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1、外文資料原文 外文資料原文 Autonomous Utility Mower M. Zeitzew INTRODUCTION： This paper describes a project to fully automate a utility mower for a sports-turf application.The target environment selected is that of a professional baseball stadium.The primary goal for this project is to learn about the durab

2、ility, performance and value of autonomous systems in real use environments as a means of progressing towards a commercial autonomous machine that meets customer needs and application requirements.Potential customer benefits include saving time and labor,permitting the efficient use of less-skilled

3、employees,and allowing skilled personnel to focus on more complex tasks (such as infield mowing and warning track grooming).As researchers, the benefits of choosing the baseball stadium environment are that they are typically characterized by flat,hard terrain and highly controlled.While the perform

4、ance requirements are still quite challenging,the aforementioned qualities tend relax them considerably as compared to,say, mowing a public golf course.The overall intent is that this system represents the first generation of a family of autonomous machines with increasing capability and performance

5、 levels. In recent times,several autonomous consumer mowers have begun to appear on the market from manufacturers including Friendly Robotics,Toro, Husqvarna,Ambrogio, Zucchetti,Electrolux,and Belrobotics.None of these machines is near capable of meeting the requirements of a sportsturf applicati

6、on.There has also been a significant amount of research from academia in the area of autonomous mowing, including Carnegie Melon University (Batavia et. al.,2002; Roth and Batavia,2002) and the University of Florida (Chandler et al.,2000).Also,the Institute of Navigation has been sponsoring a mowing

7、 contest for the past two years and this has stirred greater academic interest in the problem domain. More recently,the companies Self-Guided Systems LLC, Michigan,USA and McMurtry Ltd.,Gloucestershire,UK have advertised commercial mowers tailored toward the same application space discussed here.Th

8、e efforts of these two companies in particular are notable since they have attempted to address the issues of highly accurateprecise mowing patterns in areas with sky obstruction,where GPS-centric navigation systems typically degrade beyond system tolerances. First,a brief review of application-s

9、pecific requirements is given.This is followed by a description of the system hardware and software.Next,a summary of actual performance is presented and then a review of customer learning accomplished during a season of use by two customers. Finally, the conclusion section ends the paper and discus

10、ses future work. STADIUM MOWING： Stadium mowing is considered an art work and generally requires a group of highly skilled groundskeepers working together.While the stadium infield and side line area are usually mowed using a walk-behind mower, the outfield mowing is done using a spinning reel m

11、ower. Figure 1. John Deere 2653A utility mower Outfield mowing patterns come in many varieties,but a common feature is that they are constructed by driving straight lines to produce the desired striping effect .It is imperative that the mowing stripes have uniform width in order to provide a nice

12、 look. The striping itself is caused by the blades of grass being pushed in opposing directions and necessitates that adjacent swaths are mowed in opposite directions.Excessive overlap or any gaps between adjacent stripes, and oscillations or other irregularities while driving can ruin the appearanc

13、e of the field.It was estimated that the composite error in navigation and control (path tracking) needs to stay below 5 cm during mowing in order to produce acceptable results.Cursory evaluation has shown that expert operators of these machines at normal operating speeds achieve this accuracy. Th

14、e outfield mowing task can itself take several hours depending on the desired pattern and may involve more than one mower operating simultaneously.When two mowers operate concurrently, generally they will be mowing in different directions to produce checkered patterns.In general, each stadium may ha

15、ve different sets of mowing patterns they utilize.Throughout the season, the mowing patterns on the field will change.One reason to change mowing patterns is to prevent excessive turf wear. The checkered mowing is produced by mowing the field in the direction from home plate to center field,and al

16、so mowing in the direction from foul pole to foul pole.This picture was taken after a day of testing.During this test,the mower was not actually cutting the grass,the reels were lowered while making the passes but were not spinning;the visible striping effect was produced from the rollers on the fro

17、nt of the reels. 譯文 譯文 自治效用割草機(jī) M.Zeitzew 本文描述了一個(gè)項(xiàng)目,完全自動(dòng)化工具為體育草坪割草機(jī)的應(yīng)用程序。選擇的目標(biāo)環(huán)境是一個(gè)職業(yè)棒球體育場(chǎng)。這個(gè)項(xiàng)目的主要目的是了解耐用性、性能和價(jià)值的自治系統(tǒng)在實(shí)際使用環(huán)境的發(fā)展對(duì)商業(yè)自治機(jī)器,滿足客戶需求和應(yīng)用程序需求。潛在客戶的好處包括節(jié)約時(shí)間和勞動(dòng)力,允許低技能員工的有效使用,并允許技術(shù)人員專注于更復(fù)雜的任務(wù)(如耕地割草和警告跟蹤修飾)。作為研究人員,選擇棒球體育場(chǎng)環(huán)境的好處是,他們通常表現(xiàn)為平坦,地形和高度控制。雖然性能需求仍然相當(dāng)具有挑戰(zhàn)性,前面提到的品質(zhì)往往大幅放松他們相比,說(shuō),割草的公共高爾夫

