1. Izimiso eziyisisekelo nokwakheka kwerobhothi le-eksisi emine:
1. Ngokomgomo: Irobhothi le-eksisi emine lakhiwe amalunga amane axhumene, ngalinye lingakwazi ukwenza ukunyakaza kwe-three-dimensional. Lo mklamo uwunikeza ukusebenziseka okuphezulu nokuvumelana nezimo, okuwuvumela ukuthi yenze imisebenzi ehlukahlukene ezindaweni eziwumngcingo. Inqubo yokusebenza ibandakanya ikhompuyutha yokulawula eyinhloko ethola imiyalelo yomsebenzi, ukuhlaziya nokuhumusha imiyalelo yokunquma imingcele yokunyakaza, ukwenza imisebenzi ye-kinematic, dynamic, kanye ne-interpolation, kanye nokuthola imingcele yokunyakaza ehlanganisiwe yejoyinti ngalinye. Le mingcele iphuma esigabeni sokulawula i-servo, ishayela amalunga ukuze akhiqize ukunyakaza okuhlanganisiwe. Izinzwa zibuyisela amasiginali okukhipha ukunyakaza okuhlanganyelwe kusiteji sokulawula i-servo ukuze zakhe isilawuli sendawo esivaliwe, esizuza ukunyakaza kwendawo okunembayo.
2. Ngokwesakhiwo, ngokuvamile siqukethe isisekelo, umzimba wengalo, ingalo, kanye nokubamba. Ingxenye yokubamba ingafakwa ngamathuluzi ahlukene ngokuya ngezidingo ezahlukene.
2. Ukuqhathanisa phakathi kwamarobhothi e-eksisi amane namarobhothi ayisithupha e-eksisi:
1. Amadigri Enkululeko: I-quadcopter inamadigri amane enkululeko. Amalungu amabili okuqala angazungeza ngokukhululekile kwesokunxele nakwesokudla endizeni evundlile, kuyilapho induku yensimbi yelunga lesithathu ingakwazi ukuhamba iye phezulu naphansi endizeni eqondile noma ijikeleze izungeze i-eksisi eqondile, kodwa ayikwazi ukutsheka; Irobhothi le-eksisi eyisithupha linamadigri enkululeko ayisithupha, amalunga amabili ngaphezu kwerobhothi le-eksisi emine, futhi linamandla afana nezingalo nezihlakala zomuntu. Ingakwazi ukucosha izingxenye ezibhekene nanoma yikuphi ukuqondiswa endizeni evundlile futhi izibeke emikhiqizweni ehlanganisiwe ngama-engeli akhethekile.
2. Izimo zohlelo lokusebenza: Amarobhothi ama-eksisi amane afanele imisebenzi efana nokubamba, ukushisela, ukukhipha, ukulayisha kanye nokukhipha okudinga ukuguquguquka okuphansi kodwa anezidingo ezithile zejubane nokunemba; Amarobhothi e-axis ayisithupha ayakwazi ukwenza imisebenzi eyinkimbinkimbi futhi enemba kakhudlwana, futhi asetshenziswa kabanzi ezimeni ezifana nokuhlanganisa okuyinkimbinkimbi kanye nokwenza imishini enembayo ephezulu.
3. Izindawo zokusetshenziswa kwama-quadcopter 5:
1. Ukukhiqizwa kwezimboni: okukwazi ukufaka esikhundleni somsebenzi wezandla ukuze kuqedelwe imisebenzi esindayo, eyingozi, noma enembe kakhulu, njengokuphatha, ukunamathisela, kanye nokushisela embonini yezingxenye zezimoto nezithuthuthu; Ukuhlanganisa, ukuhlola, ukunamathisela, njll. embonini yomkhiqizo we-elekthronikhi.
2. Inkundla yezokwelapha: Isetshenziselwa ukuhlinzwa okuncane kakhulu, ukunemba kwayo okuphezulu nokuzinza kwenza ukuhlinzwa kucace futhi kuphephe, kunciphisa isikhathi sokululama kwesiguli.
3. Ukugcinwa kwempahla kanye nokugcinwa kwempahla: Ukudluliswa kwezimpahla okuzenzakalelayo kusuka endaweni eyodwa kuya kwenye, ukuthuthukisa ukugcinwa kwempahla nokusebenza kahle.
