1,Intshayelelo
Uluhlu lwe-ultrasonicyindlela yokuchongwa kwe-non-contact esebenzisa amaza e-ultrasonic aphuma kumthombo wesandi, kwaye i-ultrasonic wave ibonakalisa umva kumthombo wesandi xa umqobo ufunyenwe, kwaye umgama womqobo ubalwa ngokusekelwe kwisantya sokusasaza kwesantya isandi emoyeni.Ngenxa ye-ultrasonic directivity yayo, ayichaphazeli ukukhanya kunye nombala wento elinganisiweyo, ngoko isetyenziswa ngokubanzi kwi-robot obstacle avoidance.Inzwa inokubona imiqobo emileyo okanye eguquguqukayo kwindlela yokuhamba yerobhothi, kwaye ichaze umgama kunye nolwazi lwesikhokelo semiqobo ngexesha langempela.Irobhothi inokwenza ngokuchanekileyo isenzo esilandelayo ngokolwazi.
Ngophuhliso olukhawulezayo lwetekhnoloji yesicelo serobhothi, iirobhothi kwiinkalo ezahlukeneyo zesicelo ziye zavela kwintengiso, kwaye iimfuno ezintsha zibekwe phambili kwi-sensor.Uziqhelanisa njani nokusetyenziswa kweerobhothi kwimimandla eyahlukeneyo yingxaki kuyo yonke injineli yenzwa ukuba icinge kwaye iphonononge.
Kweli phepha, ngokusetyenziswa kwe-sensor ye-ultrasonic kwi-robot, ukuqonda kangcono ukusetyenziswa kwenzwa yokuthintela umqobo.
2,Intshayelelo yoluvo
I-A21, i-A22 kunye ne-R01 zizivamvo eziyilelwe ngokusekelwe kwizicelo zokulawula iirobhothi ezizenzekelayo, ezinoluhlu lweenzuzo zendawo encinci eyimfama, ukulungelelaniswa komlinganiselo oqinileyo, ixesha lokuphendula elifutshane, ukuphazamiseka kokucoca, ukulungelelanisa ukufakela okuphezulu, uthuli kunye nokungangeni kwamanzi, ubomi obude kunye nokuthembeka okuphezulu. njl.Bayakwazi ukulungelelanisa abenzi boluvo abaneeparamitha ezahlukeneyo ngokweerobhothi ezahlukeneyo.
A21, A22, R01 imifanekiso yemveliso
Umsebenzi abstract:
• unikezelo lombane olubanzi, amandla ombane osebenzayo3.3 ~ 24V;
• indawo eyimfama ingaya kuthi ga kwi-2.5cm ubuncinci;
•Uluhlu olude kakhulu lunokusetwa, uluhlu olupheleleyo lwe-5-level ye-50cm ukuya kwi-500cm inokusetwa ngemiyalelo;
• Iindlela ezahlukeneyo zemveliso zikhoyo, i-UART auto / controlled, i-PWM elawulwayo, inqanaba lokutshintsha umthamo we-TTL (3.3V), RS485, IIC, njl.(I-UART elawulwayo kunye nokusetyenziswa kwamandla alawulwa yi-PWM kunokuxhasa ukusetyenziswa kwamandla obuthongo obuphezulu≤5uA);
• Izinga le-baud elimiselweyo yi-115,200, Ixhasa ukuguqulwa;
• Ixesha lokuphendula le-Ms-level, ixesha lokuphuma kwedatha linokufikelela kwi-13ms ngokukhawuleza;
• I-angle enye kunye ne-double angle inokukhethwa, amanqanaba amane eengile axhaswa kwiimeko ezahlukeneyo zesicelo;
•Umsebenzi owakhelwe ngaphakathi wokunciphisa ingxolo onokuxhasa ukusetwa kwenqanaba lokunciphisa ingxolo ngamabakala ama-5;
• Itekhnoloji ekrelekrele yokucwangcisa i-acoustic wave, eyakhelwe-ngaphakathi i-algorithm yokucoca ukuphazamisa amaza esandi, inokuchonga amaza okuphazamiseka kwesandi kwaye yenza ngokuzenzekelayo ukuhluza;
• Uyilo lwesakhiwo esingangeni manzi, ibakala elingangenwa ngamanzi le-IP67;
• Ukufakela ukulungelelaniswa okuqinileyo, indlela yokufakela ilula, izinzile kwaye ithembekile;
• Xhasa uphuculo lwe-firmware ekude;
3,Iiparamitha zemveliso
(1)Iiparamitha ezisisiseko
(2)Uluhlu lokuchongwa
I-sensor ye-Ultrasonic yokuthintela umqobo ine-angle-angle version yokukhetha, Xa imveliso ifakwe ngokuthe nkqo, i-angle ethe tyaba ekhohlo nasekunene yokukhangela i-angle inkulu, inokunyusa uluhlu lokukhusela umqobo, i-angle encinci yokukhangela i-angle, ngexesha elifanayo. ixesha, ithintela i-trigger engalunganga ebangelwa umphezulu wendlela ongalinganiyo ngexesha lokuqhuba.
