智能割草機(jī)器人外文文獻(xiàn)翻譯、中英文翻譯、外文翻譯

IntelligentplanttrimmingrobotOverviewofIntelligentMowers:Withthedevelopmentofinisgraduallydeepening,greeningofurbanisASpacesasfootballlawnGOLFcourselawnneedtobemaintained.Amongoflawnoperations,turfisthewhichisnotonlyboring,alsousuallyaamountreducetheandofChinahasputforwardoftransformingupgradingmachineryindustrywithtechnologyintelligenttechnologyinyears,hopingtotraditionallawnmowerwithintelligentintelligentlawnmowerrobotinthenearfuture.IntelligentlawnthefieldofcivilmobileFromofscience,itcomprehensivesystemthatintegratesenvironmentdynamicplanningdecision-making,execution,andotherpaperstandardintelligentlawnmowersystem,whichusuallyoffourparts:system,lawnmowersensingsystemmonitorsthetheoperatingparametersofinrealtothesystem.Thethedatawithitssendsoutcorrectioninstructionsmovingtothepathplanning,sotoobtainwith

traditionallawnmachine,theintelligentrobothascharacteristicsofenvironmentalprotection,lowmanpowerconsumptionhighsecurity.Researchoverviewofintelligentlawnmowerrobot:AbroadinfieldofintelligentmanyofdolotofhasbeenpartofRboomowerdesigncurrentlyoneofintelligentrobotadoptthree-wheelcaragency,tworearwheelfrontaswheel,canonbasiscertainstrategyrepeatedtowithinrangesetinadvance,afterwhenitbysensorsandthendetour,itdoesnotinadditiontoobstaclesofarea.Thereisnoofglobalmapnoofwhetheranlawnhasbeencompleted.ThereareothersimilarwithownOear,deluxeofA811Brigio,whichhasarainsensorautomaticallyhideswhenitfromSweden'sEleetr-Ofux,isbycanalsobebysolarfromBerlbooties,Belgium,bladearea,Theonrobotbyscientificinstitutionsmainlyfocusesonofintelligenttechnology,navigationtechnologypathplanningofrobot,whileforrobotisrelativelyfew.Thepatentusesabatterypowersupply,atawithobstaclesavoidfornavigation.Whenrain,wetlands,outside2

situation,togarage,patentwithshockdetectortopreventillegaltheadoptedtothenavigationtechnology,utilizationofpathsinformation,withoutofburiedconductoristhreeguidethemovementthepatentchoosetodothecombustionpower,withthegeneratorandbatterypackisused,adoptscontrolmode.Theonlawn-mowingstartedlateinChina,arefewinfield,butachievementshavebeenschoolofofandtechnologydesignedMOROsuccessfullydevelopedMORO.IImodelsofmowingofandtechnologythegeneralofplanningandavoidance,positioningaouttheoreticallyputsschemeofacheaptherobotdynamicsistheformulaforcalculationofmomenttheofmotor,controlsystemhardwarecircuitprovidesoflaidforfurtherrobot.Themainequipmentoflawnmowerrobotisencodermagneticsensor,whichcanbeacon-freeboundarytorealizewholeareacoveringvolumeoftherobotis80X51X40m3theweightisthebladespeedup5000r/min,forlargelawnaddition,NanjingUniversityofSciencealsocutting-edgetechnologythefieldofroboticstolawnrobot,suchtheInternet-basedrobotcontrolandtechnologyofsolar3

Differentfromwheeledrobots,UniversitydevelopedacrawlerwhichthefunctionofGPSpositioningandnavigation.Itcanefficientlyaspeed,forlargeofrobotisoftwoparts,oneAS.RFrobotproducedbyGuangmaodacompany,otherself-designedlawnmowerUniversityprovidescuttingforanforresearchofThenecessityofresearchonintelligentlawnmowerrobot:WiththedevelopmentofindustryhasbecomeanewindustryinChina.Lawnbeeninsportsgroundlawnbeganaperiodofgatheringpromptedlawnindustrybegantransformationprocessfromlabor-intensiveknowledge-intensive,inparticular,urgentlyneedsaefficient,consumptionlawnequipment,automaticallymowerofforeignequipmentpricesmonopolyrestrictedcountrytopromoteprogressinautomationandofsoownwithintellectualpropertyrightsintelligentrobot.Intoday'sdevelopmentoftechnology,people'slivinglevelgraduallyapplicationsintechnologyoutofstudyofintelligentmowingrobotfortheofservicerobots,akindofpracticalapplicationrobotstoattemptexploration,importantly,thedevelopmentofintelligentmowingcanofferreferencefortheprocessofofhumanoidrobot.Inaddition,studyofintelligenthascertainvalue.Intelligentmowingbelongsto4

