智能割草機(jī)器人的概述外文翻譯

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,thebladespeedisupto5000r/min,suitableforlargelawnmowingwork.Inaddition,NanjingUniversityofScienceandTechnologyalsointroducedthecutting-edgetechnologyinthefieldofroboticstothelawnmowerrobot,suchastheInternet-basedrobotcontroltechnologyandthekeytechnologyofsolarlawnmower.Differentfromotherwheeledmowingrobots,JiangsuUniversitydevelopedacrawlermowingrobot,whichhasthefunctionofGPSpositioningandnavigation.Itcanoperateefficientlyandatahighspeed,andissuitableforlargeareasofgrassland.Thisrobotiscomposedoftwoparts,onepartistheAS.RFrobotproducedbyGuangmaodacompany,theotherpartistheself-designedlawnmowerplatform.Inaddition,JiangsuUniversityalsoprovidesareasonablecuttingheightfordifferentlawns,whichprovidesanimportantbasisfortheresearchoflawn-mowingrobot.Thenecessityofresearchonintelligentlawnmowerrobot:Withthedevelopmentofeconomy,lawnindustryhasbecomeanewindustryinChina.Lawnhasbasicallybeenappliedinurbanlandscapingandsportsgroundconstruction.Thelawnindustrybeganaperiodofslow,steady,andgatheringstrength.Thatpromptedthelawnindustrybegantoexperienceatransformationprocessfromlabor-intensivetoknowledge-intensive,lawnmowingmaintenance,inparticular,urgentlyneedsamoreefficient,lowerconsumptionandenergyconsumptionandpersonnel'slawnmachineryandequipment,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,andquicklyeliminatethehiddendangerofsafety.Inparticular,theuseofthelawnmowerhasbecomeanimportantguaranteefortheeffectiveworkingsafetyofmechanicalenergyandthepremiseforthesafeproductionofenterprises.Finally,theautomaticpathplanningfunctionoftheintelligentgreenplantpruningrobotcaneffectivelyimprovetheworkefficiency,graduallyimprovetheperformanceoftherobot,soastocontinuouslyimprovetherequirementsofthetargetequipment,andthenmeettheactualrequirements.Thisisalsotherobotintoproductionandqualityassurance,throughtheuseofrobotintelligentsystemscientificandreasonablerealization,constantlysummarizethedomesticrobotshortboard,researchmethodsandtechnology,andtheactualsituationofitsproductioncombined,toachievethemodernizationofthemanufacturingofintelligentrobots,andeffectivelyintotheactualuse.Ofcourse,theactualuseofrobotscausesnoiseandemissionpollution.Sothesetwothingshavetobetakenintoaccountintheprocessofmakingrobots.Saveenergyandrealizethesustainableuseofenergy;Reducenoiseanddonotaffectresidents'lives;Dischargepollution-free,protecttheenvironment.Tosumup,theresearchonintelligentlawnmowerrobothasimportantcommercialvalue,positivesocialvalueandcertainacademicvalue,whichcanreflectthedevelopmentlevelofautomationtechnologyandroboticsinChina.Therefore,itisverynecessarytocarryoutrelatedresearchworkonintelligentlawnmowerrobot.Selectionofdrivingschemeofintelligentmowerrobot:Lawnmowerrobotbelongstooutdoormobilerobot.Therearevariousdrivingschemesforthistypeofrobotforreference.Accordingtotheworkingcharacteristicsofoutdoormobilerobot,thedrivingschemeofautonomousmobilerobotplatformisdiscussedindetail.Therearemanykindsofoutdoormobilerobots,suchaswheeled,trackedandfoot.Wheelandcrawlerdrivingmodesaresuitableforrelativelysmoothroadsurfaces,whilefootdrivingmodesaresuitableforspecialandrelativelyharshenvironments.Somemobilerobotsmixthesedrivingmodesinordertoadapttovariousroadsurfaces.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.Itbelongstoshort-wavelengthelectromagnetic,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,whichrequirestherobottobeabletomoveindependentlytoeachsiteinthearea.Therefore,itisnecessarytosetuptheworkingrouteorthewayoftravelingintheworkingprocessfortherobot,suchasthespiralcontractionpathorthereturn-typemovementmode.Inaddition,aftertheworkinoneareaisfinished,thenavigationsystemisalsoneededtoguidetherobottomovetoanotherareatocontinueworking.Sometimes,duetosomeunexpectedorspecialreasons,itisnecessarytointerveneintheworkofthelawnmowerrobot,sothatitcanchangeitsworkingrangeorstopworking.Thisrequirestherobottobeabletoreceivethesignalssentbyhumanbeingsandmakecorrespondingresponsestothem.Therefore,itisnecessarytoplacearemotecontrolmoduleontherobottofacilitatehumancontrol.Becauseoftheprecisionofthesensor,therequirementsoftherobotmowerfortheworkingenvironmentwillbeincreasedcorrespondingly,otherwiseitmaycausedamagetothesensor.However,theworkingenvironmentoflawnmowersiscomplex,andsomeunstablefactorsintheenvironmentmayhaveadverseeffectsontheaccuracyofinformationcollection.Thecollectedinformationislargeandvulnerabletointerference.Thiswilleasilycausesomeuncertainerrorsintheprocessofinformationcollectionorprocessing,whichwillaffectthenormalworkofthelawn-mowingrobot.Thedevelopmentprospectofrobotlawnmower:Withthecharacteristicsofitsautomatedwork