Momwe Autonomous Mobile Maloboti Amapangidwira
Roboti yodziyimira payokha (AMR) ndi makina anzeru omwe amatha kuyenda pawokha ndikuchita ntchito m'malo ovuta. Cholinga chake ndikugwiritsa ntchito ma module angapo. AMR yathunthu imakhala ndi zigawo zinayi zazikuluzikulu: kawonedwe ka zinthu, njira-yopanga zisankho, makina ochitira zinthu, ndi mphamvu. Zigawozi zimagwirira ntchito limodzi kuti zikwaniritse kudzilamulira.
Dongosolo la kuzindikira ndi "malingaliro" a loboti omwe ali ndi udindo wopeza chidziwitso cha chilengedwe. Masensa omwe amagwiritsidwa ntchito nthawi zambiri amaphatikiza laser radar (LiDAR), makamera, masensa a ultrasonic, ndi mayunitsi oyezera inertial (IMUs). LiDAR imapanga mapu a chilengedwe potulutsa matabwa a laser ndi kulandira ma signature. Makamera amapereka zidziwitso zowonekera kuti zizindikiridwe, ndipo ma IMU amawunika momwe loboti imayendera (monga kuthamanga komanso kuthamanga kwa angular). Njira zophatikizira deta kuchokera ku masensa awa, monga kusefa kwa Kalman, zitha kuwongolera kulondola kwamalingaliro achilengedwe.
Dongosolo lopangira zisankho-ndi "ubongo" wa loboti, kukonza njira ndi kupanga zisankho zokhudzana ndi kawonedwe kake. Dongosololi nthawi zambiri limaphatikizapo magawo atatu: kutanthauzira ndi kupanga mapu (SLAM), kukonza njira, ndi kuwongolera machitidwe. Ukadaulo wa SLAM umathandizira maloboti kupeza ndikuyika malo osadziwika munthawi yeniyeni. Ma algorithms okonzekera njira (monga ma aligorivimu A kapena D) amawerengera njira yabwino kwambiri yoyendetsera, ndipo gawo lowongolera machitidwe limasintha mayendedwe a loboti potengera zomwe akufuna kuchita (monga kupewa zopinga kapena kutsatira zomwe mukufuna).
Dongosolo lakupha, "miyendo" ya loboti, ili ndi udindo womasulira zisankho kukhala zochita zakuthupi. Zimaphatikizapo zinthu monga mawilo oyendetsa, ma motors, ndi mkono wa robotic. Mawilo oyendetsa ndi ma motors amawongolera komwe loboti amapita komanso liwiro lake, pomwe mkono wa robotic (ngati uphatikizidwa) umagwira ntchito zogwira kapena kuwongolera.
Mphamvu yamagetsi imapereka mphamvu mosalekeza kwa loboti, makamaka pogwiritsa ntchito mabatire a lithiamu kapena ma cell amafuta. Moyo wa batri wake umakhudza mwachindunji nthawi yogwiritsira ntchito robot.
Mwachidule, chitukuko cha maloboti odziyimira pawokha amadalira kuphatikiza kwaukadaulo wosiyanasiyana. Kupita patsogolo kwamtsogolo kwanzeru zopangira komanso ukadaulo wa sensor kupititsa patsogolo kudziyimira kwawo komanso kusinthika.