outdooritwillworkintheunstructuredspaceHowtomovementofrobottheunstructuredspaceisimportantoftoday.Basedontheofwork,intelligentrobotisneededtocompletelyintervalinrelativelyidealThereflectedregionfullplanningproblemisalsoaresearchhotspotofplanning.Inofintelligentgreenpruningrobot,ifthetechnologicaloflinknotreasonableitwillcausetheproblemtheuseofrobotintelligentsystemcaneffectivelymonitorfactorofoperationinanall-roundfindfault,managementandpersonnelrepairinofparticular,theuseofthelawnhasbecomeanfortheworkingsafetyofthepremisefortheofpathplanningoftheintelligentpruningcaneffectivelyimproveworkgraduallytheperformanceoftoimprovetheoftheandthenmeettheactualrequirements.Thistherobotintoqualityassurance,throughofintelligentscientificrealization,summarizetherobotboard,andtechnology,andofitsproductiontotheoftheofintelligentrobots,effectivelyintouse.Oftheuseofrobotscausesnoiseemissionpollution.Sotwohavetobetakenintoaccountintheprocessofmakingenergyrealizesustainableofenergy;Reducenoisenotaffectresidents'lives;Dischargepollution-free,theenvironment.5

theonintelligentlawnmoweracademicvalue,canreflectthedevelopmentlevelofautomationtechnologyinChina.Therefore,itisnecessarytocarryonlawnmowerSelectionofdrivingofintelligentmowerrobot:moweroutdoormobilerobot.Therefortypeoffortoworkingoftheschemeofmobilerobotisindetail.Thereareofoutdoorrobots,suchaswheeled,trackedandmodesareforrelativelysmoothwhiledrivingmodesareforspecialandmobilerobotsmixdrivinginordertoroadsurfaces.Therobotworksthelawnwithgoodconditions.Combinedwithworkmowingrobotchoosesthemode.Selectionofsensorparts:Inorderworkinunknownortime-varyingenvironments,robotshavethetofeelthetheirownmovements.Mobileobstacleavoidanceistheproblemtosensorstoperceiveenvironmentintheprocessofmovementandtherobotsintheworkarea,anykindofsensorhasdisadvantages,needcarefullysensorsysteminofrobot,themachineisneededformobilerobotnearbytheofinformationwelltheobstaclesrobotnavigationposition6

TheintelligentrobotintheopenoutdoorWhenitperformsitneedstoobtaininformationofobstaclesofTheincludedistancethesensor.Inaddition,becauseintelligentrobotequippedwitharotatingblade,relevantsensorsshouldtoensureitsThecommonlydistancesensorsrobotsincludeultrasonicsensorssensors.Amongthecostofrangingisrelativelyitisnotforcivilserviceitwillnotbeinthispaper.Ultrasonicsensorisadevelopedbyusingreflectioncharacteristicsofultrasonicdetectionis30cm-2m;Thesensorisproximitysensor,theiswithintheofseveralhundredItshort-wavelengthelectromagnetic,detectionrangeisusuallyintelligentlawn-mowingrobotneedstheobstaclesintheLCM-1.5moutsidevehicleitrunning,sensorssensorsbeusedalone.Therefore,thischoosesoftorealizedistancedetectionofintelligentlawn-mowingrobot.Ioobtainaccuratestablecollection,aisrequiredtocollectthetocorrectgenerated.Whenintelligentmowingtheinternalmowingbladewillrotateathighspeed,whichwillpotentialharmtoanimals.Specialattentionbetosointelligentrobotinthisalsouseshumanbody7

