Magadzirirwo Akaitwa Marobhoti eMobile
Robhoti inozvimiririra (AMR) inyanzvi yehungwaru inokwanisa kufamba yakazvimiririra uye kuita mabasa munzvimbo dzakaoma. Nheyo yayo iri mukushanda kwekubatana kwemamodule akawanda. AMR yakazara kazhinji ine zvikamu zvina zvikuru: a perception system, a decision-making system, execution system, uye simba system. Zvikamu izvi zvinoshanda pamwechete kuti zviwane kuzvitonga.
Iyo yekuona sisitimu ndiyo "pfungwa" dzerobhoti, ine basa rekuwana ruzivo rwezvakatipoteredza. Masensa anowanzo shandiswa anosanganisira laser radar (LiDAR), makamera, ultrasonic sensors, uye inertial yekuyera mayuniti (IMUs). LiDAR inogadzira mepu yezvakatipoteredza nekuburitsa laser matanda uye kugamuchira zvinoratidzwa masaini. Makamera anopa ruzivo rwekuona kuti chinangwa chinozivikanwa, uye maIMU anotarisisa mamiriro erobhoti (sekumhanyisa uye angular velocity). Data fusion matekiniki kubva kune aya masensa, akadai seKalman kusefa, anogona kuvandudza iko kurongeka kwemaonero ezvakatipoteredza.
Sarudzo-yekuita sarudzo "njere" dzerobhoti, kuronga makwara nekuita sarudzo dzemaitiro zvichienderana neruzivo rwekuona. Iyi sisitimu inowanzo sanganisira matatu mamodule: localization uye mepu (SLAM), kuronga nzira, uye maitiro ekudzora. SLAM tekinoroji inogonesa marobhoti kuwana uye mepu isingazivikanwe nharaunda munguva chaiyo. Nzira yekuronga maalgorithms (akadai sealgorithms A kana D) kuverenga iyo yakakwana yekufamba nzira, uye maitiro ekudzora modhi inogadzirisa mafambiro erobhoti zvichienderana nebasa rinodiwa (sekudzivisa zvipingamupinyi kana kuteedzera chinangwa).
The execution system, "nhengo" dzerobhoti, ine basa rekushandura sarudzo kuita zviito zvemuviri. Iyo inonyanya kusanganisira zvinhu zvakaita semavhiri ekutyaira, mota, uye ruoko rwerobhoti. Mavhiri edhiraivha nemamotor anodzora gwara uye kumhanya kwerobhoti, nepo ruoko rwerobhoti (kana rwakasanganisirwa) ruchiita mabasa ekubata kana kunyengedza.
Iyo simba sisitimu inopa inoenderera simba rerobhoti, kazhinji kushandisa lithium mabhatiri kana mafuta masero. Hupenyu hwebhatiri hwayo hunokanganisa zvakananga nguva yekushanda kwerobhoti.
Muchidimbu, kukudziridzwa kwemarobhoti anozvimiririra anotsamira pakubatanidzwa kweakawanda matekinoroji. Kufambira mberi mune ramangwana muhungwaru hwekugadzira uye sensor tekinoroji ichawedzera kusimudzira kuzvitonga kwavo uye kuchinjika.