,lawn-mowingrobotcanliberatepeoplefromboringlabor,savealotofhumanresourcesfortheproductionandlifeofmodernsociety,meetthetrendandneedofsocialdevelopment,anditsadvantagesarenumerous,reflectingtheapplicationprospectofenough,soitsmarketmustbeveryextensive.However,duetotechnicallimitations,itisimmatureinmanyaspects.Therefore,therewillbea"lowpriceislow,highpriceisexcellent"situation,whichisaveryunfavorablefactorforitscompetitioninthemarket.Inthecurrentmarket,therelativelypoorperformanceofthetraditionallawnmowerwithitslowpricetooccupythedominantposition,butitslowefficiency,highenergyconsumption,unsafeshortcomingsarealsocriticizedbyusers.However,astheprocessofurbandevelopmentaccelerates,thedemandforgreeningincreases,sothesocialdemandforlawnmowerwillgraduallyincrease.However,thedisadvantageofseriouspollutionoftraditionallawnmoweriscontrarytotheoriginalintentionofgreeningconstruction.Therefore,itcanbejudgedthatthelawnmowerwithsmallpollutionandhighefficiencywillgraduallybefavored.Sotherobotlawnmoweriscurrentlyfacingthemainproblemishowtoimprovetheperformanceintechnology,andhowtoreducethecostinproductiontolowertheprice,soastoachievegreatercompetitivenessinthemarket.Forexample,differentmowingrobotscanbemadeaccordingtodifferentnatureofworktomeethigherprecisionrequirementsortoavoidunnecessarywasteofsomefunctions.Inthisway,thepriceofroboticmowerscanbereducedtoacertainextent.Robotlawnmowerisaverypromisingmarketproject,itcanbringgreatconveniencetopeople'slife.Butatthesametime,duetoitsadvancedtechnology,itisalsoadifficultprojecttoachievebreakthroughprogress.Therefore,inthisaspectoftheresearch,weneedtomakemoreeffortstoimproveitsshortcomings,toensurethatitcanreallybeputintoproductionapplication.智能割草機(jī)器人的概述:隨著經(jīng)濟(jì)的發(fā)展，各國城市建設(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、足球場草坪、GOLF球場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，近年來我國提出用現(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，希望在不久的將來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)庫做比較，并參照路徑規(guī)劃對移動(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)。智能割草機(jī)器人的研究概況:在智能割草機(jī)器人的研發(fā)領(lǐng)域,國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，是目前最成功的智能割草機(jī)器人產(chǎn)品之一,采用三輪小車的機(jī)構(gòu)，兩個(gè)后輪獨(dú)立驅(qū)動(dòng),前輪為萬向輪,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超聲波傳感器檢測然后簡單繞行,但它不能保證除障礙物外的區(qū)域，缺乏全局地圖的概念,對是否已完成整塊草坪的割草任務(wù)也沒有概念。除此以外還有其它類似的產(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Eleetr—ofux公司的Auotmower,除動(dòng)力采用電池外,還可利用太陽能供電；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。國外的科研機(jī)構(gòu)對割草機(jī)器人展開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,而針對割草機(jī)器人的系統(tǒng)設(shè)計(jì)相對較少。美國專利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)線來進(jìn)行導(dǎo)航。當(dāng)遇到下雨濕地及電源不足等以外情況時(shí),返回車庫,該專利采用超聲波來探測障礙,用震蕩探測器及密碼來防止非法用戶操作機(jī)器；美國專利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，無磁無電流的金屬導(dǎo)線和埋在地下的金屬導(dǎo)線三種方式來指導(dǎo)割草機(jī)器人的移動(dòng),該專利還選用了內(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。國內(nèi)對于割草機(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)了MORO型移動(dòng)割草機(jī)器人，并成功開發(fā)出了MORO.I、MORO.II等若干型割草機(jī)器人樣機(jī)。南京理工大學(xué)對割草機(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，還根據(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)。MORO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，能自動(dòng)生成無信標(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80X51X40cm3，重約50kg，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，如基于Internet的機(jī)器人控制技術(shù)和太陽能草坪割草機(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AS.RF型機(jī)器人，另一部分為自行設(shè)計(jì)的割草機(jī)臺(tái)。此外，江蘇大學(xué)還針對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)。智能割草機(jī)器人研究的必要性:隨著經(jīng)濟(jì)的發(fā)展，草坪業(yè)已經(jīng)成為了我國一種新興的產(chǎn)業(yè)。草坪基本上已經(jīng)在全國城市園林綠化、運(yùn)動(dòng)場建設(shè)中普及應(yīng)用。草坪業(yè)開始了一個(gè)緩慢、平穩(wěn)也是積蓄力量的發(fā)展時(shí)期。這促使草坪業(yè)開始經(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，但國外自動(dòng)割草機(jī)器設(shè)備昂貴的價(jià)格和壟斷的技術(shù)制約了我國在自動(dòng)化和智能化草坪機(jī)械方面的推廣進(jìn)度，因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，也是服務(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)它將工作在開放的非結(jié)構(gòu)化空間內(nèi)，而如何實(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)器人的制造過程中，如果每一個(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題。機(jī)器人智能系統(tǒng)的使用可以有效地對機(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)面地反映出我國自動(dòng)化技術(shù)和機(jī)器人學(xué)的發(fā)展水平，因此開展對智能割草機(jī)器人相關(guān)研究工作是十分必要的。智能割草機(jī)器人本體驅(qū)動(dòng)方案的選擇:割草機(jī)器人屬于戶外移動(dòng)型機(jī)器人，針對該類型的機(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、條件相對惡劣的環(huán)境，也有的移動(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。傳感器件的選擇:移動(dòng)機(jī)器人為了能在