Kutheni inkqubo yakho ye-autonomous ye-FTC isilela ebaleni lokhuphiswano (nendlela yokuyilungisa)
Inkqubo yakho ye-autonomous isilela kukhuphiswano kuba i-dead reckoning ixhomekeke kwizinto ezingatshintshiyo ezingekhoyo: ukukhuhlana kwamathayile, ubungqingqwa bawo, kunye ne-voltage yebhetri zahluka kakhulu phakathi kwendawo yakho yokusebenzela nebala lokhuphiswano.
Xa inkqubo ye-autonomous iqhuba izihlandlo ezilishumi zilandelelana ngaphandle kwaphazamiso egumbini lakho lokufundela ize ibethe udonga olujikelezileyo kuMdlalo 1, ayisoloko ikhowudi ityala. Yifiziksi engaphantsi etshintshileyo. I-dead reckoning esulungekileyo—nokuba kukuqhuba ngexesha elimiselweyo okanye ukubala kwe-encoder yevili eqhelekileyo—ithatha ngokuba imeko yendawo ayitshintshi. Enyanisweni, amabala okhuphiswano azisa izinto ezintathu ezithe cwaka ezitshabalalisa ukukhangela indlela nge-open loop: ukucinezeleka kwamathayile e-foam, ukwahluka kokukhuhlana komphezulu, kunye nendlela ibhetri ephelelwa ngayo ngamandla.
1. Ingxaki yamathayile: ubungqingqwa, ubudala, nokucinezeleka
Amathayile e-EVA foam angene kwelinye ale-5/8 in. asetyenziswa kumabala asemthethweni e-FTC awafani kuzo zonke iindawo. Ithayile yebala lokuziqhelanisa kwilabhoratri ye-robotics yesikolo eye yanyamezela amaxesha amabini abantu behamba phezu kwayo nelanga lasemini lingena kwifestile yegumbi lokufundela iye yacinezeleka, yaqina, kwaye yaphulukana nokubamba komphezulu wayo. Ngokwahlukileyo, ibala lokhuphiswano linokuba namathayile amatsha asandul' ukukhutshwa ebhokisini, okanye amathayile ebegcinwe egoqwe eqinile kwigumbi lokugcina impahla elinomswakama kwibala lasephondweni.
Oku kwahluka kuyichaphazela ngeendlela ezimbini ezahlukeneyo irobhothi yakho:
- I-radius yevili esebenzayo: Irobhothi enzima itshona nzulu kwi-foam ethambileyo. Njengoko i-foam icinezeleka ijikeleze umkhondo wevili, i-radius yokuqengqeleka esebenzayo iyancipha. I-encoder ebala ii-tick eziyi-1,000 ilindele ukuba irobhothi ihambe umgama othile othe tye ngokusekelwe kubungakanani bevili obuchaziweyo; kumathayile athambileyo, umgama wokwenene uyehla kwisijikelezo ngasinye.
- Ukumelana nokukhuhla xa kujikwa: Ii-drivetrain zohlobo lweMecanum nezeskid-steer eziqhelekileyo zifumana ukumelana okwahluke kakhulu ngasecaleni, kuxhomekeke ekubeni i-foam iyavuma na okanye iyakumelana ukukhuhlwa ngasecaleni. Kwi-foam ebambelelayo okanye ethambileyo, ukujika kuyasilela; kwi-foam eguge, enothuli, kujikwa ngokugqithisileyo.
2. Ukuhla kwe-voltage neendlela zokunyusa isantya
Ibhetri entsha ye-REV Robotics 12V Slim Battery esuka ngqo kwi-smart charger ifunda malunga ne-13.8V ukuya ku-14.2V kumjikelo ovulekileyo. Emva kokuhlala emgceni wokulinda imizuzu elishumi elinesihlanu, okanye emva kolandelelwano olunzima lwe-autonomous apho iimoto ezine zokuqhuba kunye ne-intake zitsala owona mbane mninzi wokuxinga, elo voltage langaphakathi liyehla.
