Amarobhothi endabuko ezimboni anevolumu enkulu kanye nesici sokuphepha esiphansi, njengoba bengekho abantu abavunyelwe ngaphakathi kwendawo yokusebenza. Ngokukhula kwesidingo sokukhiqiza okungahleliwe okunamandla njengokukhiqiza okunembayo nokukhiqiza okuvumelana nezimo, ukuhlalisana kwamarobhothi nabantu namarobhothi anemvelo kubeke phambili izidingo eziphakeme zokuklanywa kwamarobhothi. Amarobhothi analeli khono abizwa ngokuthi amarobhothi asebenzisanayo.
Amarobhothi asebenzisanayozinezinzuzo eziningi, ezihlanganisa ukukhanya, ubungane bemvelo, ukubona okuhlakaniphile, ukusebenzisana komshini womuntu, kanye nokuhleleka kalula. Ngemuva kwalezi zinzuzo, kunomsebenzi obaluleke kakhulu, okuwukubona ukushayisana - umsebenzi oyinhloko ukunciphisa umthelela wamandla okushayisana emzimbeni we-robot, ukugwema ukulimala emzimbeni werobhothi noma imishini ye-peripheral, futhi okubaluleke nakakhulu, ukuvimbela irobhothi kubangela umonakalo kubantu.
Ngokuthuthukiswa kwesayensi nobuchwepheshe, kunezindlela eziningi zokufinyelela ukutholwa kokushayisana kwamarobhothi asebenzisanayo, okuhlanganisa i-kinematics, mechanics, optics, njll. Yiqiniso, umnyombo walezi zindlela zokuqalisa ziyizingxenye ezinemisebenzi ehlukahlukene yokuthola.
Ukutholwa kokushayisana kwamarobhothi asebenzisanayo
Ukuvela kwamarobhothi akuhloselwe ukuthatha indawo yabantu ngokuphelele. Imisebenzi eminingi idinga ukubambisana phakathi kwabantu namarobhothi ukuze iqedelwe, okuyisizinda sokuzalwa kwamarobhothi asebenzisanayo. Inhloso yasekuqaleni yokuklama amarobhothi asebenzisanayo ukusebenzisana nokusebenzisana nabantu emsebenzini, ukuze kuthuthukiswe ukusebenza kahle nokuphepha komsebenzi.
Esimeni somsebenzi,amarobhothi asebenzisanayosebenzisana ngokuqondile nabantu, ngakho-ke izindaba zokuphepha azikwazi ukugcizelelwa ngokweqile. Ukuze kuqinisekiswe ukuphepha kokubambisana komshini womuntu, imboni yakhe imithetho nezindinganiso eziningi ezifanele, ngenhloso yokucabangela izindaba zokuphepha zokubambisana komshini womuntu kusukela ekwakhiweni kwamarobhothi asebenzisanayo.
Ngaleso sikhathi, amarobhothi asebenzisanayo nawo kumele aqinisekise ukuphepha nokuthembeka. Ngenxa yezinga eliphezulu lenkululeko yendawo yamarobhothi asebenzisanayo, ikakhulukazi athatha indawo yomsebenzi womuntu ezindaweni eziyinkimbinkimbi neziyingozi, kuyadingeka futhi ukubona ngokushesha nangokuthembekile ukushayisana okungenzeka ekugayeni, ukuhlanganisa, ukubhola, ukuphatha kanye neminye imisebenzi.
Ukuze kuvinjelwe ukushayisana phakathi kwamarobhothi asebenzisanayo nabantu kanye nemvelo, abaklami bacishe bahlukanise ukutholwa kokushayisana kube izigaba ezine:
01 Ukutholwa ngaphambi kokushayisana
Lapho kuthunyelwa amarobhothi asebenzisanayo endaweni yokusebenza, abaklami bathemba ukuthi la marobhothi angakwazi ukujwayela indawo ezungezile njengabantu futhi ahlele izindlela zawo zokuhamba. Ukuze kuzuzwe lokhu, abaklami bafaka amaphrosesa kanye nama-algorithms okuhlonza ngamandla athile ekhompuyutha kumarobhothi ahlanganyelwe, futhi bakhe ikhamera eyodwa noma ambalwa, izinzwa, namarada njengendlela yokuthola. Njengoba kushiwo ngenhla, kunamazinga embonini angalandelwa ukuze kutholwe ukushayisana kwangaphambi kokushayisana, njengezinga le-ISO/TS15066 lokuklama irobhothi elihlanganyelwe, elidinga ukuthi amarobhothi asebenzisanayo ayeke ukusebenza lapho abantu besondela futhi alulame ngokushesha lapho abantu behamba.