thermalreleasesensors.Thesensorthesensor,whicharoundtherobotinformoftherobotwiththeobjectitusedtogeneratethesignal.Humanthermalisathattheemittedbyhumanoranimaloutputselectricalsignals.WhenintelligentmowingiforanimalentersthesafeitwillissuethealarmDesignofcontrolsystemofintelligentmowingrobot:Theofintelligentrobotanimportantofintelligentrobot,needstocarryoutaseriesofdecisioncontroltotheitevendisadvantagesoftherobot'stoathechipstrategycommunicationmodeoftheintelligentrobotshouldbediscussedindetail,thebestshouldbeAdvantagesofroboticlawnmowers:Robotlawnmowercanworkindependently,whetheritistraditionalinternaloflawnmowerisrelativelynewinlawnmowerapowerbothoftheirprincipleoftechnologyislow,lowdegreeofmustbebypeople,comparedwiththeoriginalistoefficiencyofcompletelytheliberationofhuman.Therobotintelligentcanfinishthemowingoperationindependently,greatlysavesresources.ThemainadvantagesoflawncananalyzedfromfollowingRobotmowershavetraditionalmowerswithinternal8

enginessystemneedthecharacteristicsoftheenergyrateislow,inalotenergythelawnlotofnoisethissoundpollutionwillcausegreatenvironmentandacertainonmentalofrobotlawnmowerdoesnotdirectbetweenhumansmachines,whichislessharmfultotheenvironmentpeople.Robotmowerhasefficiency,whichisdividedtwoworkingefficiencyandutilizationefficiency.Thetraditionallawnmowerwithinternalenginethepowerisheavy,inflexibleeasilysubjecttoterrainrestrictions,resultinginlowworkingefficiency.Therelativelymowerswithbatteryaspowersystemarelimitedintotheinfluenceofsotheyneedchargeforinwhichwillreducerobotmowerisequippedwithterraindetectorsensor,whichcananalyzetheterrainandthebesttomaintainrobotmowerhasbuilt-intheenergywillautomaticallythebasetocharge,withoutmanualRobotlawnmowerhassafety.Traditionallawnmowersaremachines.Ifafaultduringitiseasytonewlawnmowerliberatesmanfromsuchaswell.Alawnrobotworksadefinitesurface,requirestherobottobetomoveindependentlytositeinarea.Therefore,itnecessarytosettheofintheprocessforsuchthespiralcontractionpaththereturn-typetheworkinonenavigationisneeded9

guidethetomovetotoSometimes,someorspecialitnecessarytointerveneinofthesoititsorworking.Thistherobottobetoreceivethesentbytothem.itisnecessarytoplacearemotecontrolonrobothumanoftheofsensor,oftherobotforenvironmentwillincreaseditcausedamagetotheenvironmentofmowersiscomplex,unstableintheenvironmenthaveeffectsontheofinformationcollection.Theinformationvulnerablewilleasilycausesomeerrorsinofinformationcollectionprocessing,whichwillaffecttheworkofThedevelopmentprospectofrobotlawnmower:

lawn-mowingWiththeofautomatedwork,lawn-mowingcanfromboringlabor,savealotofhumanfortheproductionandlifeofmeetneedsocialreflectingapplicationprospectofenough,soitsmarketbeveryextensive.However,totechnicalitisimmatureinaspects.Therefore,therewilla"lowpriceislow,highsituation,whichaveryfactorforitsinthemarket,therelativelypoorperformanceoftraditionallawnmowerwithitslowtooccupyitslowefficiency,highunsafecriticizedbyprocessofdemandthe10

socialforlawnmowerwillgraduallytheofoftraditionallawnmowercontrarytotheoriginalofconstruction.itcanthatthelawnmowerwithsmallpollutionhighwillgraduallybefavored.Sothelawnmoweriscurrentlythehowtoimproveperformancetechnology,reducetheinproductiontolowerprice,astoachievecompetitivenessinthemarket.Forexample,differentmowingrobotscanbemadedifferentofworkmeethighertoavoidunnecessaryofInway,ofcanacertainRobotlawnisapromisingmarketproject,itcanbringpeople'slife.Buttheitsadvanceditalsodifficultbreakthroughinthisoftheweneedtomakeeffortstoimproveitsshortcomings,thatitcanbeintoproductionapplication.11

