智能割草机器人工程化过程中的安全性问题的研究

【作者】 崔业兵；

【导师】 王华坤；

【作者基本信息】 南京理工大学 ， 机械设计及理论， 2008， 硕士

【摘要】 本文以全区域覆盖智能割草机器人MORO-Ⅱ为研究对象,主要研究了智能割草机器人工程化过程中的安全性问题。首先,本文在深入分析智能割草机器人MORO-Ⅱ系统的功能、结构、原理、故障状态、故障因素等的基础上,首次引入智能割草机器人的故障树分析(FTA)研究。对智能割草机器人MORO-Ⅱ系统潜在故障因素进行分析,探讨智能割草机器人在工程化中存在的安全性问题,并提出解决主要安全性问题的方案。这种研究方法不仅对割草机器人的安全性研究是个创新,也给其他自主移动机器人的安全性研究提供思路。其次,充分考虑到智能割草机器人的工程实用性,分别围绕割草机器人对人及其他动物的安全性问题、割草机器人自身的安全性问题进行了深入研究,提出了解决问题的方案。方案主要包括:基于热释电传感器的人体感应系统、智能语音提示系统、雨水感应器、电机过流监测、基于PTR8000的无线通信模块设计。最后,对智能割草机器人安全系统和控制系统进行了集成,并提出了基于安全性的行为控制策略。本文的研究为解决智能割草机器人工程化过程中的安全性问题,提供了一种低成本、切实可行的设计方案,具有一定的理论意义和实用价值。更多还原

【Abstract】 The safety problems of the intelligent robomower (IRM) in the process of engineering are mainly researched in this thesis basing on the whole-region coverage intelligent robomower MORO-II.Firstly, It is the first time that the research of FTA (Fault Tree Analysis) for IRM is introduced, after analyzing the IRM MORO-II system’s function, structure, principles, the state of failure, the factors of failure and so on in detail. Using the method of FTA (Fault Tree Analysis) analyze the potential fail factors of the intelligent robomower MORO-II, sum up the main problems impacting the safety of the robomower and put forward some solutions for the safety problems of the robomower. This research method is not only an innovation for the safety of IRM, but also a research ideas for the safety of other autonomous mobile robot.Then the safety problems between the robomower and human and the other animals, also the safety problems of IRM itself are deeply researched. With the full consideration of engineering practicability, the solutions to the safety problems of the robomower are promoted, which including human detection system based on infrared TSD sensor, intelligent voice prompting system, rain sensor, monitoring the current of the motor, designing the wireless communication module based on PTR8000.After all, the Safety-system and control system of the robomower are integrated, and the controlling strategy after thinking about the safety factors is promoted.The research presented in this paper resolve the safety problems of the robomower, also promote a low-cost and practical designing method, which has a certain theoretical and practical value.更多还原