02 Ukutholwa kokushayisana
Leli ifomu elithi yebo noma cha, elimelela ukuthi irobhothi elihlanganyelwe lishayisane yini. Ukuze ugweme ukubangela amaphutha, abaklami bazobeka umkhawulo wamarobhothi asebenzisanayo. Ukusetha kwalo mkhawulo kucophelela kakhulu, okuqinisekisa ukuthi akukwazi ukucushwa njalo kuyilapho kuzwela kakhulu ukugwema ukungqubuzana. Ngenxa yokuthi ukulawulwa kwamarobhothi kuncike kakhulu kumamotho, abaklami bahlanganisa lo mkhawulo nama-algorithms e-motor adaptive algorithms ukuze kuzuzwe ukushayisana kokuma.
03 Ukushayisana kwedwa
Ngemuva kokuthi isistimu iqinisekise ukuthi ukushayisana kwenzeke, kuyadingeka ukuqinisekisa indawo ethile yokushayisana noma ijoyinti lokushayisana. Inhloso yokusebenzisa ukuhlukaniswa ngalesi sikhathi ukumisa isayithi lokushayisana. Ukuhlukaniswa kokushayisana kweamarobhothi bendabukokufinyelelwa ngama- guardrails angaphandle, kuyilapho amarobhothi asebenzisanayo kudingeka asetshenziswe ngokusebenzisa ama-algorithms nokuhlehliswa ukusheshisa ngenxa yendawo yawo evulekile.
04 Ukuqashelwa kokushayisana
Kuleli qophelo, irobhothi elihlanganyelwe seliqinisekisile ukuthi kube nokushayisana, futhi okuguquguqukayo okufanelekile kweqe umkhawulo. Kuleli qophelo, iphrosesa kurobhothi idinga ukunquma ukuthi ukungqubuzana kuwukungqubuzana kwengozi okusekelwe kulwazi lwezinzwa. Uma umphumela wesahlulelo unguyebo, irobhothi elihlanganyelwe lidinga ukuzilungisa lona ngokwalo; Uma kunqunywa njengokungqubuzana okungelona iphutha, irobhothi elihlanganyelwe lizoma bese lilinda ukucutshungulwa komuntu.
Kungashiwo ukuthi ukutholwa kokushayisana kuyisiphakamiso esibaluleke kakhulu samarobhothi abambisene ukuze afinyelele ukuzazi, anikeze ithuba lokusetshenziswa kwesilinganiso esikhulu samarobhothi ahlanganyelwe kanye nokungena ebangeni elibanzi lezimo. Ezigabeni ezihlukene zokushayisana, amarobhothi asebenzisanayo anezidingo ezihlukene zezinzwa. Isibonelo, esigabeni sokutholwa kwangaphambi kokushayisana, inhloso eyinhloko yesistimu ukuvimbela ukungqubuzana ukuthi kungenzeki, ngakho-ke umthwalo wenzwa uwukubona indawo ezungezile. Miningi imizila yokusebenzisa, njengombono osuselwe embonweni, umbono wemvelo osuselwe kumagagasi we-millimeter wave, kanye nombono wemvelo osuselwe kwi-lidar. Ngakho-ke, izinzwa ezihambisanayo nama-algorithms adinga ukuhlanganiswa.
Ngemva kokushayisana, kubalulekile ukuthi amarobhothi abambisene aqaphele indawo okushayisana kuyo kanye nezinga ngokushesha ngangokunokwenzeka, ukuze athathe ezinye izinyathelo zokuvimbela isimo ukuthi singaqhubeki siwohloka. Inzwa yokuthola ukushayisana idlala indima ngalesi sikhathi. Izinzwa zokushayisana ezivamile zifaka izinzwa zokushayisana kwemishini, izinzwa zokushayisana kazibuthe, izinzwa zokushayisana kwe-piezoelectric, izinzwa zokushayisana kohlobo lwe-strain, izinzwa zokushayisana kwepuleti le-piezoresistive, nezinzwa zokushayisana kohlobo lwe-mercury switch.
Sonke siyazi ukuthi ngesikhathi sokusebenza kwamarobhothi asebenzisanayo, ingalo yerobhothi ingaphansi kwe-torque kusuka ezindaweni eziningi ukwenza ingalo yerobhothi inyakaze futhi isebenze. Njengoba kuboniswe esithombeni esingezansi, isistimu yokuvikela efakwe izinzwa zokushayisana izosebenzisa amandla okusabela okuhambisana nomthwalo we-torque, i-torque, namandla e-axial lapho ithola ukushayisana, futhi irobhothi elihlanganyelwe lizoyeka ukusebenza ngokushesha.
Isikhathi sokuthumela: Dec-27-2023
