Ngaba uyayidinga ngokwenene i-dead-wheel odometry kwi-FTC, okanye ii-encoder ze-motor zanele?
Ii-encoder ze-motor ezidityaniswe ne-IMU yangaphakathi zanele kwiindlela ezilula ze-autonomous, kodwa ukuhamba ecaleni ngeMecanum ngesantya esikhulu neenkqubo eziphindaphindwayo zezinto ezininzi kufuna i-dead-wheel odometry engaqhutywa ngamandla ukuze kuphele ukutyibilika kwamavili.
Kumaqela amaninzi amatsha naphakathi eFIRST Tech Challenge (FTC), impendulo emfutshane ngu-hayi: akunyanzelekanga ngokungqongqo ukuba ube neepodi ze-dead-wheel odometry ukuze ufumane amanqaku e-autonomous. Ii-encoder ze-motor ezakhelwe ngaphakathi, zidityaniswe ne-Inertial Measurement Unit (IMU) engaphakathi kwiREV Control Hub yakho, zinokuyiqhuba ngokuthembekileyo inkqubo ye-autonomous enezenzo ezibini—njengokupaka nokufaka isiqwenga somdlalo esilayishwe ngaphambili. Nangona kunjalo, ukuba iqela lakho lijonge ukuqhuba imijikelezo yesantya esiphezulu ethatha izinto ezininzi, ukuqhuba iindlela ze-spline eziqhubekayo, okanye ukubuya ngokuthembekileyo kungqubano ephakathi kwebala, ii-encoder ezakhelwe ngaphakathi ziya kukwehlula. Isizathu asikokusemgangathweni kwesoftware; yifiziksi esisiseko yamavili aqhubayo aphantsi komthwalo.
Ifiziksi: Kutheni ii-encoder ze-motor zixoka
Ii-encoder ezakhelwe ngaphakathi (ezifana nee-encoder ze-hall-effect ezidityaniswe kwii-motor zegoBILDA YellowJacket okanye zeREV HD Hex) zilinganisa ukujikeleza kwe-armature engaphakathi ye-motor phambi okanye emva kwe-gearbox. Ziphendula umbuzo omnye ngokuchanekileyo: ijikeleze izihlandlo ezingaphi le shaft yokuphuma ye-motor?
Kodwa azinakukuxelela ukuba irobhothi yakho ikuphi kwibala leetayile zefoam. Uguqulo olusuka ekujikelezeni kwe-shaft lusiya kwindawo ekwibala luyawohloka ngenxa yezinto ezintathu ezahlukeneyo zefiziksi:
- Ukutyibilika kwevili: Nanini na xa irobhothi yakho inyusa isantya ngokukhawuleza, isehlisa, okanye itshintsha ikhondo, amavili ayatyibilika kwiitayile ezithambileyo zefoam. Xa ivili lijikeleza lisendaweni nye nokuba yimilisekondi engama-50 ekusukeni, i-encoder ye-motor irekhoda ukuhamba usiya phambili okungazange kwenzeke.
- Ukulahleka kwe-vector yeMecanum: Ii-drivetrain zeMecanum zihamba kuwo onke amacala ngokuthumela amandla angqingqwa ngee-roller ezingaqhutywayo. Phantsi komthwalo wokuhamba ecaleni, ezo roller ziyakhuhla kwaye zityibilike kakhulu ngaphezu kwamavili aqhelekileyo abambelelayo. Imathematika eqhelekileyo ye-encoder ayikwazi ukuqikelela ngokungaguqukiyo ukushenxa kwenene kwecala xa ukukhuhlana kwee-roller kwahluka kwiitayile eziguge ngokwahlukeneyo.
- Ukubuya umva kwe-gearbox nedrivetrain: Ii-gearbox zeplanethi, ukuxega kwetsheyini, nokunwebeka kwebhanti kungenisa ukuxega kwemitshini phakathi kwe-tick ye-encoder nendawo yokuchukumisa yethayari. Kwinkqubo ye-autonomous yemizuzwana engama-30 enotshintsho lwamakhondo alishumi, le hysteresis yemitshini iyanyuka ibe ziimpazamo ezingama-10 ukuya kwezingama-20 eesentimitha.
