附录Home cleaning service-oriented development and current situation of the robot1 Introduction In recent years, with the rapid development of Chinese industry, cleaner production and sales volume has increased significantly in Chinas market has great vitality. With the social progress and development, peoples material and spiritual improvement of the quality of the urgent need to clean from the heavy work out. Thus the birth of a service-oriented home cleaning robots, mobile robots will be cleaning technology and the organic integration of technology to achieve the family hotels, office buildings and other indoor environment clean and semi-automatic or fully automatic, so has a broad market prospects. In this paper, cleaning robots, on the domestic and foreign research and its key technologies are introduced, and the development of cleaning robots in the near future a number of issues were discussed.2 Cleaning robot research at home and abroad In Europe America and Japan and Other developed countries, the development of cleaning robots earlier, is also a wider range of applications, the last two years, has developed a wide range of market-oriented intelligent cleaning robot.2.1 Japan produced vacuum cleaner Japan some company to promote the family in 2002 to use vacuum cleaner robots trial seize the opportunity 1 in the first half of the year. This robot may when according to the room shape the floor condition, the quantity of refuse carries on the automatic cleaning the work, first along the room all around will walk a memory room shape, then, while avoids the obstacle by vertical, the crosswise way back and forth to move carries on cleanly after the clearing completes, the automatic stopping This vacuum cleaner robot equipment has 50 sensors, but on the other hand on the one hand walks automatically carries on the cleaning. It uses the light and the ultrasonic wave range sensor, the feeling presses the sensor to avoid the obstacle; Built-in has the rotation sensor, uses for to control walks the posture maintains decides marches forward the direction; Has installed the rudder sensor, may examine marches forward the direction error which produces as a result of the rug pattern influence, even if therefore, in the shop has on rugs floor also to be able the straight line advance. In addition, this robot in vivo also installs has prevents heat source and so on dropping variance sensor which, sensation warming stove from high place and so on. Stair rolls down thermal seniors, to examine own receives the external force size definite weight sensor and the skid resistant sensor, the examination increase power load sensor. It may most little maintain with the ordinary obstacle 10 cm the distances but when surveys the heat source, will handle jointly with the heat source will maintain at least 50 cm the distances. Its contour size for wide 292 mm, long 367 mm, high 265 mm, heavy 9.8 kg, the maximum traveling speed is 30 cm/s. When the sensor survey on floors trash, will enhance the suction to usual15 times, simultaneously the traveling speed drop will be 15 cm/s, will carry on the cleaning carefully. Will not be having trash place by the 30cm/s speed migration the suction also 1O reduce, a charge may work 55 min will sweep clear 80 m2 the rooms, will vacuum the power is 90W.2.2 Australias V4 vacuums robot Australia some company also to develop may go automatically and clean the room the V4 robot. This kind of completely automatic vacuum cleaner surface is smooth, the volume is very small, assumes the circular, the built-in acquisition radar, may search in each kind of room each, will not collide the furniture or other obstacles. Micro processes the small computer to cause it have is turning to roof pinnacle place can survey the direction, choice route of advances ability. So long as place the completely automatic vacuum cleaner in the ground, it then may start to work automatically. Its acquisition radar can surveys away from the recent wall, is being suitable the first wall attracts floor dust the foreign matter all around; Then back and forth moves anomalous again in room other positions, and can before the close obstacle changes rapidly. Should vacuum the robot, because 360has provided the obstacle sensor in main engines periphery, therefore may cleans the ground during the examination wall and obstacle; After cleaning the place which may go, robot on automatic shut-off power source. No matter the room contour and the area size, theARNA guidance algorithm guidance robot all not covers up the region movement in any room to carry on the clearing in all directions, because robot guidance along room periphery, therefore it must found her spatial reference diagram, doesnt the robot need any programming where to teach it to go to. This robot simplicity of operator only has 3 buttons：Starts the conclusion as well as the suspension so long as the people in laid aside simply in needed