Yadda Ake Shirya Robots Ta Waya Mai Zaman Kanta
Mutum-mutumi na hannu mai cin gashin kansa (AMR) tsari ne mai hankali wanda ke da ikon kewayawa da aiwatar da ayyuka daban-daban a cikin mahalli masu rikitarwa. Jigon sa ya ta'allaka ne a cikin aikin haɗin gwiwar na'urori masu yawa. Cikakken AMR ya ƙunshi manyan abubuwa huɗu: tsarin fahimta, yanke shawara{2}}tsarin aiwatarwa, tsarin aiwatarwa, da tsarin makamashi. Waɗannan abubuwan haɗin gwiwa suna aiki tare don samun 'yancin kai.
Tsarin tsinkaye shine "hankali" na robot, alhakin samun bayanan muhalli. Na'urori masu auna firikwensin da aka saba amfani da su sun haɗa da radar laser (LiDAR), kyamarori, na'urori masu auna firikwensin ultrasonic, da raka'a ma'aunin inertial (IMUs). LiDAR yana gina taswirar muhalli ta hanyar fitar da filayen Laser da karɓar sigina masu haske. Kyamarorin suna ba da bayanan gani don gane manufa, kuma IMUs suna lura da yanayin motsin robot (kamar hanzari da saurin kusurwa). Dabarun haɗakar bayanai daga waɗannan na'urori masu auna firikwensin, kamar Kalman tacewa, na iya inganta daidaiton fahimtar muhalli.
Shawarar {{0}tsarin yin shine "kwakwalwar" na mutum-mutumi, hanyoyin tsara hanyoyin da yanke shawarar ɗabi'a bisa bayanan fahimta. This system typically includes three modules: localization and mapping (SLAM), path planning, and behavior control. Fasahar SLAM tana ba robots damar ganowa da taswirar wuraren da ba a san su ba a cikin ainihin lokaci. Algorithms na tsara hanya (kamar algorithms A ko D) suna ƙididdige mafi kyawun hanyar motsi, kuma tsarin sarrafa ɗabi'a yana daidaita motsin mutum-mutumi dangane da buƙatun ɗawainiya (kamar kaucewa cikas ko bin diddigin manufa).
Tsarin aiwatar da kisa, “gaɓar jikin mutum” na robot ne ke da alhakin fassara yanke shawara zuwa ayyukan jiki. Da farko ya haɗa da abubuwa kamar ƙafafun tuƙi, injina, da hannun mutum-mutumi. Motocin tuƙi da injuna suna sarrafa alkibla da saurin mutum-mutumi, yayin da hannun mutum-mutumi (idan an haɗa shi) yana aiwatar da ayyukan hannu ko magudi.
Tsarin makamashi yana ba da ƙarfin ci gaba ga mutum-mutumi, yawanci yana amfani da batir lithium ko ƙwayoyin mai. Rayuwar batirinta kai tsaye tana shafar lokacin aiki na robot.
A taƙaice, haɓaka na'urorin mutum-mutumi na hannu masu cin gashin kansu sun dogara ne akan haɗin fasahar fasaha da yawa. Ci gaban gaba a cikin basirar wucin gadi da fasahar firikwensin zai kara haɓaka ikon kansu da daidaita su.
