智能割草机器人工程化过程中的安全性问题的研究
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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。
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.
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。
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.
引文
[1]http://www.opei.mow.org
[2]http://www.epa.gov/opei/pubsinfo.htm
[3]Zu Li,Wang Huakun.A Two-Layer Obstacle-avoidance System for the Covering region Mobile Robot,Proceedings of the International Symposium on Test and Measurement,2003,Vol.6,4533-4536.
[4]杨为民.可靠性维修性保障性总论.北京:国防工业出版社,1994
[5]Asimov I,Fredkel K A.Robots:Machines in Man's Image.New York:Harmony Books,1985
[6]Machine Tool Trade Association.Safeguarding Industrial Robots-Part 1:Basic Principles.London:MTTA,1982
[7]Iskovsky J P.Risk Analysis and Safeguarding Robot Applications.Proceedings of the Robotic Industries Association,Robot Safety Seminar,Dearborn,1985
[8]Linger M,Sjostorm H,Palmers G.How to Design Safety Functions in the Control.System and for the Grippers of Industrial Robot.Proceedings of the 15th International Symposium on Industrial Robots,1985
[9]Kilmer R D.Robot Safety Research:List of Selected References and Research Organizations.Proceedings of the Robot Safety Seminar,Robotic Industries Association(RIA),1985
[10]Etherto.J.Safe Maintenance Guidelines for Robotic Workstation.Morgantown:National Institute for Occupational Safety and Health(NIOSH)Publication,1988
[11]Jiang B C,Otto S H.Procedure Analysis for Robot System Safety.International Journal of Industrial Ergonomics,1990,6(2):95-117
[12]Fox D.Taking a Good,Hard Look at Robotic Safety.Robotics World,1999,17(1):26-29
[13]胡政.机器人安全性工程研究综述.中国机械工程第15卷第4期370-375.
[14]Yamada Y.FTA-based Issues on Securing Human Safety in a Human/robot Coexistence System.Proceedings of the IEEE International Conference on Systems,Man and Cybernetics,Tokyo,1999
[15]Atcitty C B,Robinson D G.Safety Assessment of a Robotic System Handling Nuclear Material.Proceedings of the ASCE Specialty Conference,1996
[16]廖炯生.机器人可靠性维修性安全性.北京:科学出版社,1994
[17]丛明,金立刚,房波.智能割草机器人的研究综述丛明:大连理工大学精密 与特种加工教育部重点实验室.机器人ROBOT Vol.29,No.4,2007
[18]沈娜.基于Internet的户外移动机器人的控制研究[D].南京:南京理工大学,2004.
[19]王金振.太阳能草坪割草机关键技术的研究[D].南京:南京理工大学,2004.
[20]Rob Warren Hicks,Ernest L.Hall.A survey of Robot Lawn Mowers.Proceedings of SPIE.Vol.4197:262-269
[21]郝爱国.故障树定量计算算法研究及计算机实现.河北工业大学硕士学位论文,2005.1
[22]周妍.故障树自动生成系统的研究与开发.大连理工大学硕士学位论文,2005.3
[23]陈永甫.红外辐射红外器件与典型应用.北京:电子工业出版社,2004
[24]陈永甫.红外探测与控制电路.人民邮电出版社,2004
[25]韩芝侠,淡涛,黄庆华.热释电红外传感器的应用.陕西工学院学报,2003(19)
[26]李东生.电子设计自动化与IC设计.高等教育出版社,2004
[27]韩芝侠,淡涛,黄庆华.热释电红外传感器的应用.陕西工学院学报,2003(19)
[28]PeetrVallZnat.芯片制造.电子工业出版社,2004
[29]何希才.传感器及其应用实例[M].北京:机械工业出版社,2004:154-169
[30]刘舒棋,施国梁.基于热释电红外传感器的报警系统.国外电子元器,2005(3):18-20
[31]梁子伊.ISD4000系列语音芯片的单片机控制技术.单片机与嵌入式系统应用,2002,(2).
[32]鲁奇璞,魏丰.ISD4004-16M语音芯片的循环录放电路设计,电子技术应用,2006,(2).
[33]8-bit Microcontroller AT89S52,Atmel Company
[34]ISD4000系列单片语音录放电路.www.atvoc.com.
