ESTIMATION OF ENERGY INDICATORS OF ROBOTIZED LAWN MOWERS

The paper describes the main technical characteristics of an experimental robotic lawn mower. The lawn mower is designed to mow vegetation in small areas without an operator’s involvement. All control functions of the lawn mower, including the selection of the trajectory, the change in the cutting height and the response to an emergency situation are carried out by the on-board processor. In addition, the current information about the operating modes of the mower, as well as its location, is transmitted to the control panel. It is possible to manually adjust the operating modes or provide priority instructions from the same remote control. The lawn mower is driven by two electric motors, and mowing is carried out in an unsupported way. The nature and characteristics of energy consumption by electrified lawn mower devices are analyzed in the paper: an electric motor of the cutting working body drive, traction electric motors, a processor, operating mechanisms and receiving and transmitting communication facilities. The total power of the energy users of the experimental robotic lawn mower at a speed of its forward motion of 0.3 m/s and a radius of cutting working bodies of 0.125 m amounts to 620 W. It has been established that the following consumers determine the energy consumption of an experimental robotic lawn mower (in a decreasing importance order): 80.6% of the motor of the cutting tools, 10.4% of the traction motors, 4.8% of the on-board processor, operating mechanisms (2.9%), radio communication facilities (1.3%). As the radius of the cutting device of a lawn mower increases, the fraction of the onboard processor, operating mechanisms and receiving-transmitting communication facilities decreases exponentially. The capacity of the nickel-cadmium battery has been calculated as well. The authors have come to a conclusion about the feasibility of using batteries that provide continuous power to electrified lawn mowing devices within 20‑30 minutes.本论文阐述了一款实验型自动割草机器人（robotic lawn mower）的核心技术特征。该割草机器人专为无人工干预下的小型区域植被修剪作业设计，其所有控制功能——包括轨迹规划、割草高度调节以及应急工况响应——均由车载处理器（on-board processor）完成。此外，割草机器人的当前作业模式信息与自身位置数据，均会传输至远程控制面板；操作人员可通过同一遥控器手动调整作业模式，或下达优先操作指令。该割草机器人由两台牵引电机驱动，采用无支撑式割草作业模式。本论文同时分析了该电动割草机器人各用电装置的能耗特性与规律，涵盖切割工作机构驱动电机、牵引电机、车载处理器、作业执行机构以及收发通信设备。当该实验型自动割草机器人以0.3 m/s的前进速度、0.125 m的切割工作机构半径作业时，其所有用电设备的总功率为620瓦。研究确定，按能耗占比从高到低排序，以下用电设备主导了该实验型自动割草机器人的整体能耗：切割工具电机占比80.6%，牵引电机占比10.4%，车载处理器占比4.8%，作业执行机构占比2.9%，无线电通信设备占比1.3%。随着割草机器人切割装置半径的增大，车载处理器、作业执行机构以及收发通信设备的能耗占比将呈指数级下降。本研究同时测算出了该机器人配套镍镉电池（nickel-cadmium battery）的容量，作者最终得出结论：配备可连续为电动割草设备供电20至30分钟的电池具备实际应用可行性。