I-JTROBOTIIB yokuhlela iRobhothi
Incwadi yokusebenzisa
Iingcaciso ezimfutshane
Iirobhothi zokuhlela ze-JTRobotlIB zisetyenziswa ikakhulu ukuhlenga-hlengisa kumashishini eenkonzo ezikhawulezayo zonikezelo kunye nolungiselelo logcino. Isebenza kwiiplatifti zokuhlela ezikhethekileyo, ezi robhothi zinokufumana kwaye zenze ii-odolo ezivela kwiiseva ukukhulula iipasile kunye nokuzihambisa kwiindawo ezichongiweyo.
Imifanekiso yemveliso:
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Iinkcazo zeeModyuli zeMveliso
2.1.BMSP imodyuli
2.1.1.BMSPmodyuli ngemodyuli ye-chassis funda iRFID(13.56MHz) tags, fumana ulwazi lwendawo yangoku, irobhothi kunye nemodyuli engenazingcingo kumncedisi, umncedisi ngokusekwe kwindawo yangoku yerobhothi kunye nemiyalelo yomsebenzi ekhutshwe ngurhulumente, umyalelo weseva yohlalutyo lwerobhothi, kunye nokulawula isixhobo se-servo, njengokuphunyezwa komyalelo opheleleyo, ukuze qaphela ulawulo lwerobhothi kunye nokulawula ukuguqula, ulawulo lwenguqulo, ukunyakaza, ekugqibeleni uyaqonda yonke inkqubo yokusebenza.
2.1.2.Imodyuli yolawulo lwamandla Kwimodyuli yolawulo lwamandla, imiyalelo yokuvula nokucima iirobhothi inokufunyanwa ngemodyuli engenacingo. Ukuba umyalelo wokunika amandla kwirobhothi ufunyenwe, imodyuli yokulawula amandla iya kutshintsha unikezelo lwamandla kunye namandla kuzo zonke izixhobo. Xa umyalelo wokucima i-robot ufunyenwe, imodyuli iya kucima unikezelo lwamandla kunye nokucima zonke izixhobo. Okwangoku, zonke ezinye izixhobo ziya kutshintshelwa kumazwe alindileyo kunye nokusetyenziswa kwamandla aphantsi ngaphandle kwemodyuli yolawulo lwamandla.
2.2. Imodyuli yeChassis
Qonda ukubhaqwa kwe-RFID (13.56MHz) ikhowudi kunye nokufunyanwa kolwazi lwendawo, kunye nokulayisha. Idatha kwimodyuli ye-BMSP ngonxibelelwano lwe-CAN.
2.3. Ukutshintsha imodyuli yamandla
Umqulutagukuguqulwa kwe-4.6V ukuya kwi-24V kuphantsi kolawulo lwemodyuli yokulawula amandla.
2.4. IBattery Pack kunye nePort yokuTshaja
Ipakethi yebhetri yenziwe ngeebhetri ezimbini ze-2.3V ze-lithium ezixhunywe kuthotho. Irobhothi kufuneka ihlawuliswe kusetyenziswa iimfumba ezikhethekileyo zokutshaja. Ubuninzi bokutshaja okwangoku yi-90A.
2.5. Iimodyuli zeServo
Okwangoku, irobhothi ineemodyuli ezintathu ze-servo, kubandakanya ivili lasekhohlo, ivili lasekunene, kunye nokunyuswa, ezisetyenziselwa ukulawula ukuhamba kunye nokulawula ukuLawula.
2.6. Isixhobo seRADAR
I-radar inoxanduva lokuphepha imiqobo, kwaye irobhothi enemiqobo ibangela ukupaka.
2.7. Amaqhosha kunye nezibane zesalathisi se-LED
Amaqhosha asetyenziselwa ukuvavanya iirobhothi enye kunye nokulawula ukuvalwa ngesandla. Ukukhanya kwesalathisi se-LED kuqeshwe ukubonisa imeko yangoku. Imisebenzi yamaqhosha kunye nezibane zesalathisi ziboniswa ngolu hlobo lulandelayo:
Izibane ze-LED ezibomvu ezibomvu zingabonisa ukungasebenzi kakuhle.
Iimeko zezibane zesalathisi ziboniswa ngolu hlobo lulandelayo:
| SN | Imeko yokuKhanya kwesalathisi | Iinkcazelo zoMbuso | ||
| Ukusebenza | Umbuso | Yima ecaleni kuka | ||
| 1 | icimile | icimile | icimile | Iibhetri zivaliwe okanye amandla awabonelelwanga. |
| 2 | icimile | icimile | kwi-0.2s kwaye ucime kwi-4s | Yima ecaleni kuka |
| 3 | kwi 0.5s kwaye off for 1.5s |
icimile | icimile | Phantsi kobume bokuvalwa, imiyalelo evela kumncedisi ayiphunyezwanga, kwaye akukho kungasebenzi kakuhle kuxelwa phantsi kwesi simo. |
| 4 | kwi 0.5s kwaye off for 0.5s |
icimile | icimile | Ngaphantsi kokusebenza, ukufumana imiyalelo evela kumncedisi |
| 5 | kwi 0.5s kwaye off for |
on | icimile | Phantsi komsebenzi, ilinde imiyalelo evela kumncedisi |
| 0.5s | ||||
| 6 | kwi 0.2s kwaye off for 0.2s |
ilungiselelwe 0.2s kwaye cima kwi0.2s |
ilungiselelwe 0.2s kunye nokucima kwi-0.2s |
Ukungasebenzi kakuhle, ngokubanzi ngenxa ye-RFID ayinakubonwa. |
| 7 | Nasiphi na isibane sihlala sivuliwe | Ngenisa imo yokusebenza. | ||
| 8 | Nakuphi na ukukhanya kulayitiwe kwi-0.2s kwaye icime i-0.2s | Indlela yokukhetha umsebenzi | ||
Intshayelelo kwiMisebenzi yamaQhosha:
Akukho qhosha liya kusebenza xa irobhothi iphantsi kweNo.1 State eboniswe kule theyibhile ingentla.
| Ilizwe langoku No. (jonga ngasentla itafile)) |
Amaqhosha | Inkcazo yeMisebenzi |
| 1 | Nayiphi na | Akukho msebenzi |
| 2 | Cinezela [A] + [C] ku-3s | