1,Ukuqalisa
Ukuhanjiswa kwe-ultrasonickuyindlela yokutholwa ongaxhumana naye esebenzisa amaza e-ultrasonic akhishwe emthonjeni womsindo, kanye negagasi le-ultrasonic libonisa ukubuyela emthonjeni ozwakalayo lapho isithiyo sitholakale, futhi ibanga lesithiyo libalwa ngokususelwa kwijubane lokusakazwa emoyeni. Ngenxa yokuqondiswa kwayo okuhle kwe-ultrasonic, akuthintwa ukukhanya nombala wento elinganisiwe, ngakho-ke isetshenziswa kabanzi ekugwemeni izithiyo ze-robot. I-sensor ingabona izithiyo ezi-static noma ezinamandla ngendlela yokuhamba ye-robot, bese ibika ibanga nemininingwane yokuqondisa yezingqinamba ngesikhathi sangempela. Irobhothi lingakwenza kahle isenzo esilandelayo ngokwemininingwane.
Ngokuthuthuka okusheshayo kwe-Robot application Technology, amarobhothi ezinsizakalweni ezihlukile avele emakethe, futhi izidingo ezintsha zibekelwe phambili izinzwa. Ungazivumelanisa kanjani nokusetshenziswa kwamarobhothi emikhakheni ehlukene kuyinkinga kuwo wonke unjiniyela wenzwa ukuthi acabange futhi ahlole.
Kuleli phepha, ngokusebenzisa inzwa ye-ultrasonic ku-robot, ukuze uqonde kangcono ukusetshenziswa kwenzwa yokuvimbela isithiyo.
2,Isingeniso Sezinzwa
I-A21, A22 no-R01 izinzwa eziklanyelwe izinhlelo zokusebenza ezizenzakalelayo zamarobhothi, ngochungechunge lwezinzuzo zendawo encane eyimpumputhe, ukuguquguquka okuningana, isikhathi sokuhlunga esisheshayo, impilo evumayo, impilo ende kanye nokuthembela okuphezulu, njll. Bakwazi ukuvumelanisa izinzwa ngamapharamitha ahlukile ngokuya ngamarobhothi ahlukene.
A21, A22, R01 Product Izithombe
Umsebenzi ongabonakali:
• Ukuhlinzekwa kwamandla abanzi, ukusebenza kwe-voltage3.3 ~ 24V;
• Indawo eyimpumputhe ingafinyelela ku-2.5cm ubuncane;
• Ibanga elikude lingasetwa, inani eliphelele le-5-level lakwa-50cm liye ku-500cm lingasetwa ngemiyalo;
• Izinhlobo ezahlukahlukene zokuphuma zitholakala, i-UART auto / elawulwa, i-PWM elawulwa, shintsha i-Volume TTL Level (3.3V), i-RS485, iic, njll. (Ukusetshenziswa kwamandla kwe-UART nokulawulwa kwamandla kwe-PWM kungasekela ukusetshenziswa kwamandla okulala okuphansi kwe-ultra ≤5ua);
• isilinganiso se-baud esizenzakalelayo singama-115,200, asekela ukuguqulwa;
• Isikhathi sokuphendula se-MS-Level, isikhathi sokukhipha idatha singafinyelela ku-13ms esheshayo;
• I-angle eyodwa futhi ephindwe kabili ingakhethwa, ingqikithi yamazinga amane e-angle asekelwa izimo ezihlukile zohlelo;
• Umsebenzi wokunciphisa umsindo owakhelwe ngaphakathi ongasekela ukulungiswa kwezinga le-5 ebangeni le-5;
• Ubuchwepheshe obunobuhlakani be-Acoustic Wave Proceting Technology, i-algorithm ehlakaniphile eyakhelwe ngaphakathi ekuhluphekeni kwamagagasi omsindo, angakhomba amagagasi omsindo wokuphazamisa futhi asebenze ngokuzenzakalelayo;
• Idizayini yesakhiwo esingenamanzi, i-IP67 engangeni manzi;
• Ukufakwa kwezinguquko okuqinile, indlela yokufaka ilula, iyazinza futhi iyathembeka;
• Sekela ukuthuthukiswa kwe-firmware okukude;
3,Amapharamitha Womkhiqizo
(1) Amapharamitha ayisisekelo
(2) uhla lokutholwa
I-Ultrasonic Charnence Sensor inenguqulo enama-angle angel ekhethwayo, lapho umkhiqizo ufakwe ngokuqondile, i-angle evundlile yesobunxele neyokwesokunxele, kungakhuphula izinga lokuthola isiqondiso sokugcina, ngasikhathi sinye, ligwema isisusa esingalungile esibangelwa umgwaqo ongalingani ngesikhathi sokushayela.
Umdwebo wobubanzi bokulinganisa
4,I-Ultrasonic Isithiyo Sokugwema Sensor Scheme yezobuchwepheshe
(1) umdwebo wesakhiwo sehardware
(2) Ukuhamba komsebenzi
A, inzwa inikwa amandla yimibuthano kagesi.
B, iprosesa iqala ukuzihlola ukuze kuqinisekiswe ukuthi umfunda ngamunye usebenza ngokujwayelekile.
C, iprosesa yokuzihlola ukukhomba ukuthi ngabe kukhona isinali yokuphazamiseka okufanayo kwemvamisa ye-Ultrasonic emvelweni, bese uhlunga futhi ucubungule amagagasi omhlaba ngesikhathi. Lapho ivelu yebanga elifanele ingenakunikezwa umsebenzisi, nikeza idatha yesiginali engajwayelekile ukuvikela amaphutha, bese weqa inqubo k.
