1 、Intangiriro
Ultrasonicni tekinike idahuye ikoresha tekinoroji ya ultrasonic isohoka mu majwi, kandi umuyaga wa ultrasonic ugaruka ku majwi iyo inzitizi igaragaye, kandi intera y'imbogamizi ikabarwa hashingiwe ku muvuduko wo gukwirakwiza umuvuduko wa ijwi mu kirere. Kubera ubwiza bwayo bwa ultrasonic, ntabwo bigira ingaruka kumucyo nibara ryikintu cyapimwe, bityo ikoreshwa cyane mukwirinda inzitizi za robo. Rukuruzi irashobora kumva inzitizi zihamye cyangwa zingirakamaro kumuhanda ugenda wa robo, hanyuma ugatanga intera nicyerekezo cyamakuru yinzitizi mugihe nyacyo. Robo irashobora gukora neza igikorwa gikurikira ukurikije amakuru.
Hamwe niterambere ryihuse ryikoranabuhanga rya porogaramu ya robo, robot mubice bitandukanye byo gusaba byagaragaye ku isoko, kandi ibisabwa bishya bishyirwa imbere ya sensor. Nigute ushobora kumenyera ikoreshwa rya robo mubice bitandukanye nikibazo kuri buri injeniyeri ya sensor gutekereza no gushakisha.
Muri iyi nyandiko, binyuze mugukoresha sensor ya ultrasonic muri robot, kugirango wumve neza ikoreshwa rya sensor yo kwirinda inzitizi.
2 、Sensor Intangiriro
A21, A22 na R01 ni sensor zakozwe zishingiye kuri porogaramu zikoresha za robo zikoresha mu buryo bwikora, hamwe nuruhererekane rwibyiza byahantu hato h'impumyi, guhuza imbaraga gukomeye, guhuza igihe gito, gushungura muyungurura, guhuza ibintu byinshi, guhuza umukungugu no kwirinda amazi, ubuzima burebure no kwizerwa cyane , n'ibindi. Barashobora guhuza sensor hamwe nibintu bitandukanye ukurikije robot zitandukanye.
A21, A22, R01 amashusho yibicuruzwa
Imikorere abstract ：
• amashanyarazi yagutse voltage voltage ikora3.3 ～ 24V ；
• ahantu h'impumyi hashobora kugera kuri 2,5cm byibuze ；
• Urwego rwa kure rushobora gushyirwaho, urwego 5 rwurwego rwa 50cm kugeza 500cm rushobora gushyirwaho binyuze mumabwiriza ；
• Uburyo butandukanye bwo gusohora burahari, UART auto / igenzurwa, PWM igenzurwa, guhinduranya urugero TTL urwego (3.3V), RS485, IIC, nibindi. .
• Igipimo cya baud gisanzwe ni 115,200, Gushyigikira guhindura ；
• Madamu urwego rwo gusubiza, igihe cyo gusohora amakuru gishobora kugera kuri 13m byihuse ；
• Inguni imwe kandi ebyiri irashobora gutoranywa, igiteranyo cyingero enye zingoboka zishyigikiwe kubintu bitandukanye byo gusaba ；
• Imikorere yo kugabanya urusaku rushobora gushyigikira urwego 5 rwo kugabanya urusaku ；
• Ubwenge bwa acoustic wogutunganya tekinoroji, yubatswe muburyo bwubwenge bwa algorithm kugirango uyungurure amajwi yumurongo wamajwi, irashobora kumenya amajwi yivanga hanyuma igahita ikora muyungurura ；
Igishushanyo mbonera cyamazi adafite amazi, icyiciro cya IP67 water
• Kwiyubaka gukomeye, uburyo bwo kwishyiriraho buroroshye, buhamye kandi bwizewe ；
• Shigikira kuzamura porogaramu ya kure ；
3 、Ibipimo byibicuruzwa
(1) Ibipimo fatizo
(2) Urwego rwo kumenya
Ultrasonic inzitizi yo kwirinda sensor ifite verisiyo yuburyo bubiri bwo guhitamo, Iyo igicuruzwa gishyizwe mu buryo buhagaritse, impande zombi zitambitse n’iburyo bwerekana inzira nini, zishobora kongera ubwirinzi bwo kwirinda inzitizi, icyerekezo gito cyerekana icyerekezo, kuri kimwe gihe, irinda imbarutso itariyo iterwa nubuso butaringaniye mugihe utwaye.
Igishushanyo cyurwego rwo gupima
4 、Ultrasonic inzitizi yo kwirinda sensor ya tekinike
(1) Igishushanyo cyimiterere yibikoresho
(2) Akazi
a 、 Rukuruzi ikoresha amashanyarazi.
b 、 Utunganya ibintu atangira kwisuzuma kugirango buri muzunguruko ukore bisanzwe.
