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1、本科畢業(yè)設(shè)計(jì)外文翻譯本科畢業(yè)設(shè)計(jì)外文翻譯家用服務(wù)型吸塵機(jī)器人的發(fā)展與現(xiàn)狀家用服務(wù)型吸塵機(jī)器人的發(fā)展與現(xiàn)狀HOME CLEANING SERVICE-ORIENTED DEVELOPMENT AND CURRENT SITUATION OF THE ROBOT學(xué)院（部）： 電氣與信息工程學(xué)院 專業(yè)班級(jí)： 電氣 09-2 學(xué)生姓名： # 指導(dǎo)教師： # 2013 年 05 月 30 日1Home cleaning service-oriented development and current situation of the robot1 IntroductionIn recent years,

2、 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 ou

3、t. 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.

4、 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 abroadIn Europe, America and Japan and other developed coun

5、tries, 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 Abroad present situation Australia some company also to develop may go automatically and clean the room the V4 r

6、obot, 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 to have is

7、 turning to the roof pinnacle place can survey the direction, choice route of advances ability. So long as places the completely automatic vacuum cleaner in the ground, it then may start to work automatically. Its acquisition radar can survey is away from the recent wall, is being suitable the first

8、 wall attracts floor dust and 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 360 has provided the obstacle sensor in main engines periphery, therefore may cleans the

9、 ground during 2the 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 a

10、ll 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: Started, the conclusion as well as the suspension, so long as

11、the people it 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. 2.2 Domestic present situation Domestic also started the related research dev

12、elopment work at present, specially was moving robots movement plan and the control aspect has achieved certain achievement, vacuumed the robot for the research development to lay the technology base. Some university developed has developed the omni-directional motion ground cleaning robot, this rob

13、ots 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

14、 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” completely the ground in dust, this kind of robot one time charged works sustain ably for a half hour, had the intelligent power source management function, le

15、ngthened the running time, the average each minute running speed is 15 m. 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, and enables the robot to have the

16、 better function compatibility as the service carrier. At the same time, other colleges and universities to move vacuum the robot also to do the massive research work, has made many progresses.3 Vacuum robots key technologies 3.1 Way plan technology The way plan is the working conditions information

17、 which arrives according to 3the 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

18、 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 differ

19、ent according to the robot gain environmental information way, divides into three type 3 approximately: Based on the model way plan, mainly processes the structures environment, the plan method has the grid law, to be possible the view law, the analysis situs law and so on; Based on the sensor infor

20、mations 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; Is moves in the rob

21、ot way plan question research based on the behavior motion robot way plan the new trend, is decomposes the guidance problem into many relatively independent units is the element immediately, like evades bumps, the track, the goal guidance and so on. Along with the computer technology and the sensor

22、technologys development, the multi-sensor integrations and the information fusion technology has obtained the widespread application on the intelligent robot. Under the non-structurized environment moves the robot is the robot technological development key point, evades based on the multi-sensor inf

23、ormation fusions motion robot bonds the strategy and the way plan technology is key technologies.3.2 Multi-sensor fusion technology To let vacuum the robot normal work, must to the robot position, the posture, the speed and the system internal behavior carries on the monitoring, but also wants the s

24、ensation robot location working conditions the static state and the dynamic information, causes to vacuum the robot corresponding work order and the operation content can adapt the working conditions change naturally. Usually uses the sensor divides into the internal sensor and the exterior sensor,

25、the internal sensor has the encoder, the line accelerometer, the gyroscope, the magnetic compass to urgently need in the control and the monitor robot itself; The exterior sensor including the visual sensor, the ultrasonic sensor, the infrared sensor, the contact and the close sensor and so on insta

26、lls in robot oneself uses in the sensation external environment 4information. From above domestic and foreign vacuumed the robot to be possible to see, vacuums the robot to use the massive sensors, carried on effectively the massive sensor observation information fusion processing, thus caused the r

27、obot to obtain the most massive external environment information, its principal advantage was under the similar observation condition, might coordinate uses many sensors, distributed, in different positions many homogeneity or the neterogeny sensor provided was partially incomplete observes in the q