Umzobo woluhlu lomlinganiselo
4,Isikimu sobugcisa se-ultrasonic umqobo wokuthintela umqobo
(1) Umzobo wesakhiwo se-hardware
(2)Indlela yokusebenza
a, Isivamvo sinikwe amandla ziisekethe zombane.
b, Iprosesa iqala ukuzihlola ukuqinisekisa ukuba isekethe nganye isebenza ngokwesiqhelo.
c, Iprosesa izitshekisha ukuchonga ukuba kukho i-ultrasonic-frequency interference signal kwi-bume, kwaye emva koko ihluze kwaye iqhube amaza esandi sasemzini ngexesha.Xa ixabiso lomgama elichanekileyo lingenako ukunikwa umsebenzisi, nika idatha yophawu olungaqhelekanga ukuthintela iimpazamo, kwaye emva koko utsibe kwinkqubo k.
d, Iprosesa ithumela imiyalelo kunyuso lwe-pulse ye-excitation ukulawula ukuqina kwe-excitation ngokweengile kunye noluhlu.
e, I-ultrasonic probe T ihambisa imiqondiso ye-acoustic emva kokusebenza
f, I-ultrasonic probe R ifumana imiqondiso ye-acoustic emva kokusebenza
g, Isiginali ye-acoustic ebuthathaka ikhuliswa yisekethe yeamplifier yomqondiso kwaye ibuyiselwe kwiprosesa.
h, Umqondiso owandisiweyo ubuyiselwa kwiprosesa emva kokubunjwa, kwaye i-algorithm yobukrelekrele eyakhelwe-ngaphakathi ihluza iteknoloji yamaza ophazamiseko, enokukhusela ngokufanelekileyo ekujoliswe kuyo.
i, Isekethe yokubona ubushushu, bona ingxelo yobushushu bokusingqongileyo yangaphandle kwiprosesa
j, Umqhubekekisi uchonga ixesha lokubuya kwe-echo kwaye ubuyekeze ubushushu obudityaniswe nemekobume ye-ambient yangaphandle, ibala ixabiso lomgama (S = V * t/2).
k, Umqhubekekisi ugqithisa umqondiso wedatha obaliweyo kumxhasi ngelayini yoqhagamshelo kwaye ibuyela ku.
(3)Inkqubo yokuphazamiseka
I-Ultrasound kwintsimi yeerobhothi, iya kujongana nemithombo eyahlukeneyo yokuphazamiseka, njengengxolo yokunikezelwa kwamandla, ukuhla, ukunyuka, ukuhamba kwexesha, njl.I-Ultrasound isebenza ngomoya njengophakathi.Xa i-robot ifakwe ii-sensors ze-ultrasonic ezininzi kunye neerobhothi ezininzi zisebenza kufuphi ngexesha elifanayo, kuya kubakho iimpawu ezininzi ze-ultrasonic ezingezona zomthonyama kwindawo kunye nexesha elifanayo, kwaye ukuphazamiseka phakathi kweerobhothi kuya kuba nzima kakhulu.
