【文章內(nèi)容簡介】 uses the sensor divides into the internal sensor and the exterior sensor, the internal sensor has the encoder, the line accelerometer, the gyroscope, the magic pass 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 installs in robot oneself uses in the sensation external environment information. 4 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 robot 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 position39。s many homogeneity or the erogeny sensor provided was partially inplete observes in the quantity and the related database related information synthesizes, eliminates the redundancy which and the contradiction between the multisensors existed, and performed supplementary, reduced the uncertainty, thus obtained to the object or the environment uniform description, this was any. The sole sensor is unable to obtain. To increases the precision which using the multisensor 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 law, statistical decisionmaking law, DS line or method of reasoning, fuzzy logic law and production pattern rule and so on. Vacuum technical The vacuum cleaner is by the high speed revolving ventilator in anism the vacuum production, thus produces the formidable air current, dust and in dunghill through suction port inspiration anism 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 pany developed uses 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 inanic in gas purging, therefore does not need appendices and so on dust filter, collection dust bag, exhaust pipe. Its principle is forms the low pressure turbulent flow gas using the attached effect, finally slime interception in vacuum cleaner39。s turbulent flow cavity. Chinese Journal of Power Sources The migration power source in vacuums in robot39。s status to be very important, may say that it is vacuums robot39。s life source. Moves the power 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 5 module provides the energy and so on. In this domain, uses the chemical cell achievement to move the power source generally, like leadacid battery, NiCd, NiMi and so on. The ideal power source should be able to have in the discharge process: ① Maintains the constant voltage。 ② The interface resistance is small, so that rapid discharge。 ③ May charge。 ④ Cost low status characteristic. But in fact does not have one 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 selfpossessed lightly and so on characteristics, therefore power source39。s volume weight is also an important c