28、uantity and the related database related information synthesizes, eliminates the redundancy which and the contradiction between the multi-sensors existed, and performed supplementary, reduced the uncertainty, thus obtained to the object or the environment uniform description, this was any. The sole

29、sensor is unable to obtain. To increases the precision which using the multi-sensor fusion technology the motion robot localization, the obstacle recognition, the environment modeling, evade bond and so on to have the influential role. The fusion main method includes: Kaman filtering, Bays estimate

30、law, statistical decision-making law, D-S line or method of reasoning, fuzzy logic law and production pattern rule and so on.3.3 Vacuum technical The vacuum cleaner is by the high speed revolving ventilator in organism the vacuum production, thus produces the formidable air current, dust and in dung

31、hill through suction port inspiration organism in dust filter. Vacuums the system including the dust filter, the collection dust bag, the exhaust pipe as well as other appendices, it vacuums ability to be decided by the air blower rotational speed size. Recently, Australian some company developed us

32、es the new principle the air current dust filter. This vacuum cleaner is an entire loop system, also does not have the exterior gas inspiration, also inorganic in gas purging, therefore does not need appendices and so on dust filter, collection dust bag, exhaust pipe. Its principle is forms the low

33、pressure turbulent flow gas using the attached effect, finally slime interception in vacuum cleaners turbulent flow cavity. 3.4 Chinese Journal of Power Sources The migration power source in vacuums in robots status to be very important, may say that it is vacuums robots life source. Moves the power

34、 source to need at the same time provides the power for the shifting mechanism, provides the stable voltage for the control circuit, is vacuums the operation module and the sensing observation 5module provides the energy and so on. In this domain, uses the chemical cell achievement to move the power

35、 source generally, like lead-acid battery, NiCd, NiMi and so on. The ideal power source should be able to have in the discharge process: Maintains the constant voltage; The interface resistance is small, so that rapid discharge; May charge; Cost low status characteristic. But in fact does not have o

36、ne kind of battery to be possible simultaneously to have the above merit. Because the indoor motion robot requests slightly to have the volume, to be self-possessed lightly and so on characteristics, therefore power sources volume weight is also an important consideration factor, this request design

37、ers choose one kind of volume to be small, the capacity big, may duplicate the use high battery, increases as far as possible vacuums robots non-stop run time.4 Conclusions with forecast To vacuum the robot achievement to serve in the robot domain a new product, will enable the people with ease to c

38、omplete the indoor environment in nobody guarding situation to vacuum and so on clearing. Therefore, should vacuum the robot like to be able the production in enormous quantities to cause cost reduction, enters the market by the low price, will have the giant market prospect, the pertinent data also

39、 forecast what will vacuum the robot is a future several year demand is biggest serves the robot. Although present domestic and foreign is vacuuming the robot research development aspect to make certain progress, but the cost is excessively high and many key technologies question urgently needing so

40、lution, mainly has the following 3 aspects. (1) at present, the price is excessively high is the serious influence vacuums the robot to enter the electrical appliances market the primary factor, to reduce its cost large scale, must develop the intelligent sensor, the special-purpose motion control d

41、igital processing chip; Next, should see the blue tooth technology in the electrical appliances professions application prospect, through will use the blue tooth technology to cross the high digital processor cost transfer to users personal computing, then hopeful will vacuum in a short time robots

42、cost reduction about thousand Yuan.(2) future will vacuum the robot to independent -like and artificial wisdom can melt the development, must therefore unify existing based on motion robot movement plans and the control technology and so on adaptive control, predictive control, fuzzy 6logic, neural

43、network, will study has the safe reliable against collision function intelligent movement plan and the controller and the highly effective sensor fusion algorithm to the environment obstacle, will be realizes in the realistic environment has good auto-adapted and the robust sex acts robots key.(3) C

44、hinese Journal of Power Sources is vacuums one of robot research works core questions, besides for the robot movement, vacuums and the control circuit provides the energy, but must optimize the automatic charge plan, guaranteed that the robot can carry on the charge promptly, can complete automatica