[35]LY/T1202.4-2001:草坪割草机-试验方法[M].北京:中国标准出版社,2001.11,4-11
[36]梁医,范元勋,王华坤.基于人机工程学的割草机操作及防护系统的设计.机械设计与制造,2005.12,32-34
[37]祖莉,智能割草机器人全区域覆盖运行的控制和动力学特性研究,南京理工大学,2003
[38]胡林,边秀举,阳新玲.草坪科学与管理.第1版.北京:中国农业大学出版社,2001
[39]祖莉,王华坤,岳峰.全区域覆盖移动机器人无标识工作环境的边界建立与 识别,机器人,2005,Vol.27(2),97-101.(EI收录)
[40]刘海陵,红外感雨器的设计与实现,南京信息工程大学硕士学位论文,2005。
[41]王庆安、顾松山、林国安.大气探测学教程[M).北京:气象出版社,1993
[42]金篆芷、王明时.现代传感技术[M].北京:电子工业出版社,1995
[43]赵岩,王哈力,蒋贵龙,王东辉.一种新型红外汽车雨水传感器的设计.技术与应用,2006.8,24-26.
[44]赵岩,王哈力,王东辉.基于模糊控制的汽车智能雨刷系统设计.佳木斯大学学报,2006.10,529-531.
[45]赵金星,割草机器人总体设计与关键技术研究.南京理工大学硕士论文,2007[46]LMD18200 3A,55V H Bridge,National Semiconductor.
[47]PTR8000无线模块应用指导
[48]Single chip 433/868/915 MHz Transceiver nRF905.
[49]http://www.national.com
[50]王耀南.机器人智能控制工程.北京:科学出版社,2004
[51](美)Joseph L.Jones.机器人编程技术.北京:机械工业出版社,2006
[52]萧秋水,文娟.Windows网络编程之VB篇.北京:清华大学出版社,2001
[53]崔彦峰,银华强.精通Visual Basic.NET网络编程.北京:清华大学出版社,2004
[54]陈卫平.全区域覆盖自主移动机器人路径规划与避障的研究,南京理工大学硕士论文,2004
[55]C8051F120 user guide,Cygnal Company.
[56]潘琢金,C8051F120使用手册,2004/12
[57]万光毅,孙九安,蔡建平等.SoC单片机实验、实践与应用设计.北京:北京航空航天大学出版社,2006
[58]章长飞.C8051F系列单片机开发与C语言编程.北京:北京航空航天大学出版社2005
[59](美)Cygnal Integrated Products,Inc.C8051F单片机应用解析.北京:北京航空航天大学出版社.2002
[60]鲍可进.C8051F单片机原理及应用.北京:中国电力出版社,2006
[61]LM628/629 User Guide,National Semiconductor.
[62]Jason Smith,Scott Campbell,Jade Morton.Design and Implementation of a Control Algorithm For an Autonomous Lawnmower,IEEE,2005
[2]http://www.epa.gov/opei/pubsinfo.htm
[3]Zu Li,Wang Huakun.A Two-Layer Obstacle-avoidance System for the Covering region Mobile Robot,Proceedings of the International Symposium on Test and Measurement,2003,Vol.6,4533-4536.
[4]杨为民.可靠性维修性保障性总论.北京:国防工业出版社,1994
[5]Asimov I,Fredkel K A.Robots:Machines in Man's Image.New York:Harmony Books,1985
[6]Machine Tool Trade Association.Safeguarding Industrial Robots-Part 1:Basic Principles.London:MTTA,1982
[7]Iskovsky J P.Risk Analysis and Safeguarding Robot Applications.Proceedings of the Robotic Industries Association,Robot Safety Seminar,Dearborn,1985
[8]Linger M,Sjostorm H,Palmers G.How to Design Safety Functions in the Control.System and for the Grippers of Industrial Robot.Proceedings of the 15th International Symposium on Industrial Robots,1985
[9]Kilmer R D.Robot Safety Research:List of Selected References and Research Organizations.Proceedings of the Robot Safety Seminar,Robotic Industries Association(RIA),1985
[10]Etherto.J.Safe Maintenance Guidelines for Robotic Workstation.Morgantown:National Institute for Occupational Safety and Health(NIOSH)Publication,1988
[11]Jiang B C,Otto S H.Procedure Analysis for Robot System Safety.International Journal of Industrial Ergonomics,1990,6(2):95-117
[12]Fox D.Taking a Good,Hard Look at Robotic Safety.Robotics World,1999,17(1):26-29
[13]胡政.机器人安全性工程研究综述.中国机械工程第15卷第4期370-375.
[14]Yamada Y.FTA-based Issues on Securing Human Safety in a Human/robot Coexistence System.Proceedings of the IEEE International Conference on Systems,Man and Cybernetics,Tokyo,1999
[15]Atcitty C B,Robinson D G.Safety Assessment of a Robotic System Handling Nuclear Material.Proceedings of the ASCE Specialty Conference,1996
[16]廖炯生.机器人可靠性维修性安全性.北京:科学出版社,1994
[17]丛明,金立刚,房波.智能割草机器人的研究综述丛明:大连理工大学精密 与特种加工教育部重点实验室.机器人ROBOT Vol.29,No.4,2007
[18]沈娜.基于Internet的户外移动机器人的控制研究[D].南京:南京理工大学,2004.
