle avoidance accuracy plays an important role in fusion methods mainly include: the Kalman filtering method, Bayes estimation method, statistical measures, D - s inference method, fuzzy logic method and production rules. 3.3 Vacuum technical The vacuum cleaner is composed of high-speed rotation of the fan in the body is formed inside a vacuum thereby to produce strong airflow, the dust and dirt suction through the suction machine body of dust filter bag. Vacuum system includes a dust filter, dust bag, exhaust pipes and other accessories, the dust suction capacity depends on the size of the fan speed. Recently, an Australian company developed a new principle of air dust filter. The vacuum cleaner is a closed system, neither the external air suction, and inorganic from gas discharge, so no dust filter, dust bag, an exhaust pipe and other accessories the principle is to use the Coanda effect to form a low pressure gas vortex, the sediment trapped within the vortex chamber of vacuum cleaner. 3.4 Chinese Journal of power sources Mobile power in cleaning robot plays an important role, it is the source of life of cleaning robot. Mobile power required for moving mechanism with power, control circuit for providing a stable voltage, for vacuum operation module and sensing observation module providing energy. In this field, generally used as mobile power chemical batteries, lead-acid batteries, such as NiCd, NiMi ideal power supply in the discharge process should be able to have: to maintain a constant voltage； the small resistance to quickly discharge； rechargeable； the cost is low characteristic. But without a battery may also have these advantages. As a result of indoor mobile robot with small volume, light weight, so the power of the volume weight is also an important consideration, which requires the designer to select a small size, large capacity, can be repeated use of high battery, as much as possible to increase suction machine uninterrupted working time. 4 Conclusion with forecast Robot vacuum cleaner as a service robot in the field of a new product, will make people in the unattended condition easily complete the indoor environment cleaning work. Therefore, the cleaning robot can mass production to reduce costs, lower prices to enter the market, will have a great market prospect, relevant information is also predicted the cleaning robot is the next few years demand is the largest service robot. Although the country by external cleaning robot 7 research and development has made some achievements, but the cost is too high and many key technical problems to be solved mainly in the following 3 aspects: (1)at present, the high price is a serious major factors affecting cleaning robots into the home appliance market, in order to significantly reduce the cost, must develop a smart sensor dedicated motion control of digital processing chips； Secondly should see the application of Bluetooth technology in the household appliance industry, through the use of Bluetooth technology to transfer the digital processor of high cost on the users PC, is expected in the short term to reduce the cost of cleaning robots in thousand Yuan. (2) future of sucking dust robot will to independent type and artificial intelligent of development, so must combination existing of based on since adaptation control, and forecast control, and fuzzy logic, and neural network, mobile robot movement planning and control technology, research on environment obstacles with does security reliable of anti-collision function of intelligent movement planning and controller and the efficient of sensor fusion algorithm, is in reality environment in the implementation has good of since adaptability and robustness behavior of robot of key. (3) power supply technology is one of the core problems of cleaning robots work, in addition to robot movement outside, dust control