智能割機(jī)器人的概隨著經(jīng)濟(jì)的發(fā)展各國(guó)城市建設(shè)逐漸深化城區(qū)的綠化程度也隨之提高大量的公園草坪、足球場(chǎng)草坪、球場(chǎng)草坪等公共綠地均需要進(jìn)行維護(hù)。在各種草坪維護(hù)作業(yè)中，以草皮修剪工作最為繁重，不僅枯燥，而且重復(fù)性強(qiáng)，通常需要消耗大量的人力和物力為了降低草坪維護(hù)作業(yè)的勞動(dòng)強(qiáng)度和成本近年來(lái)我國(guó)提出用現(xiàn)代電子技術(shù)和智能控制技術(shù)改造和提升草坪機(jī)械產(chǎn)業(yè)的戰(zhàn)略望在不久的將來(lái)用智能的智能割草機(jī)器人取代傳統(tǒng)的割草機(jī)。智能割草機(jī)器人屬于民用戶外移動(dòng)機(jī)器人領(lǐng)域從系統(tǒng)科學(xué)的角度來(lái)講它是集環(huán)境感知路徑動(dòng)態(tài)規(guī)劃與決策行為控制與執(zhí)行等多種功能于一體的綜合機(jī)器人系統(tǒng)。智能割草機(jī)器人系統(tǒng)構(gòu)成概述了一個(gè)標(biāo)準(zhǔn)的全智能割草機(jī)器人系統(tǒng)，它通常由感知系統(tǒng)、控制系統(tǒng)、移動(dòng)機(jī)構(gòu)和割草機(jī)構(gòu)等四個(gè)部分組成。感知系統(tǒng)實(shí)時(shí)監(jiān)測(cè)外界環(huán)境變量移動(dòng)機(jī)構(gòu)及割草機(jī)構(gòu)運(yùn)行參數(shù)并將結(jié)果輸送到控制系統(tǒng)控制系統(tǒng)將獲得的數(shù)據(jù)與自身的數(shù)據(jù)庫(kù)做比較并參照路徑規(guī)劃對(duì)移動(dòng)機(jī)構(gòu)和割草機(jī)構(gòu)發(fā)出修正指令以獲得穩(wěn)定的運(yùn)行情況與傳統(tǒng)的草坪修剪機(jī)械相比，智能割草機(jī)器人具有環(huán)保、人力消耗低和高安全性等特點(diǎn)。智能割機(jī)器人的研概況:在智能割草機(jī)器人的研發(fā)領(lǐng)域國(guó)外的許多公司做了大量的工作己有部分產(chǎn)品上市如FrinediyMachines公司設(shè)計(jì)的Rboomower目前最成功的智能割草機(jī)器人產(chǎn)品之一,采用三輪小車(chē)的機(jī)構(gòu)個(gè)后輪獨(dú)立驅(qū)動(dòng)前輪為萬(wàn)向輪,能以一定策略為基礎(chǔ)反復(fù)遷回運(yùn)行于事先設(shè)定好的范圍內(nèi)當(dāng)遇到障礙物后能通過(guò)超聲波傳感器檢測(cè)然后簡(jiǎn)單繞行,但它不能保證除障礙物外的區(qū)域乏全局地圖的概念,對(duì)是否已完成整塊草坪的割草任務(wù)也沒(méi)有概念此以外還有其它類(lèi)似的產(chǎn)品,各具特色,如意大利uzeehetti公司的osear其豪華版的