Ukuba ikhowudi yakho ye-autonomous ixhomekeke ekuqhubeni iimoto ngamandla amiselweyo kangangexesha elimiselweyo, umgama ohanjiweyo uxhomekeke ngqo kwindlela i-voltage etshintsha ngayo ngokuhamba kwexesha. Nokuba usebenzisa ulawulo lwesantya lwe-PID kwiimoto zokuqhuba, ukumisela ukunyuka kwesantya okuphezulu kwibhetri esele iphelelwa ngamandla kuza kubangela ukuba ivili lityibilike ekuqaleni kwentshukumo. I-encoder ibhala ukuba ivili liyajikeleza, kodwa irobhothi ayihambanga umgama ohambelana nawo phezu kwamathayile.
3. Amasiko okulinganisa epitini kusasa
Amaqela aphambili awacingi ukuba ibala liyafana nendawo yawo yokusebenzela. Afaka inkqubo engqongqo yemizuzu engamashumi amathathu yokulinganisa kwishedyuli yawo yakusasa phakathi kobhaliso nengxoxo yeqela.
| Umsebenzi wokujonga | Into ejongwayo | Indlela yokulungisa ebaleni |
|---|---|---|
| Uvavanyo lokukhuhla kwithayile yebala | Ukukhuhlana xa kujikwa & ukutshona | Qhuba umgama othe tye we-1,000mm kwibala lokuziqhelanisa; linganisa umgama wokwenene ohanjiweyo ngetheyiphu yokulinganisa. |
| Ukuqinisekisa ukuphambuka kwe-IMU | Uzinzo lwe-yaw | Thatha izilinganiso kwi-REV Control Hub okanye kwi-IMU yangaphandle imizuzwana engama-60 imile ukujonga umgca osisiseko wokuphambuka kwe-gyro. |
| Isango lebhetri ye-autonomous | I-voltage ehlala ifana | Misela umthetho ongqongqo: iibhetri ze-autonomous zokhuphiswano kufuneka zibe phakathi kwe-13.4V ne-13.8V phantsi komthwalo ophumleyo. |
| Ukutshixa ukukhanya kwewebcam | Ukuthembeka kwe-AprilTag / kokubona | Tshixa ukukhanya ne-gain ngesandla phantsi kwezibane ze-halogen/LED zebala endaweni yokuxhomekeka kwi-auto-exposure. |
Ukuze uziphelise ngokupheleleyo iimpazamo ze-dead reckoning, shiya ii-encoder zamavili kuphela udlulele kwii-odometry pod ezinamavili amathathu angaqhubiyo edityaniswe ne-IMU (Inertial Measurement Unit) esebhodini, okanye ubophelele iindawo zakho ezibalulekileyo zokufaka amanqaku kwiimpawu ezimiyo zebala usebenzisa ii-AprilTag okanye ii-sensor zomgama. Ukuba ulungisa kwakhona i-drivetrain yakho ukuze ilungele umjikelo wokhuphiswano lwengingqi, ukhetho lwethu lwezixhobo kwi-Sheen Store luquka izinto ze-odometry ezikhoyo apha ekhaya, ii-sensor zokulandelela, kunye neentambo ezihambelana ne-REV ukuthintela ukunqamka kwesignali.
4. Ukhuselo lwesoftware: umgangatho wokunyamezela nokusetha kwakhona
Okokugqibela, hlola i-state machine yakho ye-autonomous. Ikhowudi eyilwe ngaphandle kwamaxesha okuphelelwa okanye amanyathelo okuzilungelelanisa kwakhona ibuthathaka ngokwendalo yayo. Ukuba isixhobo sakho se-intake sixhomekeke ekubeni sibe ngaphakathi kwe-5 mm kwindawo yokufaka amanqaku, yakha intshukumo yokuzilinganisa kudonga olujikeleze ibala okanye usebenzise ii-sensor zombala nezomgama ukubuyisela kwa-zero isakhelo seekhowudinethi zerobhothi ngaphambi kokuzama umjikelo obalulekileyo wokufaka amanqaku.
Kumaqela afuna ukuphucula ubume beenkqubo zawo zokubhala ikhowudi, ii-algorithm zokucwangcisa intshukumo, kunye neendlela zokudibanisa ii-sensor phambi kwemidlalo yokukhethwa yephondo, jonga iimodyuli zethu ezizodwa zoqeqesho lokhuphiswano ku-Inkxaso ye-Sheen FTC.
