Iirobhothi zemveli zoshishino zinomthamo omkhulu kunye nokhuseleko oluphantsi, njengoko kungekho bantu bavunyelwe ngaphakathi kwendawo yokusebenza. Ngokunyuka kwemfuno yemveliso eguquguqukayo engacwangciswanga njengokwenziwa ngokuchanekileyo kunye nokuveliswa okuguquguqukayo, ukuhlalisana kweerobhothi nabantu kunye neerobhothi kunye nokusingqongileyo kubeke phambili iimfuno eziphezulu zoyilo lwerobhothi. Iirobhothi ezinobu buchule zibizwa ngokuba ziirobhothi ezisebenzisanayo.
Iirobhothi ezisebenzisanayozineengenelo ezininzi, kubandakanya ukukhanya, ubuhlobo bendalo, ukuqonda okukrelekrele, ukusebenzisana ngoomatshini bomntu, kunye nokulula kwenkqubo. Emva kwezi zibonelelo, kukho umsebenzi obaluleke kakhulu, obizwa ngokuba yi-collision ukubona - owona msebenzi uphambili kukunciphisa impembelelo yamandla okungqubuzana kumzimba werobhothi, ukuphepha umonakalo kumzimba werobhothi okanye izixhobo ze-peripheral, kwaye okona kubaluleke kakhulu, ukukhusela i-robot. ebangela umonakalo ebantwini.
Ngophuhliso lwezenzululwazi kunye nobuchwepheshe, kukho iindlela ezininzi zokufikelela ukufumanisa ukungqubana kweerobhothi ezisebenzisanayo, kubandakanywa i-kinematics, i-mechanics, i-optics, njl. Kakade ke, ingundoqo yezi ndlela zokuphunyezwa ngamacandelo anemisebenzi eyahlukeneyo yokufumanisa.
Ukubona ukungqubana kweerobhothi ezisebenzisanayo
Ukuvela kweerobhothi akujoliswanga ukuba kuthathe indawo yabantu ngokupheleleyo. Imisebenzi emininzi idinga intsebenziswano phakathi kwabantu kunye neerobhothi ukugqiba, okuyimvelaphi yokuzalwa kweerobhothi ezisebenzisanayo. Injongo yokuqala yokuyila iirobhothi ezisebenzisanayo kukunxibelelana nokusebenzisana nabantu emsebenzini, ukuze kuphuculwe ukusebenza kakuhle kunye nokhuseleko.
Kwimeko yomsebenzi,iirobhothi ezisebenzisanayoukusebenzisana ngokuthe ngqo nabantu, ngoko ke imiba yokhuseleko ayinakugxininiswa kakhulu. Ukuze kuqinisekiswe ukhuseleko lwentsebenziswano yomntu-omatshini, ishishini liye laqulunqa imimiselo emininzi efanelekileyo kunye nemigangatho, ngenjongo yokuqwalasela imiba yokhuseleko yokubambisana komatshini woluntu ukusuka kuyilo lweerobhothi ezisebenzisanayo.
Ngeli xesha, iirobhothi ezisebenzisanayo ngokwazo kufuneka ziqinisekise ukhuseleko kunye nokuthembeka. Ngenxa yeqondo eliphezulu lenkululeko yendawo yeerobhothi ezisebenzisanayo, ezithatha indawo yomsebenzi wabantu kwindawo entsonkothileyo neziyingozi, kukwafuneka ngokukhawuleza nangokuthembekileyo ukubona ukungqubana okunokwenzeka ekusileni, ekudibaneni, ekugrubeni, ekuphatheni kunye neminye imisebenzi.
Ukuze kuthintelwe ukungqubana phakathi kweerobhothi ezisebenzisanayo kunye nabantu kunye nokusingqongileyo, abayili bahlulahlula ukufumanisa ukungqubana ngokwezigaba ezine:
01 Ukubona kwangaphambili ukungqubana
Xa kuthunyelwa iirobhothi ezisebenzisanayo kwindawo yokusebenza, abaqulunqi banethemba lokuba ezi robhothi zinokuqhelana nokusingqongileyo njengabantu kwaye bacwangcise iindlela zabo zokuhamba. Ukufezekisa oku, abaqulunqi bafaka iiprosesa kunye ne-algorithms yokufumanisa ngamandla athile ekhompyuter kwiirobhothi ezisebenzisanayo, kwaye bakhe ikhamera enye okanye ezininzi, izinzwa, kunye neeradar njengeendlela zokubona. Njengoko kukhankanyiwe ngasentla, kukho imigangatho yoshishino enokulandelwa ukubhaqwa kongquzulwano lwangaphambili, njengomgangatho we-ISO/TS15066 woyilo lwerobhothi edityanisiweyo, efuna iirobhothi ezisebenzisanayo ukuba ziyeke ukusebenza xa abantu besondela kwaye zilulame kwangoko xa abantu bemka.
