机械专业外文翻译--自治效用割草机

外文资料原文外文资料原文Autonomous Utility MowerM. ZeitzewINTRODUCTION：This paper describes a project to fully automate a utility mower for a sports-turf application.The target environment selected is that of a professional baseball stadium.The primary goal for this project is to learn about the durability, performance and value of autonomous systems in real use environments as a means of progressing towards a commercial autonomous machine that meets customer needs and application requirements.Potential customer benefits include saving time and labor,permitting the efficient use of less-skilled employees,and allowing skilled personnel to focus on more complex tasks (such as infield mowing and warning track grooming).As researchers, the benefits of choosing the baseball stadium environment are that they are typically characterized by flat,hard terrain and highly controlled.While the performance requirements are still quite challenging,the aforementioned qualities tend relax them considerably as compared to,say, mowing a public golf course.The overall intent is that this system represents the first generation of a family of autonomous machines with increasing capability and performance levels. In recent times,several autonomous consumer mowers have begun to appear on the market from manufacturers including Friendly Robotics,Toro, Husqvarna,Ambrogio, Zucchetti,Electrolux,and Belrobotics.None of these machines is near capable of meeting the requirements of a sportsturf application.There has also been a significant amount of research from academia in the area of autonomous mowing, including Carnegie Melon University (Batavia et. al.,2002; Roth and Batavia,2002) and the University of Florida (Chandler et al.,2000).Also,the Institute of Navigation has been sponsoring a mowing contest for the past two years and this has stirred greater academic interest in the problem domain. More recently,the companies Self-Guided Systems LLC, Michigan,USA and McMurtry Ltd.,Gloucestershire,UK have advertised commercial mowers tailored toward the same application space discussed here.The efforts of these two companies in particular are notable since they have attempted to address the issues of highly accurateprecise mowing patterns in areas with sky obstruction,where GPS-centric navigation systems typically degrade beyond system tolerances. First,a brief review of application-specific requirements is given.This is followed by a description of the system hardware and software.Next,a summary of actual performance is presented and then a review of customer learning accomplished during a season of use by two customers. Finally, the conclusion section ends the paper and discusses future work. STADIUM MOWING：Stadium mowing is considered an art work and generally requires a group of highly skilled groundskeepers working together.While the stadium infield and side line area are usually mowed using a walk-behind mower, the outfield mowing is done using a spinning reel mower. Figure 1. John Deere 2653A utility mowerOutfield mowing patterns come in many varieties,but a common feature is that they are constructed by driving straight lines to produce the desired striping effect .It is imperative that the mowing stripes have uniform width in order to provide a nice look. The striping itself is caused by the blades of grass being pushed in opposing directions and necessitates that adjacent swaths are mowed in opposite directions.Excessive overlap or any gaps between adjacent stripes, and oscillations or other irregularities while driving can ruin the appearance of the field.It was estimated that the composite error in navigation and control (path tracking) needs to stay below 5 cm during mowing in order to produce acceptable results.Cursory evaluation has shown that expert operators of these machines at normal operating speeds achieve this accuracy. The outfield mowing task can itself take several hours depending on the desired pattern and may involve more than one mower operating simultaneously.When two mowers operate concurrently, generally they will be mowing in different directions to produce checkered patterns.In general, each stadium may have different sets of mowing patterns they utilize.Throughout the season, the mowing patterns on the field will change.One reason to change mowing patterns is to prevent excessive turf wear. The checkered mowing is produced by mowing the field in the direction from home plate to center field,and also mowing in the direction from foul pole to foul pole.This picture was taken after a day of testing.During this test,the mower was not actually cutting the grass,the reels were lowered while making the passes but were not spinning;the visible striping effect was produced from the rollers on the front of the reels.译文译文自治效用割草机M.Zeitzew本文描述了一个项目,完全自动化工具为体育草坪割草机的应用程序。选择的目标环境是一个职业棒球体育场。这个项目的主要目的是了解耐用性、性能和价值的自治系统在实际使用环境的发展对商业自治机器,满足客户需求和应用程序需求。潜在客户的好处包括节约时间和劳动力,允许低技能员工的有效使用,并允许技术人员专注于更复杂的任务(如耕地割草和警告跟踪修饰)。作为研究人员,选择棒球体育场环境的好处是,他们通常表现为平坦,地形和高度控制。虽然性能需求仍然相当具有挑战性,前面提到的品质往往大幅放松他们相比,说,割草的公共高尔夫球场。整体的目的是这个系统代表了一个家庭的第一代自主机器与提高能力和性能水平。最近,一些自主消费割草机已开始出现在市场从制造商包括友好的机器人,托罗,Husqvarna的,Ambrogio,Zucchetti,伊莱克斯,Belrobotics。这些机器是附近以满足sportsturf应用程序的要求。也有大量的研究领域的学术自治割草,包括卡内基瓜大学(巴达维亚等人。,2002;罗斯和巴达维亚,2002)和佛罗里达大学(钱德勒et al .,2000)。同时,导航研究所赞助一个割草比赛已经过去的两年里,这引发了更大的学术问题领域的兴趣。最近,公司自导系统LLC密歇根州,美国和马克穆特有限公司,英国格洛斯特郡的广告商业割草机的向这里讨论的相同的应用程序空间。这两家公司的努力尤其显著,因为他们试图解决的问题高度accurateprecise修剪模式在天空阻塞的地区,那里GPS-centric导航系统通常降低系统超出公差。首先,简要回顾特定于应用程序的需求。这是紧随其后的是一个描述系统的硬件和软件。接下来,实际表现的概要介绍,然后回顾客户学习期间完成一个赛季使用两个客户。最后,结论部分结束本文,并讨论未来的工作。体育场割草：体育场割草工作和一般被认为是一种艺术,需要一群高技能的园丁一起工作。在体育场周围的田园和侧线区域通常是使用手推割草机割草,在外场使用一个旋转盘割草机割草)。外场修剪模式有许多品种,但共同的特点是,它们由驱动直线生产所需的分段效应,必须割条纹宽度均匀为了提供一个很好的看。分段本身是由草的叶片被推在相反的方向和需要邻大片割在相反的方向。过度重叠或任何差距相邻条纹,和振荡或其他违规驾驶时可以毁掉的外观。据估计,组合导航和控制误差(路径跟踪)需要低于5厘米在割草,以产生可接受的结果。粗略的评估表明,专家操作这些机器在正常运营速度达到这个精度。外场割草任务本身可以几个小时取决于所需的模式,可能会涉及到多个割草机同时操作。当两个割草机并发操作时,通常他们会割草在不同方向产生的模式。一般来说,每个球场都可能有不同的修剪他们利用模式。整个赛季,在球场上割草模式将改变。割草模式改变的一个原因是防止过度的地盘穿。网纹修剪模式是由割草的方向从本垒到中心领域,也割草的方向杆犯规,犯规。这张照片是经过一天的测试。在这个测试中,割草机实际上并不是割草,卷是降低而使通过但不旋转,可见分段效果产生的辊卷的前面。