ç Iyo intera ikwiye idashobora guhabwa uyikoresha, tanga ibimenyetso bidasanzwe byerekana ibimenyetso kugirango wirinde amakosa, hanyuma usimbukire mubikorwa k.
d 、 Utunganya ibintu yohereza amabwiriza yo kongera imbaraga zumuzunguruko kugirango ugenzure ubukana bwibyishimo ukurikije ingero nintera.
e pro Ultrasonic probe T itanga ibimenyetso bya acoustic nyuma yo gukora
f pro Ultrasonic probe R yakira ibimenyetso bya acoustic nyuma yo gukora
g signal Ikimenyetso kidakomeye cya acoustic cyongerewe numuyoboro wogukwirakwiza ibimenyetso hanyuma ugasubira mubitunganya.
h signal Ikimenyetso cyongerewe imbaraga gisubizwa mubitunganya nyuma yo gushiraho, kandi byubatswe mubwenge bwa algorithm muyunguruzi byunganira amajwi y’ikoranabuhanga, bishobora kwerekana neza intego nyayo.
i circuit Ubushyuhe bwo kumenya ubushyuhe, menya ubushyuhe bwibidukikije hanze yubushyuhe
j 、 Utunganya ibintu agaragaza igihe cyo kugaruka kwa echo kandi akishyura ubushyuhe bufatanije n’ibidukikije byo hanze, akabara intera (S = V * t / 2).
k 、 Utunganya amakuru yohereza ibimenyetso byabazwe kubakiriya binyuze kumurongo uhuza hanyuma agaruka kuri a.
(3) Inzira yo kwivanga
Ultrasound mu bijyanye na robo, izahura n’amasoko atandukanye yo kwivanga, nk'urusaku rw'amashanyarazi, igitonyanga, kwiyongera, inzibacyuho, n'ibindi. Ultrasound ikorana numwuka nkibikoresho. Iyo robot yashizwemo ibyuma byinshi bya ultrasonic hamwe na robo nyinshi zikora zegeranye icyarimwe, hazaba ibimenyetso byinshi bitari kavukire bya ultrasonic mumwanya umwe nigihe kimwe, kandi kwivanga hagati ya robo bizaba bikomeye cyane.
Urebye ibyo bibazo byo kwivanga, sensor yubatswe muburyo bworoshye bwo kurwanya imihindagurikire y'ikirere, irashobora gushyigikira urwego 5 rwo kugabanya urusaku rwo kugabanya urusaku, akayunguruzo kamwe kamwe kayunguruzo gashobora gushyirwaho, intera n’inguni irashobora gushyirwaho, ukoresheje echo filteri algorithm, ifite ubushobozi bukomeye bwo kurwanya kwivanga.
Nyuma ya laboratoire ya DYP ukoresheje uburyo bukurikira bwikizamini: koresha ibyuma 4 bya ultrasonic inzitizi zo kwirinda inzitizi kugirango ukingire ibipimo, wigane ibidukikije bikora imashini nyinshi, wandike amakuru, igipimo cyukuri kigeze kuri 98%.
Igishushanyo cyikizamini cyo kurwanya interineti
(4) Inguni yibiti irashobora guhinduka
Porogaramu iboneza ya sensor sensor beam ifite urwego 4: 40,45,55,65, kugirango yuzuze ibisabwa mubisabwa bitandukanye.
5 、Ultrasonic inzitizi yo kwirinda sensor ya tekinike
Mu rwego rwo kwirinda inzitizi za robot zo kwirinda, sensor nijisho rya robo, Niba robot ishobora kugenda byoroshye kandi byihuse biterwa ahanini namakuru yo gupima yagaruwe na sensor. Muri ubwo bwoko bumwe bwa sensibiliseri yo kwirinda inzitizi, ni ibicuruzwa byizewe birinda inzitizi zifite igiciro gito kandi cyihuse, ibicuruzwa bishyirwa hafi ya robo, itumanaho n’ikigo gishinzwe kugenzura robo, tangira ibyuma bitandukanye byerekana intera kugira ngo umenye intera ukurikije icyerekezo cyerekezo. ya robo, igere kubisubizo byihuse nibisabwa gutahurwa. Hagati aho, sensor ya ultrasonic ifite inguni nini ya FOV yumurima kugirango ifashe imashini kubona umwanya munini wo gupima kugirango ikingire ahantu hakenewe gutahurwa imbere yayo.
6 、Ingingo z'ingenzi zikoreshwa rya sensor ya ultrasonic muri gahunda yo kwirinda inzitizi za robo
• Ultrasonic inzitizi yo kwirinda radar FOV isa na kamera yimbitse, igura hafi 20% ya kamera yimbitse;
• Urwego rwuzuye rwa milimetero urwego rwukuri, neza kuruta kamera yimbitse ；
• Ibisubizo by'ibizamini ntabwo bigira ingaruka ku bidukikije byo hanze n'ibara ry'urumuri, inzitizi ziboneka mu mucyo zirashobora kugaragara neza, nk'ikirahure, plastiki ibonerana, n'ibindi .；
• Nta mukungugu, isuka, igihu, aside na alkali kwivanga mu bidukikije, kwiringirwa cyane, kuzigama impungenge, kugabanuka gake;
• Ingano ntoya kugirango ihuze robot yo hanze kandi yashyizwemo, irashobora gukoreshwa mubintu bitandukanye bya robo ya serivise, kugirango uhuze ibyifuzo bitandukanye byabakiriya, kugabanya ibiciro.
Igihe cyo kohereza: Kanama-16-2022