Hamwe niterambere ryikoranabuhanga rya robo ya serivise, pisine yo koga yo koga yo mumazi ikoreshwa cyane kumasoko.Kugirango tumenye inzira zabo ziteganijwe, zihenze kandi zihuza n'imiterereultrasonic underwater rangeinzitizi zo kwirinda inzitizi ni ngombwa.
ByinshiIsoko
Kugeza ubu, Amerika ya ruguru iracyari isoko rinini mu iterambere ry’isoko rya pisine ku isi (Raporo y’isoko rya Technavio, 2019-2024).Muri Reta zunzubumwe zamerika hamaze kuboneka ibidengeri birenga miriyoni 10.7, kandi umubare w’ibidengeri bishasha, cyane cyane ibidendezi byigenga, uragenda wiyongera uko umwaka utashye, wiyongereyeho 117.000 muri 2021. Ugereranyije ikidendezi kimwe kuri buri muntu 31.Mu Bufaransa, isoko rya kabiri rinini ku isi, umubare w’ibidendezi byigenga urenga miliyoni 3.2 mu 2022.Kandi umubare w’ibidendezi bishya wageze ku 244.000 mu mwaka umwe, ugereranyije ikidendezi kimwe kuri buri muntu 21.
Ku isoko ry’Ubushinwa, ryiganjemo ibidendezi rusange, abantu bagera ku 43.000 basangiye siporo yo koga (mu gihugu hari ibizenga 32.500 byo koga, bishingiye ku baturage bangana na miliyari 1.4).
Espagne ifite umubare wa kane w’ibidendezi byo koga ku isi n’umwanya wa kabiri w’ibidendezi byo koga mu Burayi, hamwe na miliyoni 1.3 zo koga (gutura, rusange hamwe na hamwe).
Uhereye ku isi - - Kugereranya isoko ry’imashini za robo mu Bushinwa, ingano y’isoko ry’Ubushinwa ntiri munsi ya 1% y’isi, isoko nyamukuru iracyari Uburayi na Amerika.Amakuru yerekana ko mu 2021, isoko ry’imashini za robot ku isi zingana na miliyari 11.2 z'amafaranga y'u Rwanda, kugurisha ibice birenga miliyoni 1.6, gusa umuyoboro wa interineti wo muri Amerika.Koga yo koga yo koza robot yoherejwe bigeze kubice birenga 500.000 mumwaka wa 2021.Kandi umuvuduko wabo wo gukura ufite hejuru ya 130%, byari mubyiciro byambere byo gukura byihuse.
Kugeza ubu, isoko ryo gusukura ibidendezi riracyiganjemo gusukura intoki, no ku isoko ryo koga rya pisine ku isi, isuku y’intoki igera kuri 45%, mu gihe robot yo koga muri pisine igera kuri 19%.Mu bihe biri imbere, hamwe no kwiyongera kw'ibiciro by'umurimo no kumenyekanisha ikoranabuhanga mu nganda nk'imyumvire igaragara, imyumvire ya ultrasonic, igenamigambi ry'ubwenge, interineti y'ibintu, SLAM (umwanya uhagaze hamwe n'ikoranabuhanga ryo kubaka ikarita) hamwe n'ikoranabuhanga rijyanye na byo, robine yo koga yo koga. bizagenda bihinduka buhoro buhoro biva mubikorwa bikora mubwenge, kandi igipimo cyo kwinjira muri robine yoza pisine kizarushaho kunozwa.
Pisine yo koga kwisi yose isukura isoko ryinjira muri 2021
Kwiyegurira ibyiyumvo, munsi y'amazi aringaniye bifasha thekogapisine isukura robot kugirango wirinde inzitizi mubwenge
Ultrasonic munsi y'amazi yo gupima inzitizi zo kwirinda inzitizi ni ubwoko bwa sensor ikoreshwa muri robot kwirinda amazi inzitizi.Rukuruzi ikoresha tekinoroji yo gupima intera ya ultrasonic yo gupima amazi kugirango ipime intera iri hagati ya sensor nikintu cyapimwe.Iyo sensor ibonye inzitizi, intera yinzitizi isubizwa muri robo, kandi robot irashobora guhagarara, guhindukira, gutinda, kugendagenda kurukuta, kuzamuka kurukuta nibindi bikorwa ukurikije icyerekezo cyashyizweho na sensor hanyuma ukagaruka intera intera kugirango umenye intego yo guhita usukura pisine no kwirinda inzitizi.
It arazahere——L08 munsi y'amazi aringaniye
Imiterere-yerekana imbere ya sensor ya DSP, ubushakashatsi bwigenga no guteza imbere ibyuma bifata ibyuma bifata amazi, binyuze muburyo bwimikorere ya sensor sensor yo mumazi muri robot yo mumazi, kuburyo robot yoza pisine yo koga ifite imikorere yinzira yo gutegura inzira yo kwirinda.
L08-module ni ultrasonic underwater inzitizi zo kwirinda inzitizi zagenewe gukoreshwa mumazi.Ifite ibyiza byubunini buto, agace gato gahumye, neza cyane nibikorwa byiza bitarinda amazi.Shyigikira porotokole ya modbus.Hariho intera itandukanye, Inguni nimpumyi zihariye kubintu bitandukanye byabakoresha guhitamo.
Ibipimo fatizo:
Intego aho ububabare, guhanga udushya
Nigute dushobora kurushaho guha imbaraga robot yo koga yo koga ikoresheje sensor yo munsi y’amazi, kandi tukagera ku ntera ishoboka y’ikoranabuhanga, guhuza imiyoboro yuzuye ya serivisi n’ibisubizo.Dianyingpu yibanze ku bushakashatsi n’iterambere ryayo .Nyuma y’ubushakashatsi bwimbitse, tugamije kuri ingingo zibabaza isoko no guhanga udushya.