18、球場(chǎng)。整體的目的是這個(gè)系統(tǒng)代表了一個(gè)家庭的第一代自主機(jī)器與提高能力和性能水平。 最近,一些自主消費(fèi)割草機(jī)已開(kāi)始出現(xiàn)在市場(chǎng)從制造商包括友好的機(jī)器人,托羅,Husqvarna的,Ambrogio,Zucchetti,伊萊克斯,Belrobotics。這些機(jī)器是附近以滿足sportsturf應(yīng)用程序的要求。也有大量的研究領(lǐng)域的學(xué)術(shù)自治割草,包括卡內(nèi)基瓜大學(xué)(巴達(dá)維亞等人。,2002;羅斯和巴達(dá)維亞,2002)和佛羅里達(dá)大學(xué)(錢(qián)德勒et al .,2000)。同時(shí),導(dǎo)航研究所贊助一個(gè)割草比賽已經(jīng)過(guò)去的兩年里,這引發(fā)了更大的學(xué)術(shù)問(wèn)題領(lǐng)域的興趣。最近,公司自導(dǎo)系統(tǒng)LLC密歇根州,美國(guó)和馬克穆特有限公司,

19、英國(guó)格洛斯特郡的廣告商業(yè)割草機(jī)的向這里討論的相同的應(yīng)用程序空間。這兩家公司的努力尤其顯著,因?yàn)樗麄冊(cè)噲D解決的問(wèn)題高度accurateprecise修剪模式在天空阻塞的地區(qū),那里GPS-centric導(dǎo)航系統(tǒng)通常降低系統(tǒng)超出公差。 首先,簡(jiǎn)要回顧特定于應(yīng)用程序的需求。這是緊隨其后的是一個(gè)描述系統(tǒng)的硬件和軟件。接下來(lái),實(shí)際表現(xiàn)的概要介紹,然后回顧客戶學(xué)習(xí)期間完成一個(gè)賽季使用兩個(gè)客戶。最后,結(jié)論部分結(jié)束本文,并討論未來(lái)的工作。 體育場(chǎng)割草： 體育場(chǎng)割草工作和一般被認(rèn)為是一種藝術(shù),需要一群高技能的園丁一起工作。在體育場(chǎng)周?chē)奶飯@和側(cè)線區(qū)域通常是使用手推割草機(jī)割草,在外場(chǎng)使用一個(gè)旋轉(zhuǎn)盤(pán)割草機(jī)割草)

20、。 外場(chǎng)修剪模式有許多品種,但共同的特點(diǎn)是,它們由驅(qū)動(dòng)直線生產(chǎn)所需的分段效應(yīng),必須割條紋寬度均勻?yàn)榱颂峁┮粋€(gè)很好的看。分段本身是由草的葉片被推在相反的方向和需要鄰大片割在相反的方向。過(guò)度重疊或任何差距相鄰條紋,和振蕩或其他違規(guī)駕駛時(shí)可以毀掉的外觀。據(jù)估計(jì),組合導(dǎo)航和控制誤差(路徑跟蹤)需要低于5厘米在割草,以產(chǎn)生可接受的結(jié)果。粗略的評(píng)估表明,專家操作這些機(jī)器在正常運(yùn)營(yíng)速度達(dá)到這個(gè)精度。 外場(chǎng)割草任務(wù)本身可以幾個(gè)小時(shí)取決于所需的模式,可能會(huì)涉及到多個(gè)割草機(jī)同時(shí)操作。當(dāng)兩個(gè)割草機(jī)并發(fā)操作時(shí),通常他們會(huì)割草在不同方向產(chǎn)生的模式。一般來(lái)說(shuō),每個(gè)球場(chǎng)都可能有不同的修剪他們利用模式。整個(gè)賽季,在球場(chǎng)上割草模式將改變。割草模式改變的一個(gè)原因是防止過(guò)度的地盤(pán)穿。 網(wǎng)紋修剪模式是由割草的方向從本壘到中心領(lǐng)域,也割草的方向桿犯規(guī),犯規(guī)。這張照片是經(jīng)過(guò)一天的測(cè)試。在這個(gè)測(cè)試中,割草機(jī)實(shí)際上并不是割草,卷是降低而使通過(guò)但不旋轉(zhuǎn),可見(jiàn)分段效果產(chǎn)生的輥卷的前面。