02 Ukubona ukungqubana
Le yifomu ethi ewe okanye hayi, emele ukuba irobhothi yentsebenziswano iye yangqubana. Ukuze ugweme ukubangela iimpazamo, abaqulunqi baya kubeka umda weerobhothi ezisebenzisanayo. Umiselo lwalo mda lucokisekileyo, luqinisekisa ukuba alunakuvuswa rhoqo ngelixa lunovakalelo olugqithisileyo ukuthintela ukungqubana. Ngenxa yokuba ulawulo lweerobhothi luxhomekeke ikakhulu kwiimoto, abayili badibanisa lo mda kunye ne-motor adaptive algorithms ukufezekisa ukumisa ukungqubana.
03 Ukubekwa wedwa kokungqubana
Emva kokuba inkqubo iqinisekisa ukuba ungquzulwano lwenzekile, kuyimfuneko ukuqinisekisa indawo ethile yokungqubana okanye ukudibana. Injongo yokuphumeza ukubekwa wedwa ngeli xesha kukumisa indawo yongquzulwano. Ukwahlulwa kongquzulwano lweiirobhothi zemvelikuphunyezwa ngokusebenzisa i-guardrails yangaphandle, ngelixa iirobhothi ezisebenzisanayo kufuneka ziphunyezwe ngokusebenzisa i-algorithms kunye nokukhawuleza umva ngenxa yendawo evulekileyo.
04 Ukuqaphela ukungqubana
Ngeli xesha, i-robot yokubambisana iqinisekisile ukuba ungquzulwano lwenzekile, kwaye iinguqu ezifanelekileyo ziye zadlula umda. Ngeli xesha, iprosesa ekwirobhothi kufuneka iqinisekise ukuba ungquzulwano lungquzulwano ngengozi olusekwe kulwazi lokuva. Ukuba isiphumo sesigwebo sithi ewe, irobhothi esebenzisanayo kufuneka izilungise; Ukuba ifunyaniswe njengongquzulwano olungeyongozi, irobhothi esebenzisanayo iya kumisa kwaye ilinde ukusetyenzwa kwabantu.
Kunokuthiwa ukufumanisa ukungqubuzana kuyisiphakamiso esibaluleke kakhulu kwiirobhothi ezisebenzisanayo ukufezekisa ukuzazi, ukubonelela ngokunokwenzeka kokusetyenziswa kweerobhothi ezisebenzisanayo kunye nokungena kuluhlu olubanzi lweemeko. Kwizigaba ezahlukeneyo zokungqubana, iirobhothi ezisebenzisanayo zineemfuno ezahlukeneyo zezivamvo. Ngokomzekelo, kwinqanaba lokufumanisa kwangaphambili ukungqubana, injongo ephambili yenkqubo kukuthintela ukungqubana ukuba kwenzeke, ngoko ke uxanduva lwenzwa kukubona indawo engqongileyo. Zininzi iindlela zomiliselo, ezinje ngembono esekwe kwimo yendalo esingqongileyo, imilimitha yamaza eradar esekwe kwimbono yokusingqongileyo, kunye nelidar esekwe kwimbono yokusingqongileyo. Ke ngoko, izinzwa ezihambelanayo kunye ne-algorithms kufuneka zilungelelaniswe.
Emva kokuba kwenzeke ungquzulwano, kubalulekile ukuba iirobhothi ezisebenzisanayo ziqaphele indawo yongquzulwano kunye neqondo ngokukhawuleza, ukuze kuthathwe amanyathelo angaphezulu okuthintela imeko ukuba ibe maxongo ngakumbi. I-sensor yokubona ukungqubana idlala indima ngeli xesha. Izinzwa zongquzulwano eziqhelekileyo zibandakanya abenzi bokungqubana koomatshini, abenzi bokungqubana kwemagnethi, abenzi boluvo bokungqubana kwepiezoelectric, izinzwa zohlobo lokungqubana kohlobo lwe-strain, i-piezoresistive plate collision sensors, kunye ne-mercury switch type collision sensors.
Sonke siyazi ukuba ngexesha lokusebenza kweerobhothi ezisebenzisanayo, ingalo yerobhothi iphantsi kwetorque ukusuka kumacala amaninzi ukwenza ingalo yerobhothi ihambe kwaye isebenze. Njengoko kubonisiwe kumzobo ongezantsi, inkqubo yokukhusela exhotyiswe ngeenzwa zokungqubana iya kusebenzisa i-torque edibeneyo, i-torque, kunye ne-axial load reaction force xa ibona ukungqubana, kunye ne-robot yentsebenziswano iya kuyeka ngokukhawuleza ukusebenza.
Ixesha lokuposa: Dec-27-2023