Xa ii-encoder ezakhelwe ngaphakathi ne-IMU zanele ngokwenene
Phambi kokuba uchithe ibhajethi nendawo yesheyisi kumavili afileyo, cinga ukuba iqhinga lakho le-autonomous liyawafuna na ngokwenene. Awuwadingi amavili afileyo ukuba inkqubo yakho ye-autonomous ihambelana nale mimiselo:
- Iintshukumo zesantya esiphantsi, ezimgca uthe tye: Ukuqhuba usiya phambili ngamandla angama-40% kudala ukutyibilika kwevili okungenamsebenzi.
- Ukulungiswa kwekhondo nge-IMU: Ukusebenzisa i-gyroscope eyakhelwe ngaphakathi kwiControl Hub ukulawula konke ukujika nokubamba ikhondo kususa ukushenxa kokujikeleza kwedrivetrain.
- Ukusetwa kwakhona kwee-sensor: Ukuba irobhothi yakho iqhuba de i-sensor yomgama ifumanise udonga olujikeleze ibala, okanye izilungelelanise nomda webala ngokuzicija ngokwasemzimbeni (ukuqhwaba), ukushenxa kwe-encoder okuqokelelekileyo kubuyiselwa kuziro.
- I-autonomous yomsebenzi omnye: Ukuhambisa isiqwenga esilayishwe ngaphambili, ukuqhuba udlule umgca, nokupaka akufuni ukulandelela ikhondo kwinqanaba lemilimitha.
Kumaqela akwizizini zawo ezimbini zokuqala, ukuchitha iiveki ezintathu ulungisa iimpazamo zokutyunwa kwePID yeRoad Runner kwiipodi ze-odometry ezenziwe ngokwezifiso ezingenazintsimbi zokucinezela ngokufuthi kulahleko yamanqaku okhuphiswano xa kuthelekiswa nokwakha indlela ethembekileyo yokungenisa.
Inqanaba lokuqhawuka: Xa amavili afileyo eba yimfuneko
Iipodi ze-dead-wheel odometry (ezikwabizwa ngokuba ngamavili okulandelela angaqhutywa ngamandla) zenziwe ngama-omni-wheel amancinane ajikeleza ngokukhululekileyo, abanjelelwe kwiitayile zebala ngentsimbi ecinezelayo, ivili ngalinye lixhunywe kwi-encoder yokujikeleza ezimeleyo. Kuba la mavili engathwali torque ye-motor engathwali nabunzima berobhothi, ajikeleza ngokukhululekileyo ngaphandle kokukhuhla okanye ukujikeleza engahambi.
Ufikelele kumda wee-encoder ezakhelwe ngaphakathi kwaye udinga amavili afileyo xa ubona oku kulandelayo:
- Uqhuba iindlela ze-spline: Iilayibrari zekhondo ezifana neRoad Runner okanye iPedro Pathing zifuna uhlaziyo oluqhubekayo, oluchanekileyo kwimayikrosekondi, lwazo zombini ii-coordinate $(x, y)$ nekhondo ($ heta$) ngelixa irobhothi inyusa isantya ngawona mandla aphezulu e-motor.
- Uhamba ecaleni ngesantya: Ukuba i-auto yakho ixhomekeke ekuhambeni ngokungqingqwa okanye ecaleni nkqo phakathi kwebala, uqikelelo lwee-encoder zokuqhuba luya kushenxa lusuke kusukelo ngeesentimitha ezili-15 okanye ngaphezulu ekubalekeni okunye.
- Iinkqubo ze-autonomous ezinemijikelezo: Ukuba uzama ukuchola iziqwenga zomdlalo ezithathu okanye ezine emhlabeni ngethuba lemizuzwana engama-30 ye-autonomous, impazamo yeesentimitha ezi-2 ithetha ukuphosa ngokupheleleyo ulungelelwaniso lokungenisa.