45、lly to assigns the environment to vacuum the duty. During the research enhances the chemical cell service life, reduced volume, one kind of emerging proton exchange membrane fuel cell has the power to be big, the energy is high, the life is long and volume small and so on merits, to move the power s

46、ource to provide one kind of appropriate power source, at present, the Shanghai some University fuel cell research institute was carrying on the beneficial attempt in this aspect. Along with vacuums the robot key technologies and the performance price compared to enhances or the improvement unceasin

47、gly, believed that in the existing software and hardware conditions foundation, in several years will promote the moderate cost the completely automatic to vacuum next the robot product, will then cause to vacuum the robot to be able to look like the ordinary electrical appliances product to enter e

48、veryone equally, will bring the considerable market and the economic efficiency for this high-tech product.7家用服務(wù)型吸塵機(jī)器人的發(fā)展與現(xiàn)狀家用服務(wù)型吸塵機(jī)器人的發(fā)展與現(xiàn)狀1 引言近年來,隨著中國(guó)工業(yè)的快速發(fā)展,吸塵器的產(chǎn)銷量也大幅增加,在我國(guó)市場(chǎng)具有旺盛的生命力。隨著社會(huì)的進(jìn)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工作中解脫出來。由此誕生了一種家用服務(wù)型吸塵機(jī)器人,它將移動(dòng)機(jī)器人技術(shù)和吸塵技術(shù)有機(jī)地融合起來,實(shí)現(xiàn)家庭、賓館、寫字樓等室內(nèi)環(huán)境的半自動(dòng)或全自動(dòng)清潔,因

49、此具有廣闊的市場(chǎng)前景。本文針對(duì)清潔機(jī)器人,就國(guó)內(nèi)外研究現(xiàn)狀及其關(guān)鍵技術(shù)進(jìn)行了介紹,并對(duì)吸塵機(jī)器人近期發(fā)展中的若干問題進(jìn)行了探討。2 國(guó)內(nèi)外吸塵機(jī)器人研究現(xiàn)狀目前在歐美日等發(fā)達(dá)國(guó)家,吸塵機(jī)器人開發(fā)較早,應(yīng)用范圍也較廣,近兩年來,已經(jīng)開發(fā)出多種面向市場(chǎng)的智能吸塵機(jī)器人。2.1 國(guó)外現(xiàn)狀澳大利亞某公司也研制出可自動(dòng)行駛并打掃房間的 V4 型機(jī)器人,這種全自動(dòng)吸塵器表面光滑,體積很小,呈圓形,內(nèi)置搜索雷達(dá),可以搜索各種房間里的每一處,不會(huì)碰撞家俱或其它障礙物。微處理小電腦使它具備在拐至屋角處能探測(cè)方向、選擇前進(jìn)路線的能力。只要將全自動(dòng)吸塵器放在地面上,它便可自動(dòng)開始工作。其搜索雷達(dá)會(huì)探測(cè)出距離最近的墻

50、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(dòng)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(jī)器人由于在主機(jī)的周圍 360配備了障礙物傳感器,因此可以在檢測(cè)墻壁及障礙物的同時(shí)打掃地面;當(dāng)打掃完可以行駛的場(chǎng)所后,機(jī)器人就自動(dòng)關(guān)閉電源。不管房間的外形及面積的大小、ARNA 導(dǎo)航算法引導(dǎo)機(jī)器人在任何房間的所有無(wú)遮掩區(qū)域四處運(yùn)動(dòng)來進(jìn)行清潔工作,因?yàn)闄C(jī)器人導(dǎo)航沿房間的周圍,所以它要?jiǎng)?chuàng)建自己的空間參考圖,機(jī)器人不需要任何編程“教它應(yīng)該去哪里” 。該機(jī)器人操作簡(jiǎn)單,僅有 3 個(gè)按鈕:開始、結(jié)束以及暫停,人們只要簡(jiǎn)單地將它放置在需要清掃的區(qū)域或房間中(這種全自動(dòng)吸塵器機(jī)器人很輕,一