. ntibikoreshwa cyane muri iki gihe.
Hamwe n’ikiguzi cy’ibiciro by’imashini zikoresha amazi yo mu mazi, isosiyete yakoze ubushakashatsi bwigenga kandi itezimbere ibipimo bihuza transducer, guhuza ibikoresho byingenzi, hamwe nuburambe ku musaruro rusange.Igiciro cyaragabanutse kugera munsi ya 10% yinganda, bituma hajyaho ibyuma bifata ibyuma byamazi muma elegitoroniki.
. igiciro cyo guhuza ni kinini.
Yateje imbere inshuro ebyiri-nyinshi-transducer, ikemura ibipimo byiza-byo hejuru byintera, agace gahumye nimpande.
AngImpande nyinshi-rumuri hafi ya 90 °, kandi intera irashobora guhaza hejuru ya 6m, guhura n'impumyi muri 5cm, kandi guhuza ibintu bishobora kuba byinshi.
Ibikoresho by'ibanze bya sensor ya ultrasonic ni transducer ya ceramic plaque, ibicuruzwa bifata umurongo wa radiyo nubunini bwumubyimba wa ceramic plate igishushanyo mbonera, hanyuma ukanyura mumashanyarazi hanyuma ukunguka band-pass yo kuyungurura imiterere, radiyo yumurongo wa resonance ni hasi, ingero yo gupima ni nini, ubunini bwa frequency resonance inshuro nyinshi ni ndende, kwinjira birakomeye, intera yo gupima ni kure kandi ibipimo by'ahantu hatabona hafatwa ingamba.
.
Ikibazo gikoreshwa mubidukikije bigoye byo mumazi gikemurwa nubuhanga buvanze bwinshuro ebyiri-beam na adaptive algorithm hamwe na Kalman gutunganya.Kugaragaza ibyiza byinshyi zitandukanye, disiki nyinshi yubwenge ifite ubwenge, gutandukanya uburyo bwakazi, imbaraga, inguni, ubwiza bwibimenyetso birashobora guhuza nimpinduka zabaye.
Imiterere n'ibicuruzwa:
.Nyuma kubungabunga bikenewe gusa gufungura ibinyomoro kugirango ukureho sensor, imikorere yoroshye, kugabanya ikiguzi cyo kwiga cyo gushiraho no kubungabunga.
.Inzira yimbere ikoresha potting epoxy resin glue yuzuye izingiye, ingaruka zidafite amazi zirashobora kugera kurwego rwa IP68.
Ubushakashatsiikwigengalynaimikorere yizewe
Mubikorwa byiterambere bya sensor, itsinda R & D ryatezimbere inshuro nyinshi kandi risubiramo ibipimo byinshi nko guhuza amakuru, ingaruka zamazi, umuvuduko no gukora.Kandi yakoze ibizamini byinshi byahujwe cyane nuburyo bukora bwimikorere ya robot isukura pisine kugirango irusheho kunoza imiterere ya sensor ihuza ibidukikije nakazi keza.
Muri icyo gihe, Dianyingpu yamye nantaryo akomeza gutinya ikoranabuhanga, icyuma gipima amazi munsi yikigereranyo nkigipimo cyo gupima, ugereranije nigishushanyo mbonera no kugikemura, umusaruro na kalibrasi ni ngombwa, mugihe kimwe cyateje imbere igice cyuzuye cyamazi yo munsi yipimisha sensor na sisitemu ya kalibrasi.
Ukurikije ibizamini na kalibibasi, sensor yakorewe ibizamini byizewe nkubushyuhe bwo hejuru hamwe nububiko bwinshi bwubushyuhe, ikizamini gishyushye nubukonje bukabije, ikizamini cyo gutera umunyu, UV yihutishije gusaza, ikizamini cyamanutse cyambaye ubusa, ikizamini cyo kwibiza mumazi) , vacuum umuvuduko wamazi adashobora gukoreshwa, bikorwa muri buri prototype itera.
Nyuma ya sensor imaze guhuzwa numubiri wa robo, imikorere yimashini yose igeragezwa kumasaha ibihumbi n'ibihumbi hamwe nibikorwa nyabyo bya robo.Umusaruro wiyi sensor mu musaruro rusange urenze 99%, byagenzuwe nuburyo bwo kwisoko bwo gukora ibicuruzwa.
Byegeranijwe, L08 izakomezakuvugurura
Ongera usuzume inzira yiterambere ryamazi aringaniye: ubushakashatsi, kwishyira hamwe, guhanga udushya, kugenzura.Buri pfundo nudushya twintwari, gushakisha cyane, no kwegeranya imbaraga mubijyanye nikoranabuhanga.L08 nigicuruzwa cya mbere cyisosiyete ikora amazi ya ultrasonic yo mumazi.Isosiyete izashyira ahagaragara ibicuruzwa byinshi bishingiye kuri robot yo mu mazi kwirinda inzitizi z’amazi no gukora ubushakashatsi bwimbitse.
Mu bihe biri imbere, hamwe nogutezimbere robot zo mumazi, ibyuma bifata ibyuma bifata amazi nkinkunga yingenzi yo kumenya ubwenge bwimashini za robo zo mumazi, rwose bizazana impinduka nini mubikorwa byimashini za robo zo mumazi.
Igihe cyo kohereza: Kanama-04-2023