Kungani i-Autonomous Yakho ye-FTC Iphuka Enkundleni Yomncintiswano (Nokuthi Ungayilungisa Kanjani)
Inqubo yakho ye-autonomous ihluleka emncintiswaneni ngoba i-dead reckoning ithembele kokungaguquki komzimba okungekho ngempela: ukukhuhlana komata, ukuminyana kwamathayela namandla ebhethri kuyahluka kakhulu phakathi kwegumbi lakho lokusebenza nenkundla.
Uma inqubo ye-autonomous iqedela imijikelezo eyishumi elandelanayo ingenaphutha ekilasini lakho bese ingqubuzana nodonga lwenkundla ku-Match 1, akuvamile ukuthi icala libe likhodi. Kuguquke isayensi yemvelo engaphansi. I-dead reckoning emsulwa—kungaba imijikelezo elinganiselwa ngesikhathi noma ukubalwa okujwayelekile kwama-encoder amasondo—ithatha ngokuthi indawo engokomzimba ayiguquki. Empeleni, izinkundla zomncintiswano zingenisa izinto ezintathu eziguquguqukayo ezithulile ezibhubhisa ukuzulazula kwe-open-loop: ukucindezeleka kwamathayela e-foam, umehluko wokukhuhlana kobuso, namajika okuphela kwamandla ebhethri.
1. Inkinga Yomata: Ukuminyana, Ubudala, Nokucindezeleka
Amathayela e-EVA foam ahlanganayo angu-5/8 in. asetshenziswa ezinkundleni ezisemthethweni ze-FTC awafani kuzo zonke izindawo. Ithayela lenkundla yokuzilolonga elilabhorethri yamarobhothi yesikole eselidlule kumasizini amabili okunyathelwa yizinyawo nelanga lasemini elingena ngefasitela lekilasi selicindezelekile, laba lukhuni, futhi lalahlekelwa ukubambelela kobuso balo. Ngakolunye uhlangothi, inkundla yomncintiswano ingaba namathayela amasha aqhamuka ebhokisini, noma amathayela abegoqwe aqinisiwe egunjini lokugcina elinomswakama lendawo yesifundazwe.
Lokhu kwehluka kuthinta irobhothi lakho ngezindlela ezimbili ezihlukene:
- Irediyasi Yesondo Esebenzayo: Irobhothi elisindayo lishona ngokujulile ku-foam ethambile. Njengoba i-foam icindezeleka izungeze ithayi lesondo, irediyasi yokugingqika esebenzayo iyancipha. I-encoder ebala ama-tick angu-1,000 ilindele ukuthi irobhothi lihambe ibanga elithile eliqondile ngokuya ngobubanzi besondo obumisiwe; emathayeleni athambile, ibanga langempela elihanjwayo kuwo wonke umjikelezo liyehla.
- Ukumelana Nokushelela Ekujikeni: Ama-drivetrain e-mecanum nawejwayelekile e-skid-steer abhekana nokumelana okwehluke kakhulu ngasohlangothini kuye ngokuthi i-foam iyavuma noma imelana nokusheleliswa kwaseceleni. Ku-foam ebambelela kangcono noma ethambile, amajika ajika kancane kunokudingekile; ku-foam eguguleke, enothuli, ajika ngokweqile.
2. Ukuwohloka Kwevolthi Namaphrofayela Okusheshisa
Ibhethri elisha le-REV Robotics 12V Slim elisuka ngqo kushaja ohlakaniphile likhombisa cishe u-13.8V kuya ku-14.2V uma isekethe ivuliwe. Ngemva kokuhlala emgqeni wokulinda imizuzu eyishumi nanhlanu, noma ngemva kolandelelwano olunzima lwe-autonomous lapho ama-motor amane okushayela ne-intake edonsa ama-stall current aphezulu, leyo volthi yangaphakathi iyawohloka.