51、只手就可以容易拿起它),按下開始按鈕即可。2.2 國(guó)內(nèi)現(xiàn)狀國(guó)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(dòng)機(jī)器人的運(yùn)動(dòng)規(guī)劃與8控制方面取得了一定的成就,為研究開發(fā)吸塵機(jī)器人奠定了技術(shù)基礎(chǔ)。某大學(xué)開發(fā)研制了全方位移動(dòng)地面清掃機(jī)器人,該機(jī)器人的控制系統(tǒng)能夠準(zhǔn)確解讀遙控信號(hào),并對(duì)機(jī)體下達(dá)工作指令,隨時(shí)接收“眼睛”(即紅外光電開關(guān)和超聲傳感器)感知的四個(gè)方向的外部障礙信息,并據(jù)此要求機(jī)器人做直線或轉(zhuǎn)向運(yùn)動(dòng),行進(jìn)中,它不停轉(zhuǎn)動(dòng)地板刷,把地面上的灰塵全部填進(jìn)“肚”內(nèi),這種機(jī)器人一次充電可持續(xù)工作半小時(shí),具有智能電源管理功能,延長(zhǎng)了運(yùn)行時(shí)間,平均每分鐘行走速度為 15 m。此外,該吸塵機(jī)器人采用開放式機(jī)器人

52、控制結(jié)構(gòu),實(shí)現(xiàn)硬件可擴(kuò)展、軟件可移植、可集成,使得機(jī)器人作為服務(wù)載體具有更好的功能適應(yīng)性。同時(shí),其它院校對(duì)移動(dòng)吸塵機(jī)器人也作了大量研究工作,取得了不少的成果。3 吸塵機(jī)器人的關(guān)鍵技術(shù)3.1 路徑規(guī)劃技術(shù)路徑規(guī)劃就是根據(jù)機(jī)器人所感知到的工作環(huán)境信息,按照某種優(yōu)化指標(biāo),在起始點(diǎn)和目標(biāo)點(diǎn)規(guī)劃出一條與環(huán)境障礙無(wú)碰撞的路徑,并且實(shí)現(xiàn)所需清掃區(qū)域的合理完全路徑覆蓋,其實(shí)質(zhì)就是移動(dòng)機(jī)器人運(yùn)動(dòng)過程中的導(dǎo)航和避碰。機(jī)器人工作環(huán)境不同,分為靜態(tài)結(jié)構(gòu)化環(huán)境、動(dòng)態(tài)巳知環(huán)境和動(dòng)態(tài)不確定環(huán)境。自 20 世紀(jì)70 年代研究以來,移動(dòng)機(jī)器人的路徑規(guī)劃按機(jī)器人獲取環(huán)境信息的方式不同,大致分為三種類型:基于模型的路徑規(guī)劃,主要處

53、理結(jié)構(gòu)化環(huán)境,規(guī)劃方法有柵格法、可視圖法、拓?fù)浞ǖ?基于傳感器信息的路徑規(guī)劃,主要用于非結(jié)構(gòu)化環(huán)境,克服環(huán)境條件或形狀無(wú)法預(yù)測(cè)的因素,方法有人工勢(shì)場(chǎng)法、確定柵格法和模糊邏輯算法等;基于行為的移動(dòng)機(jī)器人路徑規(guī)劃是移動(dòng)機(jī)器人路徑規(guī)劃問題研究中的新動(dòng)向,就是把導(dǎo)航問題分解為許多相對(duì)獨(dú)立的單元即行為基元,如避碰、跟蹤、目標(biāo)制導(dǎo)等。隨著計(jì)算機(jī)技術(shù)和傳感器技術(shù)的發(fā)展,多傳感器集成與信息融合技術(shù)在智能機(jī)器人上獲得了廣泛的應(yīng)用。非結(jié)構(gòu)化環(huán)境下移動(dòng)機(jī)器人是機(jī)器人技術(shù)發(fā)展的重點(diǎn),基于多傳感器信息融合的移動(dòng)機(jī)器人的避障策略及其路徑規(guī)劃技術(shù)是其中的關(guān)鍵技術(shù)。3.2 多傳感器融合技術(shù)為了讓吸塵機(jī)器人正常工作,必須對(duì)機(jī)器

