【正文】 look like the ordinary electrical appliances product to enter everyone equally, will bring the considerable market and the economic efficiency for this hightech product.7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。s key.(3) Chinese Journal of Power Sources is vacuums one of robot research work39。s 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 work, 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 autoadapted and the robust sex act39。s application prospect, through will use the blue tooth technology to cross the high digital processor cost transfer to user39。s nonstop 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 plete 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 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 solution, 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 specialpurpose motion control digital processing chip。 ④Cost 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。 ②The interface resistance is small, so that rapid discharge。s status to be very important, may say that it is vacuums robot39。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 motion robot bonds the strategy and the way plan technology is key technologies. Multisensor 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 sensation 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, 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。 ③Is moves in the robot way plan question research based on the behavior motion robot way plan the new trend, is deposes the guidance problem into many relatively independent units is the element immediately, like evades bumps, the track, the goal guidance and so on. Along wit