Ngokujonga ezi ngxaki zokuphazamiseka, i-sensor eyakhelwe-kwi-teknoloji yokulungelelanisa kakhulu, inokuxhasa inqanaba le-5 lokunciphisa inqanaba lokunciphisa inqanaba, i-frequency interference filter inokusetwa, uluhlu kunye ne-angle inokusetwa, usebenzisa i-algorithm yokucoca i-echo. isakhono esinamandla sokuchasa ukuphazamiseka.
Emva kwelabhoratri ye-DYP ngokusebenzisa le ndlela yokuvavanya ilandelayo: sebenzisa i-4 ultrasonic izithinteli zokuthintela umqobo ukubiyela umlinganiselo, ukulinganisa indawo yokusebenza koomatshini abaninzi, ukurekhoda idatha, izinga lokuchaneka kwedatha lifikelele ngaphezu kwe-98%.
Umzobo wovavanyo lwetekhnoloji yokuchasana nokuphazamiseka
(4) Beam angle adjustable
I-software yokucwangcisa i-sensor beam angle inamanqanaba ama-4: 40,45,55,65, ukuhlangabezana neemfuno zesicelo seemeko ezahlukeneyo.
5,Isikimu sobugcisa se-ultrasonic umqobo wokuthintela umqobo
Kwintsimi yesicelo sokuthintela umqobo we-robot, i-sensor iliso le-robot, Ingaba i-robot inokuhamba ngokuguquguqukayo kwaye ngokukhawuleza ixhomekeke kakhulu kulwazi lokulinganisa olubuyiswe yinzwa.Kuhlobo olufanayo lwezinzwa zokuthintela umqobo we-ultrasonic, luyimveliso ethembekileyo yokuphepha imiqobo enexabiso eliphantsi kunye nesantya esiphantsi, iimveliso zifakwe malunga nerobhothi, unxibelelwano kunye neziko lokulawula irobhothi, qalisa izinzwa ezahlukeneyo zokubona umgama ngokwesikhokelo sokunyakaza. yerobhothi, ukufezekisa impendulo ekhawulezayo kunye neemfuno zokubona kwimfuno.Okwangoku, i-sensor ye-ultrasonic ine-angle enkulu ye-FOV yentsimi yokunceda umatshini ufumane indawo yokulinganisa ngakumbi ukugubungela indawo efunekayo yokubona ngqo phambi kwayo.
6Amanqaku aphambili okusetyenziswa kwenzwa ye-ultrasonic kwisikimu sokuthintela umqobo werobhothi
• I-Ultrasonic obstacle avoidance radar FOV iyafana nekhamera enzulu, ixabisa malunga ne-20% yekhamera enzulu;
• Uluhlu olupheleleyo lwemilimitha-inqanaba lokuchaneka kwesisombululo, ngcono kunekhamera enzulu;
• Iziphumo zovavanyo azichatshazelwa ngumbala wokusingqongileyo wangaphandle kunye nokukhanya kokukhanya, imiqobo yezinto ezibonakalayo zinokubonwa ngokuzinzileyo, njengeglasi, iplastiki esobala, njl.;
• Ikhululekile kuthuli, udaka, inkungu, iasidi kunye nokuphazamiseka kokusingqongileyo kwealkali, ukuthembeka okuphezulu, ukonga ixhala, izinga lokugcinwa okuphantsi;
• Ubungakanani obuncinci ukuhlangabezana ne-robot yangaphandle kunye noyilo olufakwe ngaphakathi, lunokusetyenziswa kwiindidi zeemeko zerobhothi zenkonzo, ukuhlangabezana neemfuno ezahlukeneyo zabathengi, ukunciphisa iindleko.
Ixesha lokuposa: Aug-16-2022