54、人位置、姿態(tài)、速度和系統(tǒng)內(nèi)部狀態(tài)進(jìn)行監(jiān)控,還要感知機(jī)器人所處工作環(huán)境的靜態(tài)和動(dòng)態(tài)信息,使得吸塵機(jī)器人相應(yīng)的工作順序和操作內(nèi)容能自然地適應(yīng)工作環(huán)境的變化。通常采用的傳感器分為內(nèi)部傳感器和外部傳感器,其中內(nèi)部傳感器有編碼器、線加速度計(jì)、陀螺儀、磁羅盤等用于控制和監(jiān)測(cè)機(jī)器人本身;外部傳感器包括視覺傳感器、超聲波傳感器、紅外線傳感器、接觸和接近傳感器等安裝在機(jī)器人自身用于感知外部環(huán)境9信息。從上述國(guó)內(nèi)外吸塵機(jī)器人可以看出,吸塵機(jī)器人都采用了大量的傳感器,有效地把大量的傳感器觀測(cè)信息進(jìn)行融合處理,從而使機(jī)器人獲得最大量的外部環(huán)境信息,其主要優(yōu)點(diǎn)就是在同樣的觀測(cè)條件下,可以協(xié)調(diào)使用多個(gè)傳感器,把分布在不同

55、位置的多個(gè)同質(zhì)或異質(zhì)傳感器所提供的局部不完整觀測(cè)量及相關(guān)數(shù)據(jù)庫(kù)中的相關(guān)信息加以綜合,消除多傳感器間存在的冗余和矛盾,并加以互補(bǔ),降低不確定性,從而獲得對(duì)物體或環(huán)境的一致性描述,這都是任何單一傳感器所無(wú)法獲得的。運(yùn)用多傳感器融合技術(shù)對(duì)提高移動(dòng)機(jī)器人定位、障礙物識(shí)別、環(huán)境建模、避障的精度等具有重要作用。融合的主要方法有: Kalman 濾波法、Bayes 估計(jì)法、統(tǒng)計(jì)決策法、D-S 推理法、模糊邏輯法及產(chǎn)生式規(guī)則等。3.3 吸塵技術(shù)真空吸塵器是由高速旋轉(zhuǎn)的風(fēng)扇在機(jī)體內(nèi)形成真空從而產(chǎn)生強(qiáng)大的氣流,將塵埃和臟物通過吸口吸入機(jī)體內(nèi)的濾塵袋內(nèi)。吸塵系統(tǒng)包括濾塵器、集塵袋、排氣管以及其它一些附件,其吸塵能力

56、取決于風(fēng)機(jī)轉(zhuǎn)速的大小。最近,澳大利亞某公司開發(fā)出采用新原理的氣流濾塵器。這個(gè)吸塵器是一個(gè)全封閉系統(tǒng),既無(wú)外部氣體吸入,也無(wú)機(jī)內(nèi)氣體排除,所以就無(wú)需濾塵器、集塵袋、排氣管等附件。其原理是利用附壁效應(yīng)去形成低壓渦流氣體,最后將沉渣截留于吸塵器內(nèi)的渦流腔內(nèi)。3.4 電源技術(shù)移動(dòng)電源在吸塵機(jī)器人中的地位十分重要,可以說它是吸塵機(jī)器人的生命源。移動(dòng)電源需同時(shí)為移動(dòng)機(jī)構(gòu)提供動(dòng)力,為控制電路提供穩(wěn)定的電壓,為吸塵操作模塊及傳感觀測(cè)模塊提供能源等。在這一領(lǐng)域,一般采用化學(xué)電池作為移動(dòng)電源,如鉛酸電池、NiCd、NiMi 等。理想的電源在放電過程中應(yīng)該能夠具備:保持恒定的電壓;內(nèi)阻小以便快速放電;可充電;成本低

