1,Chiyambi
Akupanga kuyambiraNdi luso lomwe siligwirizana lomwe limagwiritsa ntchito mafunde akupanga kuchokera ku gwero lomveka, ndipo akupanga funde la akupanga likuwonekeranso, ndipo mtunda wa chopinga umawerengeredwa potengera liwiro la liwiro la liwiro. Chifukwa cha kuwongolera kwa akupanga, sikukhudzidwa ndi kuunika ndi mtundu wa chinthu choyesedwa, motero amagwiritsidwa ntchito kwambiri pakupewa kupewa ku Robot. Sensor ikhoza kuzindikira zopinga kapena zopinga za njira yoyenda ya loboti, ndikufotokozerani mtunda ndi chinsinsi cha zopinga zina panthawi yeniyeni. Loboti imatha kuchita moyenera malinga ndi zomwe zachitika.
Ndi kukula kwa ukadaulo wa Roboti, maloboti mu magawo osiyanasiyana ofunsira awonekera pamsika, ndipo zofunikira zatsopano zimayikidwa mtsogolo masensa. Momwe mungasinthire kugwiritsidwa ntchito kwa maloboti m'minda yosiyanasiyana ndi vuto kwa injiniya aliyense wa sensor kuti aganizire ndikufufuza.
Mu pepala ili, kudzera mu kugwiritsa ntchito sensor ya akupanga ku Robot, kuti mumvetsetse bwino kugwiritsa ntchito njira yolepheretsa.
2,Sensor
A21, A22 ndi quars opangidwa motengera maboti owongolera aboti, omwe ali ndi maluso osokoneza bongo, nthawi yopuma, yamphamvu, moyo wambiri komanso kudalirika kwakukulu, etc. Amatha kusintha masensa okhala ndi magawo osiyanasiyana malinga ndi maloboti osiyanasiyana.
A21, A22, RI0
Ntchito Zojambula:
• Magetsi ambiri, magetsi ogwiritsira ntchito magetsi a magetsi3.3 ~ 24V;
• Akhungu amatha mpaka 2.5cm zochepa;
• Mitundu yakutali kwambiri ikhoza kukhala, kuchuluka kwa 50cm yonse ya 50cm mpaka 500cm ikhoza kukhazikitsidwa kudzera:
• Mitundu yosiyanasiyana imapezeka, UART Auto / Kuwongolera, pwm moyang'aniridwa, sinthanitsani voliyumu ya TTL mulingo (3.3v), rs485, etc, etc. .
• Kuchuluka kwa baud wokhazikika kuli ndi 11,200, kumathandizira kusintha;
• Nthawi yoyankha
• Mnzake wosakwatiwa ndi wosankhika ukhoza kusankhidwa, magawo anayi a ngodya anayi amathandizidwa kuti azigwiritsa ntchito njira zosiyanasiyana;
• Ntchito yochepetsera phokoso yomwe ingalimbikitse phokoso la 5-Plagiredi;
• Tekisiki yanzeru yapamwamba, yomangidwa ndi wanzeru kwambiri pamafunde osefedwa osefera, imatha kuzindikira mafunde osokoneza bongo ndipo amangopanga kusefa;
• Kapangidwe ka madzi kansi, kalasi ya madzi ip67;
• Kuchulukitsa kuyika kwamphamvu, njira yosinthira ndi yosavuta, yokhazikika komanso yodalirika;
• Thandizani kutali kwambiri;
3,Magawo ogulitsa
(1) Zoyambira
(2) Kuzindikira
Akupanga cholepheretsa sensor ali ndi mtundu wa chisankho, pomwe mankhwalawo akaikidwa molunjika, njira yolowera ndi njira yolowera, nthawi yomweyo, imapenda njira yolakwika yoyambitsidwa ndi mseu wosagwirizana.
Chithunzi cha muyeso
4,Akupanga Cholepheretsa Percer Dongosolo Lanu
(1) Chithunzi cha kapangidwe ka Hardware
(2)
A, sensor imayendetsedwa ndi madera amagetsi.
B, pulosesa imayamba kudzifufuza kuti zitsimikizire kuti dera lililonse limagwira bwino.