D, iprosesa ithumela imiyalo ekukhuthazeni i-Pulse Pelseit ukulawula ukuqina kwe-exg ngokusho kwe-angle kanye nebanga.
e, umphetho we-ultrasonic udlulise amasiginali a-acoustic ngemuva kokusebenza
f, i-ultrasonic probe R ithola amasiginali e-acoustic ngemuva kokusebenza
g, isiginali esibuthakathaka se-acoustic sikhuliswe yi-Signal Amplifier Circtuit futhi sibuyele ku-processor.
H, isiginali esikhulisiwe ibuyiselwa ku-processor ngemuva kokubumba, futhi i-algorithm eyakhelwe ngaphakathi ehlakaniphile ihlunga ubuchwepheshe be-auntful wave technology, okungasekela ngempumelelo ilitshe leqiniso.
Mina, umjikelezo wokutholwa kokutholwa, thola impendulo yokushisa yangaphandle ku-processor
J, iprosesa ikhomba isikhathi sokubuya se-echo futhi inxephezelo lokushisa elihlanganiswe nemvelo yangaphandle, ibala inani lebanga (s = v * t / 2).
K, iprosesa idlulisa isinali yedatha ebaliwe eklayenti ngomugqa wokuxhuma bese ibuyela ku-a.
(3) Inqubo yokuphazamisa
I-Ultrasound emkhakheni wamarobhothi, izobhekana nemithombo ehlukahlukene yokuphazamiseka, njengomsindo woMsindo wamandla, yehla, ukuguquguquka, ukuguquguquka, ukungenelela kwemisebe ye-robot control umjikelezo kanye nemoto. I-Ultrasound isebenza ngomoya njengendlela ephakathi. Lapho irobhothi lifakwe izinzwa eziningi ze-ultrasonic namarobhothi amaningi asebenza eduze ngasikhathi sinye, kuzoba nezimpawu eziningi ezingezona zomdabu ezingezona zomdabu ezikhathini nesikhathi, futhi ukuphazamiseka phakathi kwamarobhothi kuzoba kubi kakhulu.
Ngenxa yalezi zinkinga zokuphazamisa, inzwa eyakhelwe ngobuchwepheshe obuvumelana nezimo kakhulu, ingasekela ukumiswa kwezinga le-5 level yomsindo, isihlungi esifanayo sokuphazamiseka komhlaba singasetwa, ibanga ne-angleng algorithm, inekhono elinamandla lokulwa nokumelana.
Ngemuva kwelebhu ye-DYPS nge-test test: sebenzisa izinzwa ezi-4 zokuvikeleka ezivikelekile ze-Ultrasonic ukulinganisa isilinganiso, lungisa imvelo yokusebenza komshini amaningi, qopha imininingwane, isilinganiso sokunemba idatha sifinyelelwe ngaphezulu kwama-98%.
Umdwebo wokuhlolwa kwezobuchwepheshe okulwa nokuphazamiseka
(4) UBeam Angle uyakwazi ukuguquguquka
I-software yokucushwa sensor Beam Angle inamazinga ama-4: 40,45,55,65, ukuze ahlangabezane nezidingo zesicelo zezimo ezahlukahlukene.
5,I-Ultrasonic Isithiyo Sokugwema Sensor Scheme yezobuchwepheshe
Emkhakheni we-Robot Stleacle ukugwema uhlelo lokusebenza, inzwa iso lerobhothi, noma ngabe irobhothi linganyakaza kalula futhi ngokushesha kuncike kakhulu olwazini lokulinganisa olubuyiselwe inzwa. Ngohlobo olufanayo lwezinzwa zokugwema ezivikelekile ze-Ultrasonic, kungukuvikeleka okuthembekile kwezithiyo ezinezindleko eziphansi kanye nesivinini esiphansi, imikhiqizo ifakwe ezungeze amarobhothi, ukuxhumana ne-robot control Center, afinyelele izidingo ezisheshayo zokuqonda kwe-robot, zifinyelele ezimfuneko ezisheshayo kanye nezidingo zokuthola okusheshayo kanye nezidingo zokuthola okusheshayo kanye nezidingo zokuthola izidingo. Ngaleso sikhathi, inzwa ye-ultrasonic ine-angle enkulu yenkundla yokusiza umshini ukuthola indawo yokulinganisa ethe xaxa ukumboza indawo edingekayo yokutholwa ngqo phambi kwayo.
6,Amaphuzu Avelele Wokusetshenziswa Kwenzwa ye-Ultrasonic in Robot Scrayemen Schermance Scherce
• I-Radar Flovance ye-Ultrasonic iRadar Fov iyafana nekhamera yokujula, ibiza cishe ama-20% wekhamera yokujula;
• Ukulungiswa kwe-millimeter okugcwele kwezinga le-millimeter, okungcono kunekhamera yokujula;
• Imiphumela yokuhlola ayithinteki ngombala wemvelo wangaphandle kanye nokukhanya okukhanyayo, izithiyo ezibonakalayo ezibonakalayo zingatholakala kangako, njengengilazi, ipulasitiki esobala, njll.;
• Imahhala kusuka othulini, i-sludge, inkungu, i-acid kanye ne-alkali yemvelo yokuphazanyiswa, ukuthembeka okuphezulu, ukukhathazeka, ukulondolozwa kwezinga eliphansi;
• Usayizi omncane ukuze uhlangabezane ne-robot yangaphandle ne-eshudded design, ungafakwa ezimweni ezahlukahlukene zamarobhothi wensiza, ukufeza izidingo ezahlukahlukene zamakhasimende, zinciphise izindleko.
Isikhathi sePosi: Aug-16-2022