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附 錄
Present situation and development of cleaning robot
Cleaning robot has been around for two or three years, research, development and production of Japan and South Korea the United States and European countries are committed to cleaning robot, they believe that the cleaning robot will be the home robot into ordinary family first successful precedent. Recently Chinese some enterprises have begun the related research, and successfully developed a cleaning robot own. But throughout the world, the cleaning robot prices are high, technology also has not been understood by most people, so I hope that through this article to let everyone have a preliminary understanding of the cleaning robot.
Research background:
US South Korea and Europe and the recent Chinese have pulled out of the cleaning robot respectively, this technology is increasingly mature, understanding but not for most people, many related technologies to outsiders or distant, in the network and the publication of articles related to less and less, it is necessary to this a new technology for some explanation.
Classification of cleaning robot
The robot cleaner technology is not fully mature now, classification of cleaning robot is not too clear, but according to the function can be divided into four types:
1, domestic floor cleaning robot;
2, building floor cleaning robot;
3, glass wall cleaning robot;
4, other uses of the cleaning robot.
In this category, household floor cleaning robot and building floor cleaning robot appears to be the same, but they are not the same in practical use..
According to the travel navigation mode can also be divided into five categories:
1 Infrared markers, cleaning robot;
2 markers, ultrasonic cleaning robot;
3, laser marking cleaning robot;
4, scent marking cleaning robot;
5 other markers, way of cleaning robot.
The working mechanism of cleaning robot
Cleaning robot most is to rely on sensors to detect, motor driving wheel forward, with differential way round the corner. Sensor cleaning robot is introduced in detail below under:
1, work environment:
Some cleaning robot can be measured on the working environment, such as trilobites cleaning robot Electrolux can use ultrasonic to measure the size of the room, and set up the room cleaning map in the work process, develop the best cleaning path. The cleanliness of cleaning robot most can use the sensor to detect the ground, so as to choose the cleaning rate to adjust the cleaning degree.
2, the obstacle reaction:
Most of the cleaning robot can respond to the obstacles, there is the use of touch in touch of obstacles (walls or furniture), back and adjust the angle to try again to steer clear of obstacles to work. Some use infrared or ultrasonic sensor, measuring machine and obstacle distance, and maintain a safe distance without collision sweeping along the barrier. Below the cleaning robot is provided with a infrared or ultrasonic sensors, can prevent the cleaning robot falls from the high place, when the machine is in front of the bottom sensor measurement to the robot and the ground height exceeds the set value, the robot will be back to adjust the angle to try again, until you find the safe path. The market there are examples of Sanmei technology steward's series of cleaning robot.
Position 3, positioning robot:
Most of the cleaning robot will be equipped with or for the purchase of "virtual wall", to make a wall cleaning robot virtual wall using two infrared transmitters or magnetic sensor, thus limiting the work area to protect the robot or to protect privacy. When the robot is insufficient power, it will send out infrared or scent marking work stop location and clean the ground, ultrasonic environment the location and the use of ultrasound in the record, will automatically find the mark to continue to work with the sensor to find and return berth after charging. In addition, the building with floor cleaning robot will be finished in a clean a floor, using infrared find an elevator to the next floor, this is the building with a floor cleaning robots and household floor cleaning robot difference.
Also use a special cleaning robot -- glass wall cleaning robot is used for tracks, the bulge bracket in the glass walls of the fixed and mobile, sensor detection or programmed to mobile cleaning.
General cleaning cleaning robot is divided into two kinds, one is to clean the dust, two. Cleaning is to assist the dust, household floor cleaning robot cleaning brush will dust and small rubbish to suction mouth, and building floor cleaning robot can clean the large garbage. Vacuum depends mainly on the motor to produce vacuum garbage, the garbage box garbage into the machine, and finally return to the berth to dump.
The advantages of cleaning robot:
1, time saving, labor saving: full automatic control of the cleaning process, reduce the operating burden,.
2, low noise: a loud noise from other household cleaner production,.
3, air purification: built-in special filter, dust purification rate is high, high cleaning efficiency.
4, portable: flat design, can clean to the ordinary vacuum cleaners cleaning not dead.
Future development of cleaning robot:
Cleaning robot because of strong practicability and development prospect is very good, but reduce the cost and improve the function of the development of the road is needed to solve the problem, specifically for the following and point:
1, clean the path is completely covered and cleaning clean degree;
2, walk the way of improvement and travel speed;
3, structure optimization and size;
4, increase efficiency, improve the working time and reduce the charging time.
5, program optimization;
6, functional diversification and Realization of wet scavenging;
7, to achieve the best sensing system.