- Ukuqhwabana kokuzikhusela okanye ukuchukumisana kweerobhothi: Ukuba enye irobhothi ingqubana nesheyisi yakho ngexesha le-autonomous, amavili okuqhuba aya kutyibilika phantsi. Ii-encoder ze-motor ziya kucinga ukuba irobhothi ihambe yaya phambili, ngelixa amavili afileyo eya kulinganisa ukushenxa kokwenene okubangelwe kukutyhalwa.
Ukuthelekisa iindlela zokufumanisa indawo
| Umlinganiso | Ii-encoder ze-motor + IMU | I-odometry efileyo yamavili amabini + IMU | I-odometry efileyo yamavili amathathu |
|---|---|---|---|
| Ixabiso lehardware | R0 (Ifakiwe kwii-motor/kwi-hub) | Eliphakathi (iipodi ezi-2 + ukuzifakela) | Eliphezulu (iipodi ezi-3 + ukuzifakela) |
| Ukusetyenziswa kweeport ze-encoder | Iiport ze-motor ezi-4 (eziqhelekileyo) | Kusetyenziswa iiport ezi-2 ze-encoder ye-motor | Kusetyenziswa iiport ezi-3 ze-encoder ye-motor |
| Ukuphindaphindeka kwendawo | ± 80–150 mm kwiindlela ezinde | ± 10–25 mm | ± 5–15 mm |
| Ukuchaneka kwekhondo | Ixhomekeke ekushenxeni kwe-IMU / ekulibazisekeni kwe-yaw | Ilawulwa nge-IMU | Yikinematiki nje (isekelwe kwimathematika) |
| Ubunzima bokuyifakela | Abukho | Buphakathi (kufuneka ukucinezelwa ngentsimbi) | |
| Icetyiselwa | Amaqela aqalayo ukuya kwaphakathi | Uninzi lwamaqela akhuphisanayo | Amaqela aphambili afuna ukulandelela okurhoqo kakhulu |
Izinto ezenzekayo ekuphumezeni
Ukuba iqela lakho ligqiba ekubeni litsibele ekulandeleleni ngamavili afileyo, khumbula imithetho emibini yemitshini. Okokuqala, iipodi kufuneka zicinezelwe ezantsi ngamandla angaguqukiyo; ukuba ivili elifileyo litsiba phezu komsele phakathi kweetayile zefoam, lilahlekelwa kukulandelela ngoko nangoko. Okwesibini, qinisekisa ukuba uneeport ezaneleyo ze-encoder kwiREV Control Hub okanye kwiExpansion Hub yakho, kuba ivili ngalinye elifileyo lithatha isingeniso esinye se-encoder esidla ngokugcinelwa i-motor.
Kumaqela aseMzantsi Afrika afuna ihardware apha ekhaya, unokuzifumana iinxalenye ze-robotics nezombane ezikwinqanaba lokhuphiswano kwivenkile ye-Sheen Robotics, okanye uhlolisise iimodyuli zethu zoqeqesho lokhuphiswano kwinkxaso ye-Sheen Robotics FTC ukunceda abaprogrami bakho ukuba balungiselele iilayibrari zokuprofayila intshukumo ngempumelelo.
Isigwebo
Ungayifaki i-dead-wheel odometry ngenxa yokuba ubone amaqela aphambili eyenza kuYouTube. Yifake xa umda wakho wamanqaku e-autonomous uthintelwe ngokwenene kukutyibilika kwevili. Ukuba irobhothi yakho okwangoku isokola ukufaka nesiqwenga esinye esilayishwe ngaphambili ngokuthembekileyo, tyuna iindlela zakho zemitshini uze usebenzise ii-encoder zakho ezakhelwe ngaphakathi kunye nolawulo lwekhondo lwe-IMU kuqala. Xa ulungele ukuncitha imizuzwana kwiindlela zakho zemijikelezo nokwenza iinkqubo ze-autonomous zezinto ezininzi ngesantya esipheleleyo, amavili afileyo lolona phuculo lusebenzayo unokulwenza.