A811brigio甚至還配備了雨水傳感器,當(dāng)下雨的時(shí)候能自動(dòng)躲避瑞典—ofux公司的Auotmower,除動(dòng)力采用電池外,還可利用太陽(yáng)能供電；比利時(shí)Berlbooties公司的BigMow,具備優(yōu)良的路徑算法,刀片覆蓋面積大覆蓋率較高。國(guó)外的科研機(jī)構(gòu)對(duì)割草機(jī)器人展開(kāi)的研究主要偏向割草機(jī)器人的智能控制技術(shù)導(dǎo)航技術(shù)和路徑規(guī)劃等方向,而針對(duì)割草機(jī)器人的系統(tǒng)設(shè)計(jì)相對(duì)較少美國(guó)專(zhuān)利US4919224采用了蓄電池供電,能在預(yù)定時(shí)間啟動(dòng),具有避障防盜及自動(dòng)充電等功能,采用三根導(dǎo)線來(lái)進(jìn)行導(dǎo)航遇到下雨濕地及電源不足等以外情況時(shí),返回車(chē)庫(kù),該專(zhuān)利采用超聲波來(lái)探測(cè)障礙用震蕩探測(cè)器及密碼來(lái)防止非法用戶操作機(jī)器國(guó)專(zhuān)利US5204814采用了優(yōu)化的導(dǎo)航技術(shù)綜合利用存儲(chǔ)的路徑及環(huán)境信息磁無(wú)電流的金屬導(dǎo)線和埋在地下的金屬導(dǎo)線三種方式來(lái)指導(dǎo)割草機(jī)器人的移動(dòng),該專(zhuān)利還選用了內(nèi)燃機(jī)做動(dòng)力,配合發(fā)電機(jī)及電池組使用,采用分布式控制方式。國(guó)內(nèi)對(duì)于割草機(jī)器人的研究起步時(shí)間較晚，參與該領(lǐng)域的研究單位也比較少，但仍取得了一定的成果。南京理工大學(xué)機(jī)械學(xué)院設(shè)計(jì)MORO型移動(dòng)割草機(jī)器人，并成功開(kāi)發(fā)出了、MORO.II等若干型割草機(jī)器人樣機(jī)。南京理工大學(xué)對(duì)割草機(jī)器人的總體設(shè)計(jì)、路徑規(guī)劃、避障、定位系統(tǒng)、控制系統(tǒng)等從理論上進(jìn)行了較全面的討論并提出了一種廉價(jià)實(shí)用的總體方案根據(jù)機(jī)器人動(dòng)力學(xué)方程推導(dǎo)出驅(qū)動(dòng)力矩的計(jì)算公式為電機(jī)選擇控制系統(tǒng)硬件電路主要元器件參數(shù)選擇提供了計(jì)算依據(jù)，為進(jìn)一步深入研究割草機(jī)器人打下了基礎(chǔ)。型移動(dòng)割草機(jī)器人的主要導(dǎo)航設(shè)備為驅(qū)動(dòng)輪編碼器和磁航向傳感器自動(dòng)生成無(wú)信標(biāo)邊界實(shí)現(xiàn)全區(qū)域覆蓋行走。該機(jī)器人的體積約為cm3，重約，刀片的轉(zhuǎn)速高達(dá)5000r/min，適用于大面積草坪的修剪工作。此外，南京理工大學(xué)還將機(jī)器人領(lǐng)域的前沿技術(shù)引用到割草機(jī)器人上來(lái)如基于的機(jī)器人控制技術(shù)和太陽(yáng)能草坪割草機(jī)關(guān)鍵技術(shù)等。