清潔機(jī)器人的現(xiàn)狀及發(fā)展
清潔機(jī)器人面世已有兩三年了，美日韓及歐洲各國都致力于清潔機(jī)器人的研究、開發(fā)和生產(chǎn)，他們都相信清潔機(jī)器人將會是家用機(jī)器人走入普通家庭第一次成功先例。最近中國一些企業(yè)也開始了相關(guān)的研究，并成功的研制出了自己的清潔機(jī)器人。但縱觀全世界，清潔機(jī)器人價格都居高不下，相關(guān)技術(shù)也并未被大多數(shù)人所了解，所以我希望借這篇文章讓大家對清潔機(jī)器人有初步的了解。
研究背景：
美日韓及歐洲各國還有最近的中國都相繼退出了各自的清潔機(jī)器人，這項(xiàng)技術(shù)也在日益走向成熟，但卻并未為大多數(shù)人了解，許多相關(guān)的技術(shù)在外人看來還是遙不可及的，在網(wǎng)絡(luò)及出版物中相關(guān)的文章少之又少，這就需要對這一新型的技術(shù)進(jìn)行一些說明。
清潔機(jī)器人的分類
在清潔機(jī)器人技術(shù)還未完全成熟的現(xiàn)在，清潔機(jī)器人的分類還不太明確，但就依功能大致可以分為四種：
1、 家庭用地面清潔機(jī)器人；
2、 大樓用地面清潔機(jī)器人；
3、 玻璃外墻用清潔機(jī)器人；
4、 其它用途清潔機(jī)器人。
在這分類中，家庭用地面清潔機(jī)器人和大樓用地面清潔機(jī)器人看來似乎是一樣的，但是在實(shí)際使用中它們是不一樣的。
根據(jù)行進(jìn)導(dǎo)航的方式還可以分為五類：
1、紅外標(biāo)記清潔機(jī)器人；
2、超聲波標(biāo)記清潔機(jī)器人；
3、激光標(biāo)記清潔機(jī)器人；
4、氣味標(biāo)記清潔機(jī)器人；
5、其它標(biāo)記途徑清潔機(jī)器人。
清潔機(jī)器人的工作機(jī)理
大多數(shù)的清潔機(jī)器人是依靠傳感器進(jìn)行偵測，用電機(jī)驅(qū)動滾輪前進(jìn)，用差速的方式拐彎。下面詳細(xì)介紹下清潔機(jī)器人的傳感器的作用：
1、 測算工作環(huán)境：
有的清潔機(jī)器人可以對工作環(huán)境進(jìn)行測算，如伊萊克斯的三葉蟲清潔機(jī)器人可以使用超聲波對房間的尺寸進(jìn)行測量，并在工作過程中建立房間的清掃地圖，制定最佳清掃路徑。大多數(shù)的清潔機(jī)器人都可以使用傳感器偵測地面的清潔程度，從而選擇清掃速率來調(diào)節(jié)清掃清潔程度。
2、對障礙物反應(yīng)：
大部分的清潔機(jī)器人都可以對障礙物做出反應(yīng)，有的是使用觸感在碰觸到障礙物（墻體或家具）后，后退并調(diào)整行進(jìn)角度再次嘗試?yán)@開障礙物繼續(xù)工作。有的是使用紅外或超聲波傳感，測量機(jī)器與障礙物間的距離，再保持不碰撞的安全距離進(jìn)行沿障礙物清掃。在少數(shù)的清潔機(jī)器人下方也安有紅外或超聲波傳感器，可以防止清潔機(jī)器人從高處掉落，當(dāng)機(jī)器前方的底部傳感器測量到機(jī)器人與地面的高度超過設(shè)定值時，機(jī)器人就會后退調(diào)整角度再次嘗試，直至找到安全路徑為止。市場上的例子有三美科技的管家姆系列保潔機(jī)器人。
3、定位機(jī)器人位置：
大多數(shù)清潔機(jī)器人都會配備或供選購“虛擬墻”，使用兩個紅外發(fā)射器或磁感應(yīng)器來給清潔機(jī)器人制造一堵虛擬的墻，從而限定其工作區(qū)域來保護(hù)機(jī)器人或保護(hù)主人隱私。當(dāng)機(jī)器人電力不足是，其會發(fā)出紅外或氣味標(biāo)記工作停止地點(diǎn)和已清潔地面，還有的用超聲波記錄下該地點(diǎn)的超聲波環(huán)境，在用傳感器找到并返回泊位器充電后就會自動找到標(biāo)記地繼續(xù)工作。此外大樓用地面清潔機(jī)器人還會在清潔完一個樓層后，用紅外找到電梯去往下一個樓層工作，這就是大樓用地面清潔機(jī)器人和家庭用地面清潔機(jī)器人之間的一個區(qū)別了。
還用一種特殊的清潔機(jī)器人——玻璃外墻用清潔機(jī)器人是使用軌道進(jìn)行移動，其會在玻璃外墻上的凸起支架上固定和移動，用傳感器偵測或?qū)崿F(xiàn)編好的程序移動清掃。
一般的清潔機(jī)器人清掃方式分為兩種，一是清掃，二是吸塵。清掃是用來輔助吸塵的，家庭用地面清潔機(jī)器人的清掃刷會將灰塵及一些小垃圾掃到吸塵口下，而大樓用地面清潔機(jī)器人則可清掃大型的垃圾。吸塵主要靠電機(jī)產(chǎn)生真空吸取垃圾，將垃圾裝進(jìn)機(jī)器的垃圾盒內(nèi)，最后返回泊位進(jìn)行傾倒。
清潔機(jī)器人的優(yōu)點(diǎn)：
1、省時、省力：整個清潔過程全部自動控制，減輕操作負(fù)擔(dān)，。
2、低噪音：有別于其他家用吸塵器產(chǎn)生的震耳噪聲，。
3、凈化空氣：內(nèi)置特制過濾器，粉塵凈化率高,清掃效率高。
4、輕便小巧：扁平設(shè)計，能打掃到普通吸塵器清理不到的死角。
清潔機(jī)器人的發(fā)展前景：
清潔機(jī)器人因?yàn)槠鋵?shí)用性強(qiáng)而發(fā)展前景十分好，但是成本的降低和功能上的完善是其發(fā)展路上急需解決的問題，具體為以下及點(diǎn)：
1、清掃路徑的完全覆蓋和清掃的潔凈程度；
2、行走方式改進(jìn)和行走速度提高；
3、結(jié)構(gòu)優(yōu)化和體積縮??；
4、提高效率、提高工作時間和降低充電時間。
5、程序優(yōu)化；
6、功能多樣化和實(shí)現(xiàn)濕掃；
7、實(shí)現(xiàn)最佳的傳感系統(tǒng)。
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