C, pulosesayoni kuti mudziwe ngati pali chizindikiro chofananira chofananirana ndi chilengedwechi, kenako chofananira ndi kukonza mafunde aliwonse omwe ali alendo munthawi. Mtengo woyenera wa mtunda sungathe kuperekedwa kwa wogwiritsa ntchito, perekani deta yoletsa kusaina kuti mupewe zolakwa, kenako ndikudumpha mpaka k.
d, purosesa imatumiza malangizo kwa gawo lothandizira kuzungulira kuti muchepetse kulimba kwamphamvu molingana ndi ngodya.
e, akupanga probe t imadutsa mabodza atagwira ntchito
f, omwe akupanga probe r amalandila zizindikiro zingapo mutagwira ntchito
g, chizindikiro chofooka chofooka chimakulitsidwa ndi chizindikiro chozungulira ndikubwerera kwa purosesa.
H, chizindikiro chophatikizika chimabwezeretsedwa kwa pulosesa pambuyo poti algorithm algorithm amasefera ukadaulo wamalingaliro osokoneza bongo, omwe amatha kuwunika bwino.
i, diresirity ya kutentha, azindikira kutentha kwa nyengo yako zakunja kwa purosesa
J, purosyyo imazindikiritsa nthawi yobwerera ya necho ndikubwezera kutentha kophatikizidwa ndi malo owoneka bwino akunja, kuwerengetsa mtengo wamtunda wakunja, v = v * t / 2).
K, puloser imaperekanso chizindikiro kwa kasitomala kudzera pa mzere wolumikizira ndikubwerera ku A.
(3)
Ultrasound m'munda wa Robotic, amakumana ndi mitundu yosiyanasiyana ya phokoso lamphamvu, dontho, kuwonjezera, zosokoneza, etc. Ultrasound imagwira ntchito ndi mpweya ngati sing'anga. Loboti ikakhala ndi masensa angapo akupanga ndi maloboti ambiri ovala mozungulira nthawi yomweyo, padzakhala zithunzi zosadziwika zomwe zimapangidwanso m'malo omwewo komanso nthawi, komanso zosokoneza pakati pa maloboti zikhale zovuta kwambiri.
Poona mavutowa, sensor inamanga-muukadaulo wosinthika kwambiri, amatha kuthandizira kukhazikitsa kwa 5
Pambuyo pa labotale ya Dyp kudzera njira yoyeserera: Gwiritsani ntchito njira 4 zolepheretsa kupewa kuchuluka, sinthani malo ogwirira ntchito, lembani deta, gwiritsani ntchito deta,
Chithunzi cha mayeso a tekinoloje
(4) mtengo wosinthika
Mapulogalamu osinthika a pulogalamuyi ngodya ngodya imakhala ndi magawo anayi: 40,455,65,65,65, kuti akwaniritse zomwe zagwiritsidwa ntchito pazochitika zosiyanasiyana.
5,Akupanga Cholepheretsa Percer Dongosolo Lanu
Pamunda wa Robot Cholepheretsa Kupewa Mu mtundu womwewo wa zolepheretsa zolepheretsa, ndi zoletsa zodalirika zokhala ndi mtengo wotsika komanso kuthamanga kwa maloboti, yambani kuyankhulana molingana ndi njira yolowera molingana ndi zomwe mukufuna. Pakadali pano, ma sensor akupanga ali ndi ngodya yayikulu ya Fov kuti athandize makinawo kupeza malo owonjezera kuti akwaniritse malo omwe akufuna kuti akhale patsogolo pake.
6,Mfundo Zazikulu za Kugwiritsa ntchito akupanga sensor mu loboti cholepheretsa chiwembu
• Akupanga cholepheretsa kuwongolera rav ndi ofanana ndi kamera yoyaka, imawononga pafupifupi 20% ya kamera yakuya;
• Kuthetsa kwa malire a millimeter, kuposa kamera yakuya;
Zotsatira za mayeso sizikhudzidwa ndi mtundu wakunja, zopinga zowoneka bwino zitha kupezeka, monga galasi, pulasitiki wowonekera, etc.;
• Opanda fumbi, sludge, chifunga, alkali malo osokoneza bongo, kudalirika kwakukulu, kunyamula nkhawa, kunyamula pang'ono;
• Kukula kochepa kukumana ndi kapangidwe kaboti kunja kwa maloboti komanso kuphatikizidwa, kumatha kugwiritsidwa ntchito pamitundu yosiyanasiyana ya maloboti a ntchito, kuti akwaniritse zosowa zosiyanasiyana za makasitomala, amachepetsa mtengo.
Post Nthawi: Aug-16-2022