Uma ikhodi yakho ye-autonomous ithembele ekusebenziseni ama-motor emazingeni amandla amisiwe isikhathi esinqunyiwe, ibanga elihanjiwe lincike ngqo ejikeni levolthi ngokuhamba kwesikhathi. Ngisho nangokulawulwa kwesivinini kwe-PID kuma-motor okushayela, ama-setpoint okusheshisa okuphezulu ebhethrini eselehlile kancane azobangela ukushelela kwesondo ekuqaleni kwe-motion profile. I-encoder iqopha isondo lijikeleza, kodwa irobhothi alihambanga ibanga elihambisanayo phezu kwamathayela.
3. Imikhuba Yokulinganisa Ekuseni E-pit
Amaqembu asezingeni eliphezulu awathathi ngokuthi inkundla iyafana negumbi lawo lokusebenza. Akha inqubo eqinile yokulinganisa yemizuzu engamashumi amathathu ohlelweni lwawo lwasekuseni phakathi kokubhalisa nokwethulwa kweqembu.
| Umsebenzi Wokungena | Ipharamitha Okuqondwe Kuyo | Indlela Yokulungisa Enkundleni |
|---|---|---|
| Ukuhlolwa Kokushelela Kwethayela Lenkundla | Ukukhuhlana kokujika & ukushona | Shayela umgudu oqondile ongu-1,000mm enkundleni yokuzilolonga; kala ibanga langempela elihanjiwe ngethephu yangempela. |
| Ukuqinisekiswa Kokuqhelela Kwe-IMU | Ukuzinza kwe-yaw | Thatha amasampula ku-REV Control Hub noma ku-IMU yangaphandle imizuzwana engu-60 imile ukuze uhlole umkhawulo wokuqala we-gyro offset. |
| Isango Lebhethri le-Autonomous | Iphrofayela levolthi engaguquki | Beka umthetho oqinile: amabhethri e-autonomous omncintiswano kumele akale phakathi kuka-13.4V no-13.8V ngaphansi komthwalo ophumulayo. |
| Ukukhiywa Kokuchayeka Kwewebhukhamera | Ukwethembeka kwe-Apriltag / kwe-Vision | Khiya ukuchayeka nesandiso ngesandla ngaphansi kokukhanya kwe-halogen/LED kwenkundla esikhundleni sokuthembela ekuchayekeni okuzenzakalelayo. |
Ukuze uqede nya amaphutha e-dead reckoning, suka kuma-encoder amasondo amsulwa uye kuma-pod e-odometry anamasondo amathathu angashayelwa ahlanganiswe ne-IMU (Inertial Measurement Unit) esebhodini, noma ubophele izikhundla zakho ezibalulekile zokuthola amaphuzu ezimpawini zenkundla usebenzisa ama-AprilTag noma izinzwa zebanga. Uma ulungisa kabusha i-drivetrain yakho ngenxa yomjikelezo womncintiswano wesifunda, ukukhethwa kwethu kwe-hardware ku-Sheen Store kufaka izingxenye ze-odometry ezikhona esitokweni sasekhaya, izinzwa zokulandelela, namakhebuli ahambisana ne-REV ukuvimbela ukulahleka kwesignali.
4. Isivikelo Sesofthiwe: Ukubekezelelana Nokusetha Kabusha
Okokugcina, hlola umshini wakho wezimo we-autonomous. Ikhodi eyakhiwe ngaphandle kwezikhawu zokuphelelwa yisikhathi noma izinyathelo zokuqondanisa kabusha ibuthakathaka ngokwemvelo. Uma indlela yakho ye-intake ithembele ekubeni ngaphakathi kuka-5 mm wesikhundla sokuthola amaphuzu, yakha ukunyakaza kokuziqondanisa ngokoqobo odongeni lwenkundla noma usebenzise izinzwa zombala nezebanga ukuze usethe kabusha ngokuguqukayo uhlaka lwezixhumanisi zerobhothi ngaphambi kokuzama umjikelezo obalulekile wokuthola amaphuzu.
Emaqenjini afuna ukucwenga izakhiwo zawo zokuhlela, ama-algorithm we-motion profiling, namasu okuhlanganisa izinzwa ngaphambi kwezivivinyo zesifundazwe, hlola amamojula ethu azinikele okuqeqesha komncintiswano ku-Sheen FTC Support.