57、等特點(diǎn)。但實(shí)際上沒有一種電池可同時(shí)具備上述優(yōu)點(diǎn)。由于室內(nèi)移動(dòng)機(jī)器人要求具有體積小、自重輕等特點(diǎn),所以電源的體積重量也是一個(gè)重要的考慮因素,這就要求設(shè)計(jì)人員選擇一種體積小、容量大、可重復(fù)使用性高的電池,盡可能增加吸塵機(jī)器人的不間斷工作時(shí)間。4 結(jié)論與展望吸塵機(jī)器人作為服務(wù)機(jī)器人領(lǐng)域中的一個(gè)新產(chǎn)品,將使人們能在無(wú)人看守情況下輕松地完成室內(nèi)環(huán)境的吸塵等清潔工作。因此,該吸塵機(jī)器人如能大批量生產(chǎn)使成本降低,以低價(jià)格進(jìn)入市場(chǎng),將會(huì)具有巨大的市場(chǎng)前景,有關(guān)資料也預(yù)測(cè)吸10塵機(jī)器人是未來幾年需求量最大的是服務(wù)機(jī)器人。盡管目前國(guó)內(nèi)外在吸塵機(jī)器人研究開發(fā)方面已取得一定的成果,但成本過高和許多關(guān)鍵技術(shù)問題急待解決

58、,主要有以下 3 個(gè)方面。(1)目前,價(jià)格過高是嚴(yán)重影響吸塵機(jī)器人打入家電市場(chǎng)的主要因素,為了大幅度降低其成本,必須開發(fā)智能傳感器、專用運(yùn)動(dòng)控制的數(shù)字處理芯片;其次,應(yīng)該看到藍(lán)牙技術(shù)在家電行業(yè)的應(yīng)用前景,通過采用藍(lán)牙技術(shù)將過高的數(shù)字處理器成本轉(zhuǎn)移到用戶的個(gè)人電腦上,則有望在短期內(nèi)將吸塵機(jī)器人的成本降低在千元左右。(2)未來的吸塵機(jī)器人將向自主式和人工智能化發(fā)展,因此必須結(jié)合現(xiàn)有的基于自適應(yīng)控制、預(yù)測(cè)控制、模糊邏輯、神經(jīng)網(wǎng)絡(luò)等移動(dòng)機(jī)器人運(yùn)動(dòng)規(guī)劃和控制技術(shù),研究對(duì)環(huán)境障礙物具有安全可靠的防碰撞功能的智能運(yùn)動(dòng)規(guī)劃與控制器及高效的傳感器融合算法,是在現(xiàn)實(shí)環(huán)境中實(shí)現(xiàn)具有良好的自適應(yīng)性和魯棒性行為的機(jī)器人

59、的關(guān)鍵。 (3)電源技術(shù)是吸塵機(jī)器人研究工作的核心問題之一,除了為機(jī)器人運(yùn)動(dòng)、吸塵及控制電路提供能量外,還需優(yōu)化自動(dòng)充電方案,保證機(jī)器人能及時(shí)進(jìn)行充電,能夠自動(dòng)完成對(duì)指定環(huán)境的吸塵任務(wù)。在研究提高化學(xué)電池使用壽命、縮小體積的同時(shí),一種新興的質(zhì)子交換膜燃料電池具有功率大、能量高、壽命長(zhǎng)和體積小等優(yōu)點(diǎn),為移動(dòng)電源提供了一種合適的電源,目前,上海某大學(xué)燃料電池研究所在這方面進(jìn)行著有益的嘗試。隨著吸塵機(jī)器人關(guān)鍵技術(shù)和性能價(jià)格比的不斷提高或改進(jìn),相信在現(xiàn)有的軟硬件條件的基礎(chǔ)上,未來幾年內(nèi)就會(huì)推出價(jià)格適中的全自動(dòng)吸塵機(jī)器人產(chǎn)品,進(jìn)而使吸塵機(jī)器人能像普通家電產(chǎn)品一樣走進(jìn)千家萬(wàn)戶,為這一高新技術(shù)產(chǎn)品帶來可觀的市場(chǎng)和經(jīng)濟(jì)效益。