and power circuits, also need to optimize automatic charging, charge to ensure the robot can keep up to date with auto-complete cleaning tasks for the specified environment. Study of improving life expectancy, reducing the volume of chemical batteries at the same time, a new proton exchange membrane fuel cell with big power, high energy, long life and small advantages, provided a suitable power supply for mobile power, at present, the Shanghai fuel cell research at a University in this area is a good attempt. As the key technology of cleaning robots and price-performance continues to improve, or improve, believed on the basis of existing software and hardware conditions, will be launched within the next few years affordable automated cleaning robots, which in turn can make cleaning robots just like regular appliances go into millions of households, for this market and high-tech products bring considerable economic benefits. 8 家用服務型吸塵機器人的發(fā)展與現(xiàn)狀 1 引言 近年來，隨著中國工業(yè)快速的發(fā)展，吸塵器的產(chǎn)量大幅增加，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夠工作解脫出來。由此誕生了一種家用服務型吸塵機器人 ,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人。 2.1 日本產(chǎn)吸塵器 日本某公司 2002 年上半年推出了家庭用吸塵器機器人的試制機。 該機器人可以根據(jù)房間的形狀、地板狀況、垃圾量進行自動清掃，工作時，首先會沿房間四周走一圈記憶房間形狀，然后在避開障礙物的同時以縱、橫向方式來回移動進行清潔，清潔工作完成后會自動停止。該吸塵器機器人各各有 50 個傳感器，可以一邊自動行走以便進行清掃。它利用光及超聲波的 測距傳感器、感壓傳感器來避開障礙物；內(nèi)置有回轉(zhuǎn)傳感器，用來控制行走姿勢以保持既定的行進方向；安裝了方向舵?zhèn)鞲衅?，可以檢測出由于地毯花紋影響而產(chǎn)生的行進方向偏差，因此即使在鋪有地毯的地扳上也能夠直線前進。 此外，該機器人體內(nèi)還安裝有防止從臺階等高處滾下的落差傳感器、感知暖爐等熱源的熱傳感器、檢測自身所受外力大小確定的 重量傳感器及防滑傳感器、檢測添加動力的負載傳感器。它可以同普通的障礙物最少保持l0cm 的距離，而在探測到熱源時，將會同熱源至少保持 50cm 的距離 。 其外形大小為寬 292mm長 367mm高 265mm，重 9.8kg，最大移動速度為 30cm/s。當傳感器探測到地板上的垃圾時，會將吸力提高到平時的 15 倍，同時將移動速度下降為 l 5cm/s，仔細地進行清掃。在沒有垃圾的地方會以 30cm/s 的速度移動，吸力也會降低，一次充電可以工作 55min，清掃80m2 的空間，吸塵功率為 90w。 2.2 澳大利亞的 V4 吸塵機器人 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出，不會碰撞家具或其它障礙物。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曲墻壁，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 9 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。 2.3 瑞士三葉蟲吸塵器 小“三葉蟲”是瑞士研制生產(chǎn)的全自動吸塵器。小“三葉蟲”高 13 cm，直徑 35 cm，表面光滑，呈圓形，內(nèi)置搜索雷達，可以迅速地探測到并避開桌腿、玻璃器皿寵物或任何其它障礙物。一但微赴理小電腦識別出這些障礙物，它可重新選擇路線，并對整個 房間做出重新判斷與計算以保證房間的各個角落都被清掃。在樓梯的臺階等一些沒有天然障礙物的地方，只要要有一條磁鐵小“三葉蟲”便不會跨越。小“三葉蟲”開始啟動后，體內(nèi)的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，這樣它便能探測出整個房間的格局計算出清掃整個房間所需的時間。只要接近障礙物，它便會重新設(shè)定行進路線不會樓掉每一個角落。小“三葉蟲”的洗刷裝置中裝有一只專利設(shè)計滑輪，可以越過電線或地毯邊緣，不被絆住。電源不足時，小“三葉蟲”會自動回到充電卡座自行充電。如果此時房間還沒有清掃完畢，小 “三葉蟲”具有記憶功能，充好電后自己回到原處繼續(xù)吸塵。 2.4 美國倫巴（ Roomba）吸塵器 由美國某學院人工智能實驗室開發(fā)的智慧型自動吸塵器，運用人工智能運轉(zhuǎn)與導航偵測技術(shù)，聰明地打掃每一寸地板。它搭配獨有的真空吸孔與旋轉(zhuǎn)刷，清潔效果特別好被美國 TIME評選為 2002 年最酷的發(fā)明之一。只要按下開關(guān) Roomba 就會全自動在指定區(qū)域吸塵打掃、碰到障礙物會自動轉(zhuǎn)向，遇到樓梯也會自動偵測，不會掉下去。特殊的真空吸孔、旋轉(zhuǎn)刷與旋轉(zhuǎn)邊刷設(shè)計論是地毯或地板清潔都很方便，高度僅有 10 cm、直徑 34 cm 的 Rooba 能輕松鉆進床底或沙發(fā)底下進行打掃。 Roomba 的運轉(zhuǎn)模式是以數(shù)學運算理念設(shè)計運行路線，當Roomba 啟動之后，會循螺旋狀路線運轉(zhuǎn)，以漸漸擴大的螺旋形運轉(zhuǎn)方式來涵蓋空間，一旦碰觸到墻壁或家具等大型障礙物時，其特殊的障礙物感應調(diào)節(jié)器會抵住墻面保護機身不受損傷， Roomba 就會沿著墻壁或家具前進過時，體側(cè)邊的毛刷就會將墻角或是家具邊緣的臟污灰塵碎屑掃入吸塵器內(nèi)，沿著墻壁或家具清掃過一部分空間之后 Roomba 會轉(zhuǎn)個 90方向，并依以上的路線清掃房間的另一頭，如此交叉重復、螺旋運轉(zhuǎn)的路線可以來來回回吸遍房間，清掃完畢 即自動停止。這個僅重 2.5 kg，采用充電方式的吸塵器方便實用，售價僅為 200 美元在歐美已經(jīng)上市。 2.5 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求基礎(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 10 接性“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)自運動，行進中，它不停轉(zhuǎn)動地板刷把地面上的灰塵全都填進 “肚”內(nèi)。這種機器人次充電可持續(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武機器人控制結(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載體具有更好的功能適應性。同時，其它院校對移動吸塵機器人也做了大量研究工作，取得了不少的成果。 3 吸塵機器人的關(guān)鍵技術(shù) 一個理想化的吸塵機器人系統(tǒng)通常由四個部分組成：移動機構(gòu)、感知系統(tǒng)、控制系統(tǒng)和吸塵系統(tǒng)移動機構(gòu)是吸塵機器人的本體，決定了吸塵器的運動空間，一般采用輪式機構(gòu)；感知系統(tǒng)一般采用超聲波 測距儀接觸和接近傳感器紅外線傳惑器和 CCD 攝像機等；隨著近年來計算機技術(shù)人工智能技術(shù)傳感技術(shù)以及移動機器人技術(shù)的迅速發(fā)展，吸塵機器人控制系統(tǒng)的研究和開發(fā)已具備了堅實的基礎(chǔ)和良好的發(fā)展前景。吸塵機器