與其它輪式割草機(jī)器人不同江蘇大學(xué)研制了一種履帶式割草機(jī)器人具有GPS定位導(dǎo)航的功能能高效高速地進(jìn)行作業(yè)適用于大面積的草場(chǎng)區(qū)域此機(jī)器人由兩部分組成，一部分為廣茂達(dá)公司生產(chǎn)的型機(jī)器人，另一部分為自行設(shè)計(jì)的割草機(jī)臺(tái)外大學(xué)還針對(duì)不同的草坪給出了合理的切割高度，這為割草機(jī)器人的研究提供了重要的依據(jù)。智能割機(jī)器人研究必要性隨著經(jīng)濟(jì)的發(fā)展草坪業(yè)已經(jīng)成為了我國(guó)一種新興的產(chǎn)業(yè)草坪基本上已經(jīng)在全國(guó)城市園林綠化運(yùn)動(dòng)場(chǎng)建設(shè)中普及應(yīng)用草坪業(yè)開(kāi)始了一個(gè)緩慢平穩(wěn)也是積蓄力量的發(fā)展時(shí)期促使草坪業(yè)開(kāi)始經(jīng)歷一個(gè)由勞動(dòng)密集型到知識(shí)密集型的轉(zhuǎn)變過(guò)程特別是草坪修剪維護(hù)工作迫切需求一種效率更高而人員消耗和能源消耗更低的草坪機(jī)械設(shè)備國(guó)外自動(dòng)割草機(jī)器設(shè)備昂貴的價(jià)格和壟斷的技術(shù)制約了我國(guó)在自動(dòng)化和智能化草坪機(jī)械方面的推廣進(jìn)度此必須依靠自己的力量研究具有自主知識(shí)產(chǎn)權(quán)的智能割草機(jī)器人在科技迅猛發(fā)展的今天人們生活水平逐漸提高一些應(yīng)用于工業(yè)的科技正逐漸走出工廠對(duì)智能割草機(jī)器人進(jìn)行研究為服務(wù)機(jī)器人的發(fā)展提供了新的課題方向是服務(wù)機(jī)器人走向?qū)嶋H應(yīng)用的一種嘗試和探索更重要的是智能割草機(jī)器人的研制能為服務(wù)型機(jī)器人產(chǎn)業(yè)化的進(jìn)程提供有利的參考此外對(duì)智能割草機(jī)器人進(jìn)行研究還有一定的學(xué)術(shù)價(jià)值智能割草機(jī)器人屬于戶外移動(dòng)型機(jī)器人在割草時(shí)它將工作在開(kāi)放的非結(jié)構(gòu)化空間內(nèi)如何實(shí)現(xiàn)機(jī)器人在非結(jié)構(gòu)化空間的移動(dòng)正是現(xiàn)今機(jī)器人研究的重要課題基于割草工作的特點(diǎn)還需要智能割草機(jī)器人能以一種比較理想的方法完全覆蓋整個(gè)工作區(qū)間，所反映的區(qū)域充滿路徑規(guī)劃問(wèn)題也是路徑規(guī)劃的研究熱點(diǎn)。在智能綠植修剪機(jī)器人的制造過(guò)程中果每一個(gè)環(huán)節(jié)的工藝流程管理不合理科學(xué)就將會(huì)引起機(jī)器人使用的安全操作問(wèn)題機(jī)器人智能系統(tǒng)的使用可以有效地對(duì)機(jī)器人操作的安全系數(shù)進(jìn)行全方位監(jiān)控發(fā)現(xiàn)工作故障便于設(shè)備管理技術(shù)人員可以及時(shí)檢查和修復(fù)迅速消除安全隱患尤其割草機(jī)構(gòu)的使用已成為14

機(jī)械能有效工作安全性的重要保證又是保證企業(yè)安全生產(chǎn)的前提最后智能綠植修剪機(jī)器人的自動(dòng)規(guī)劃路徑功能可以有效提高工作效率逐步提高機(jī)器人性能從而不斷提高目標(biāo)設(shè)備的要求進(jìn)而可以滿足實(shí)際要求這也是機(jī)器人投入生產(chǎn)和質(zhì)量的保證通過(guò)使用機(jī)器人智能系統(tǒng)科學(xué)合理的實(shí)現(xiàn)不斷總結(jié)國(guó)內(nèi)機(jī)器人短板研究方法和技術(shù)和其投入生產(chǎn)的實(shí)際情況相結(jié)合實(shí)現(xiàn)制造智能機(jī)器人的現(xiàn)代化以及有效投入實(shí)際使用當(dāng)然機(jī)器人的實(shí)際使用會(huì)造成噪聲及排放污染現(xiàn)象。所以，在制造機(jī)器人的過(guò)程中必須把這兩方面因素考慮在內(nèi)。節(jié)約能源，實(shí)現(xiàn)能源可持續(xù)使用；降低噪聲，不影響居民生活；排放無(wú)污染，保護(hù)環(huán)境。綜上所述智能割草機(jī)器人的研究有著重要的商業(yè)價(jià)值積極的社會(huì)價(jià)值和一定的學(xué)術(shù)價(jià)值能側(cè)面地反映出我國(guó)自動(dòng)化技術(shù)和機(jī)器人學(xué)的發(fā)展水平因此開(kāi)展對(duì)智能割草機(jī)器人相關(guān)研究工作是十分必要的。智能割機(jī)器人本體動(dòng)方案選擇:割草機(jī)器人屬于戶外移動(dòng)型機(jī)器人對(duì)該類(lèi)型的機(jī)器人有各種驅(qū)動(dòng)方案可供參考根據(jù)戶外移動(dòng)型機(jī)器人的工作特點(diǎn)對(duì)自主移動(dòng)機(jī)器人平臺(tái)的驅(qū)動(dòng)方案進(jìn)行了詳細(xì)的討論。戶外移動(dòng)機(jī)器人的運(yùn)動(dòng)方式有輪式、履帶式和足式等多種。輪式和履帶式驅(qū)動(dòng)方式適用于較平整路面而足式驅(qū)動(dòng)方式適用于特殊的條件相對(duì)惡劣的環(huán)境有的移動(dòng)機(jī)器人為了適應(yīng)各種路面將這幾種驅(qū)動(dòng)方式混合使用割草機(jī)器人一般工作在條件較好的草坪上結(jié)合其他工作要求割草機(jī)器人大多選用輪式驅(qū)動(dòng)方式。傳感器的選擇移動(dòng)機(jī)器人為了能在未知或時(shí)變環(huán)境下自主地工作具有感受作業(yè)環(huán)境和規(guī)劃自身動(dòng)作的能力動(dòng)機(jī)器人避障的關(guān)鍵問(wèn)題是在運(yùn)動(dòng)過(guò)程中如何利用傳感器對(duì)感知環(huán)境并對(duì)機(jī)器人在工作區(qū)域內(nèi)進(jìn)行定位何類(lèi)型的傳感器都有各自的15