[19]王金振.太阳能草坪割草机关键技术的研究[D].南京:南京理工大学,2004.
[20]Rob Warren Hicks,Ernest L.Hall.A survey of Robot Lawn Mowers.Proceedings of SPIE.Vol.4197:262-269
[21]郝爱国.故障树定量计算算法研究及计算机实现.河北工业大学硕士学位论文,2005.1
[22]周妍.故障树自动生成系统的研究与开发.大连理工大学硕士学位论文,2005.3
[23]陈永甫.红外辐射红外器件与典型应用.北京:电子工业出版社,2004
[24]陈永甫.红外探测与控制电路.人民邮电出版社,2004
[25]韩芝侠,淡涛,黄庆华.热释电红外传感器的应用.陕西工学院学报,2003(19)
[26]李东生.电子设计自动化与IC设计.高等教育出版社,2004
[27]韩芝侠,淡涛,黄庆华.热释电红外传感器的应用.陕西工学院学报,2003(19)
[28]PeetrVallZnat.芯片制造.电子工业出版社,2004
[29]何希才.传感器及其应用实例[M].北京:机械工业出版社,2004:154-169
[30]刘舒棋,施国梁.基于热释电红外传感器的报警系统.国外电子元器,2005(3):18-20
[31]梁子伊.ISD4000系列语音芯片的单片机控制技术.单片机与嵌入式系统应用,2002,(2).
[32]鲁奇璞,魏丰.ISD4004-16M语音芯片的循环录放电路设计,电子技术应用,2006,(2).
[33]8-bit Microcontroller AT89S52,Atmel Company
[34]ISD4000系列单片语音录放电路.www.atvoc.com.
[35]LY/T1202.4-2001:草坪割草机-试验方法[M].北京:中国标准出版社,2001.11,4-11
[36]梁医,范元勋,王华坤.基于人机工程学的割草机操作及防护系统的设计.机械设计与制造,2005.12,32-34
[37]祖莉,智能割草机器人全区域覆盖运行的控制和动力学特性研究,南京理工大学,2003
[38]胡林,边秀举,阳新玲.草坪科学与管理.第1版.北京:中国农业大学出版社,2001
[39]祖莉,王华坤,岳峰.全区域覆盖移动机器人无标识工作环境的边界建立与 识别,机器人,2005,Vol.27(2),97-101.(EI收录)
[40]刘海陵,红外感雨器的设计与实现,南京信息工程大学硕士学位论文,2005。
[41]王庆安、顾松山、林国安.大气探测学教程[M).北京:气象出版社,1993
[42]金篆芷、王明时.现代传感技术[M].北京:电子工业出版社,1995
[43]赵岩,王哈力,蒋贵龙,王东辉.一种新型红外汽车雨水传感器的设计.技术与应用,2006.8,24-26.
[44]赵岩,王哈力,王东辉.基于模糊控制的汽车智能雨刷系统设计.佳木斯大学学报,2006.10,529-531.
[45]赵金星,割草机器人总体设计与关键技术研究.南京理工大学硕士论文,2007[46]LMD18200 3A,55V H Bridge,National Semiconductor.
[47]PTR8000无线模块应用指导
[48]Single chip 433/868/915 MHz Transceiver nRF905.
[49]http://www.national.com
[50]王耀南.机器人智能控制工程.北京:科学出版社,2004
[51](美)Joseph L.Jones.机器人编程技术.北京:机械工业出版社,2006
[52]萧秋水,文娟.Windows网络编程之VB篇.北京:清华大学出版社,2001
[53]崔彦峰,银华强.精通Visual Basic.NET网络编程.北京:清华大学出版社,2004
[54]陈卫平.全区域覆盖自主移动机器人路径规划与避障的研究,南京理工大学硕士论文,2004
[55]C8051F120 user guide,Cygnal Company.
[56]潘琢金,C8051F120使用手册,2004/12
[57]万光毅,孙九安,蔡建平等.SoC单片机实验、实践与应用设计.北京:北京航空航天大学出版社,2006
[58]章长飞.C8051F系列单片机开发与C语言编程.北京:北京航空航天大学出版社2005
[59](美)Cygnal Integrated Products,Inc.C8051F单片机应用解析.北京:北京航空航天大学出版社.2002
[60]鲍可进.C8051F单片机原理及应用.北京:中国电力出版社,2006
[61]LM628/629 User Guide,National Semiconductor.
[62]Jason Smith,Scott Campbell,Jade Morton.Design and Implementation of a Control Algorithm For an Autonomous Lawnmower,IEEE,2005