Ingabe uyidinga ngempela i-dead-wheel odometry ku-FTC, noma ama-motor encoder anele?
Ama-motor encoder ahlanganiswe ne-IMU yangaphakathi anele ezindleleni ezilula ze-autonomous, kodwa ukushibilika kwe-Mecanum ngokusheshisa okukhulu nezinhlelo eziphindaphindekayo zezinto eziningi kudinga i-dead-wheel odometry engenamandla ukuze kuqedwe ukushelela kwamasondo.
Emaqenjini amaningi asafufusa nasezingeni eliphakathi e-FIRST Tech Challenge (FTC), impendulo emfushane ithi cha: awuwadingi ngempela ama-pod e-dead-wheel odometry ukuze uthole amaphuzu e-autonomous. Ama-motor encoder afakiwe ahlanganiswe ne-Inertial Measurement Unit (IMU) engaphakathi kwi-REV Control Hub yakho angaluletha ngokwethembeka uhlelo lwe-autonomous lwezenzo ezimbili—njengokupaka nokushaya iphuzu ngento yomdlalo elayishwe ngaphambili. Kodwa-ke, uma iqembu lakho lihlose ukugijimisa imijikelezo yamasampuli amaningi ngesivinini esiphezulu, ukwenza izindlela ze-spline eziqhubekayo, noma ukululama ngokwethembeka ekungqubuzaneni maphakathi nenkundla, ama-encoder afakiwe azokwehluleka. Isizathu akusiyo ikhwalithi ye-software; yi-physics eyisisekelo yamasondo aqhubayo lapho ethwele umthwalo.
I-physics: kungani ama-motor encoder eqamba amanga
Ama-encoder afakiwe (njengama-hall-effect encoder afakwe kumamotho e-goBILDA YellowJacket noma awe-REV HD Hex) akala ukujikeleza kwe-armature yangaphakathi yemotho ngaphambi noma ngemva kwe-gearbox. Aphendula umbuzo owodwa ngokunembile: i-shaft ephumayo yale motho isijikeleze kangaki?
Kodwa-ke, awakwazi ukukutshela ukuthi irobhothi lakho likuphi enkundleni yamathayela e-foam. Ukuhumusha kusuka ekujikelezeni kwe-shaft kuye endaweni yasenkundleni kuyaphahlazeka ngenxa yezinto ezintathu ezehlukene ze-physics:
- Ukushelela kwesondo: Noma nini lapho irobhothi lakho lisheshisa ngokushesha, linciphisa isivinini, noma lishintsha indlela, amasondo ayashelela emathayeleni athambile e-foam. Uma isondo lizungeza endaweni eyodwa ngisho amamilisekhondi angu-50 ngesikhathi sokusuka, i-motor encoder ibhala ukuhamba phambili okungazange kwenzeke.
- Ukulahleka kwe-vector ye-Mecanum: Ama-drivetrain e-Mecanum ahamba nganoma yiluphi uhlangothi ngokudlulisa amandla e-diagonal ngama-roller angenamandla. Ngaphansi kwemithwalo yokushibilika eceleni, lawo ma-roller ayahhuluza futhi ashelele kakhulu kunamasondo ajwayelekile e-traction. Izibalo ezijwayelekile ze-encoder azikwazi ukubikezela ngokungaguquki ukuguquka kwendawo kwangempela okuseceleni lapho ukungqubuzana kwama-roller kuhluka phakathi kwamathayela agugile.
- I-backlash ye-gearbox neye-drivetrain: Ama-planetary gearbox, ukuxega kweketango, nokwelulwa kwebhande kuletha ukuxega kwemishini phakathi kwe-tick ye-encoder nendawo yokuthintana kwethaya. Phezu kohlelo lwe-autonomous lwemizuzwana engu-30 olunezinguquko eziyishumi zezindlela, le hysteresis yemishini ihlangana ibe ngamaphutha angamasentimitha angu-10 kuya kwangu-20.
Nini lapho ama-encoder afakiwe ne-IMU anele ngempela
Ngaphambi kokuchitha isabelomali nendawo ye-chassis kumasondo afile, cabanga ukuthi isu lakho le-autonomous liwadinga ngempela yini. Awudingi amasondo afile uma uhlelo lwakho lwe-autonomous luhambisana nalezi zimo:
- Ukunyakaza ngesivinini esiphansi, ngomugqa oqondile: Ukushayela phambili ngamandla angu-40% kudala ukushelela kwesondo okuncane kakhulu.
- Ukulungiswa kwendlela nge-IMU: Ukusebenzisa i-gyroscope efakiwe ye-Control Hub ukulawula konke ukujika nokubamba indlela kuqeda ukuntweza kokujikeleza kwe-drivetrain.
- Ukusethwa kabusha kwama-sensor: Uma irobhothi lakho lishayela lize i-distance sensor ithole udonga lomngcele, noma lizilungisa ngokumelene nomngcele wenkundla ngokushayisana ngokoqobo, ukuntweza kwe-encoder okuqongelelwe kubuyiselwa kuziro.
- I-autonomous yomsebenzi owodwa: Ukuletha into elayishwe ngaphambili, ukushayela phezu komugqa, nokupaka akudingi ukulandelela indlela ngezinga lemilimitha.
Emaqenjini asezizini zawo ezimbili zokuqala, ukuchitha amasonto amathathu ulungisa i-Road Runner PID kuma-pod e-odometry enziwe ngokwezifiso angena-spring kuvame ukuba ukulahlekelwa amaphuzu omncintiswano uma kuqhathaniswa nokwakha indlela yokungenisa ethembekile.