優(yōu)點(diǎn)和不足選用時(shí)需要仔細(xì)考慮各種因素傳感系統(tǒng)在移動(dòng)機(jī)器人運(yùn)行時(shí)需要為移動(dòng)機(jī)器人提供機(jī)器入附近障礙物的存在信息以及障礙物與機(jī)器人問(wèn)的距離，還有機(jī)器人導(dǎo)航的相關(guān)位置信息。智能割草機(jī)器人工作在開(kāi)放的戶外空間內(nèi)執(zhí)行割草任務(wù)時(shí)需要獲得外圍障礙物信息和機(jī)器人自身位置信息涉及到的傳感器有距離傳感器和位置傳感器此外由于智能割草機(jī)器人內(nèi)設(shè)置有高速旋轉(zhuǎn)的割草刀片還應(yīng)當(dāng)選用相關(guān)的傳感器以保證其安全性。移動(dòng)機(jī)器人常用的距離傳感器有超聲波傳感器外線傳感器和激光測(cè)距傳感器等其中激光測(cè)距傳感器造價(jià)相對(duì)較高不適宜采用在民用服務(wù)機(jī)器人系統(tǒng)上因此在本文中不予考慮超聲波傳感器是利用超聲波的反射特性研制而成的傳感器，有效的檢測(cè)范圍為30cm-2m；紅外傳感器屬接近傳感器，發(fā)射出的紅外波波長(zhǎng)大約在幾百納米范圍內(nèi)，屬短波長(zhǎng)的電磁，有效的檢測(cè)范圍通常小于30cm智能割草機(jī)器人在運(yùn)行時(shí)需要檢測(cè)其車(chē)體外內(nèi)的障礙物情況，不能單獨(dú)采用超聲波傳感器或紅外傳感器因此本文選擇超聲波傳感器和紅外傳感器相結(jié)合的方式來(lái)實(shí)現(xiàn)智能割草機(jī)器人的障礙物距離檢測(cè)另外智能割草機(jī)器人工作在溫度變化較大的戶外環(huán)境聲波傳感器測(cè)量結(jié)果會(huì)受溫度變化而與實(shí)際數(shù)值有偏差因此為了獲得精確和穩(wěn)定的采集數(shù)據(jù)需要設(shè)置單獨(dú)的溫度傳感器采集環(huán)境溫度用以修正產(chǎn)生的誤差智能割草機(jī)器人在運(yùn)行時(shí)內(nèi)部的割草刀片會(huì)高速旋轉(zhuǎn)這會(huì)對(duì)人和動(dòng)物造成潛在的傷害