4. Ezolimo: Kungasetshenziswa ezinsimini zezithelo nezindawo zokugcina izithombo ukuze kuqedelwe imisebenzi efana nokukha izithelo, ukuthena, nokufutha, ukuthuthukisa ukukhiqiza kwezolimo kanye nezinga eliphezulu.
4. Ukuhlela nokulawula amarobhothi e-Four Axis:
1. Ukuhlela: Kuyadingeka ukwazi kahle ulimi lokuhlela kanye nesoftware yamarobhothi, ubhale izinhlelo ngokuya ngezidingo ezithile zomsebenzi, futhi uzuze ukulawula ukunyakaza nokusebenza kwamarobhothi. Ngale softhiwe, amarobhothi angasetshenziswa ku-inthanethi, okuhlanganisa ukuxhumana nezilawuli, amandla e-servo, ukuhlehliswa kwemvelaphi, ukunyakaza kwama-intshi, ukulandelela amaphuzu, kanye nemisebenzi yokuqapha.
2. Indlela yokulawula: Ingalawulwa nge-PLC nezinye izilawuli, noma ilawulwe mathupha nge-pendant yokufundisa. Lapho uxhumana ne-PLC, kuyadingeka ukwazi kahle izimiso zokuxhumana ezifanele nezindlela zokumisa ukuze uqinisekise ukuxhumana okuvamile phakathi kwerobhothi ne-PLC.
5. Ukulinganisa kweso lesandla se-quadcopter:
1. Inhloso: Kuzinhlelo zokusebenza zamarobhothi ezisebenzayo, ngemuva kokuhlomisa amarobhothi ngezinzwa ezibukwayo, kuyadingeka ukuguqula izixhumanisi ohlelweni lokudidiyela olubonakalayo kuhlelo lokudidiyela irobhothi. Ukulinganisa iso lesandla ukuthola i-matrix yoguquko kusuka ohlelweni lokuxhumanisa olubonakalayo kuya ohlelweni lokuxhumanisa amarobhothi.
2. Indlela: Erobhothini le-axis planar emine, njengoba izindawo ezithathwe yikhamera futhi zisetshenziswe ingalo yerobhothi ziyizindiza zombili, umsebenzi wokulinganisa iso lesandla ungaguqulwa ube ekubaleni ukuguqulwa kwe-affine phakathi kwezindiza ezimbili. Ngokuvamile, "indlela yamaphoyinti angu-9" isetshenziswa, okubandakanya ukuqoqa idatha kumasethi angaphezu kuka-3 (imvamisa amasethi angu-9) amaphoyinti ahambisanayo kanye nokusebenzisa indlela yezikwele ezincane ukuxazulula i-matrix yokuguqulwa.
6. Ukugcinwa nokugcinwa kwama-quadcopter:
1. Ukugcinwa kwansuku zonke: kuhlanganise nokuhlolwa okuvamile kokubukeka kwerobhothi, ukuxhunywa kwejoyinti ngalinye, isimo sokusebenza sezinzwa, njll., ukuze kuqinisekiswe ukusebenza okuvamile kwerobhothi. Ngesikhathi esifanayo, kuyadingeka ukugcina indawo yokusebenza yerobhothi ihlanzekile futhi yomile, futhi ugweme ithonya lothuli, amabala amafutha, njll ku-robot.
2. Ukunakekelwa okuvamile: Ngokusetshenziswa kwerobhothi kanye nezincomo zomenzi, gcina irobhothi njalo, njengokushintsha uwoyela wokugcoba, ukuhlanza izihlungi, ukuhlola amasistimu kagesi, njll. Umsebenzi wokulungisa unganweba impilo yesevisi yamarobhothi, uthuthukise umsebenzi wawo. ukusebenza kahle nokuzinza.
Ingabe ukhona umehluko omkhulu wezindleko phakathi kwerobhothi eliyi-eksisi emine kanye nerobhothi le-eksisi eyisithupha?