Iphuzu lokuphuka: nini lapho amasondo afile ebaluleka
Ama-pod e-dead-wheel odometry (abizwa nangokuthi amasondo okulandelela angenamandla) enziwe ngama-omni-wheel amancane azungeza ngokukhululeka acindezelwe emathayeleni enkundla ngamandla e-spring, ngalinye lixhunywe ku-rotary encoder ezimele. Ngoba lawa masondo awathwali torque yemotho futhi awathwali sisindo serobhothi, agingqika ngokukhululeka ngaphandle kokuhhuluza noma ukuzungeza ze.
Usufinyelele umkhawulo wama-encoder afakiwe futhi udinga amasondo afile uma ubona lokhu okulandelayo:
- Usebenzisa izindlela ze-spline: Amalabhulali e-trajectory afana ne-Road Runner noma i-Pedro Pathing adinga izibuyekezo eziqhubekayo, ezinembayo ezingeni le-microsecond zazo zombili ama-coordinate e-$(x, y)$ nendlela ($ heta$) ngesikhathi irobhothi lisheshisa ngamandla aphezulu emotho.
- Ushibilika ngesivinini: Uma i-auto yakho ithembele ekuhambeni okuqondile noma okuseceleni ngaphesheya kwenkundla emaphakathi, izilinganiso ze-drive encoder zizontweza zisuke enhlosweni ngamasentimitha angu-15 noma ngaphezulu ekusebenzeni okukodwa.
- Izinhlelo ze-autonomous zomjikelezo: Uma uzama ukucosha izinto zomdlalo ezintathu noma ezine phansi ngesikhathi sewindi le-autonomous lemizuzwana engu-30, iphutha lamasentimitha angu-2 lisho ukuphuthelwa ukuqondaniswa kokungenisa ngokuphelele.
- Ukushayisana kokuzivikela noma ukuthintana kwamarobhothi: Uma elinye irobhothi lingqubuzana ne-chassis yakho ngesikhathi se-autonomous, amasondo okushayela azoshelela phansi. Ama-motor encoder azocabanga ukuthi irobhothi lihambe phambili, kanti amasondo afile azokala ukuguquka kwendawo kwangempela okubangelwe ukusunduzwa.
Ukuqhathanisa izindlela zokuthola indawo
| Isilinganiso | Ama-motor encoder + IMU | I-dead odometry yamasondo amabili + IMU | I-dead odometry yamasondo amathathu |
|---|---|---|---|
| Izindleko ze-hardware | R0 (ifakiwe kumamotho/i-hub) | Ephakathi (ama-pod ama-2 + ukufakwa) | Ephakeme (ama-pod ama-3 + ukufakwa) |
| Ukusetshenziswa kwe-encoder port | Ama-port ama-4 emotho (okujwayelekile) | Ama-port ama-2 e-motor encoder asetshenziswayo | Ama-port ama-3 e-motor encoder asetshenziswayo |
| Ukuphindaphindeka kwendawo | ± 80–150 mm ekusebenzeni okude | ± 10–25 mm | ± 5–15 mm |
| Ukunemba kwendlela | Kuncike ekuntwezeni kwe-IMU / ekulibaleni kwe-yaw | Kulawulwa nge-IMU | Yi-kinematic ngokuphelele (esekelwe ezibalweni) |
| Ubunzima bokufaka | Abukho | Obuphakathi (kudingeka ukucindezelwa kwe-spring) | |
| Kunconyelwa | Amaqembu asafufusa nasezingeni eliphakathi | Iningi lamaqembu aqhudelanayo | Amaqembu athuthukile adinga ukulandelela okuphindaphindeka kakhulu |
Izimo zangempela zokusebenzisa
Uma iqembu lakho linquma ukweqela ekulandeleleni ngamasondo afile, gcina imithetho emibili yemishini engqondweni. Okokuqala, ama-pod kumele acindezelwe phansi ngamandla angaguquki; uma isondo elifile ligxuma phezu komthungo emathayeleni e-foam, lilahlekelwa ukulandelela ngaso leso sikhathi. Okwesibili, qiniseka ukuthi unama-encoder port anele ku-REV Control Hub yakho noma ku-Expansion Hub, ngoba isondo ngalinye elifile lithatha okukodwa okufakwayo kwe-encoder okuvame ukugcinelwa imotho.
Emaqenjini aseNingizimu Afrika athenga i-hardware endaweni, ungazithola izingxenye ze-robotics nezikagesi ezisezingeni lomncintiswano esitolo se-Sheen Robotics, noma uhlole amamojula ethu okuqeqesha imincintiswano kokwesekwa kwe-Sheen Robotics FTC ukuze usize abahleli bakho bezinhlelo bahlele amalabhulali e-motion-profiling ngempumelelo.
Isinqumo
Ungayifaki i-dead-wheel odometry ngoba ubone amaqembu asezingeni eliphezulu eyenza ku-YouTube. Yifake uma uphahla lwakho lwamaphuzu e-autonomous luvinjelwe ngempela ukushelela kwamasondo kwemishini. Uma irobhothi lakho njengamanje linenkinga yokushaya iphuzu ngento eyodwa elayishwe ngaphambili ngokwethembeka, lungisa imishini yakho bese usebenzisa ama-encoder afakiwe kanye nokulawulwa kwendlela nge-IMU kuqala. Uma usukulungele ukwehlisa imizuzwana ezindleleni zakho zomjikelezo nokwenza izinhlelo ze-autonomous zezinto eziningi ngamandla agcwele, amasondo afile ayindlela yokuthuthukisa esebenza kakhulu kunazo zonke ongayithatha.