1. Izindleko zengxenye eyinhloko 4:
1. Isinciphisi: Isinciphisi siyingxenye ebalulekile yezindleko zerobhothi. Ngenxa yenani elikhulu lamalunga, amarobhothi e-eksisi ayisithupha adinga izinciphisi ezengeziwe, futhi ngokuvamile anezidingo zokunemba okuphezulu nomthamo wokulayisha, ezingase zidinge izinciphisi zekhwalithi ephezulu. Isibonelo, izinciphisi ze-RV zingasetshenziswa kwezinye izindawo ezibalulekile, kuyilapho amarobhothi ama-axis amane anezidingo eziphansi uma kuqhathaniswa nezinciphisi. Kwezinye izimo zohlelo lokusebenza, ukucaciswa kanye nekhwalithi yezinciphisi ezisetshenzisiwe kungase kube phansi kunalezo zamarobhothi ayisithupha eksisi, ngakho-ke izindleko zokunciphisa amarobhothi ayisithupha e-eksisi zizoba phezulu.
2. Ama-Servo motors: Ukulawula ukunyakaza kwamarobhothi e-eksisi ayisithupha kuyinkimbinkimbi kakhulu, kudinga ama-servo motors ukuze alawule ngokunembile ukunyakaza kwejoyinti ngalinye, kanye nezidingo eziphakeme zokusebenza kwama-servo motors ukuze kuzuzwe impendulo yesenzo esheshayo nenembile, okwandisa izindleko ze-servo. izinjini zamarobhothi e-eksisi ayisithupha. Amarobhothi ama-axis amane anamajoyinti ambalwa, adinga ama-servo motors amancane kanye nezidingo eziphansi zokusebenza, okuholela ezindlekweni eziphansi.
2. Izindleko zesistimu yokulawula: Isistimu yokulawula yerobhothi le-eksisi eyisithupha idinga ukuphatha ulwazi olwengeziwe lokunyakaza okuhlanganyelwe kanye nokuhlelwa kwe-trajectory yokunyakaza okuyinkimbinkimbi, okuholela enkingeni ephakeme yokulawula ama-algorithms nesofthiwe, kanye nezindleko eziphezulu zokuthuthukiswa nokususa iphutha. Ngokuphambene, isilawuli sokunyakaza kwerobhothi le-eksisi emine kulula, futhi izindleko zesistimu yokulawula ziphansi kakhulu.
3. Izindleko ze-R&D nedizayini: Ubunzima bomklamo wamarobhothi e-eksisi ayisithupha bukhulu, budinga ubuchwepheshe obengeziwe bonjiniyela kanye nokutshalwa kwezimali kwe-R&D ukuze kuqinisekiswe ukusebenza kwawo nokwethembeka. Isibonelo, idizayini yesakhiwo esihlanganyelwe, i-kinematics, nokuhlaziywa kwe-dynamics kwamarobhothi e-axis ayisithupha kudinga ucwaningo oluningiliziwe kanye nokwenza kahle, kuyilapho ukwakheka kwamarobhothi eksisi amane kulula futhi izindleko zomklamo wocwaningo nentuthuko ziphansi uma kuqhathaniswa.
4. Izindleko zokukhiqiza nokuhlanganisa: Amarobhothi e-axis ayisithupha anenani elikhulu lezingxenye, futhi izinqubo zokukhiqiza nokuhlanganisa ziyinkimbinkimbi, zidinga ukunemba okuphezulu nezidingo zenqubo, okuholela ekwenyukeni kwezindleko zawo zokukhiqiza nokuhlanganisa. Isakhiwo serobhothi le-axis emine silula, inqubo yokukhiqiza nokuhlanganisa ilula, futhi izindleko nazo ziphansi.
Kodwa-ke, umehluko othile wezindleko uzophinde uthonywe izici ezifana nomkhiqizo, amapharamitha okusebenza, nokucushwa kokusebenza. Kwezinye izimo zohlelo lokusebenza ezisezingeni eliphansi, umehluko wezindleko phakathi kwamarobhothi ama-eksisi amane namarobhothi e-eksisi ayisithupha ungase ube mncane uma kuqhathaniswa; Emkhakheni wesicelo osezingeni eliphezulu, izindleko zerobhothi le-axis eziyisithupha zingase zibe phezulu kakhulu kunerobhothi le-axis emine.
Isikhathi sokuthumela: Nov-08-2024
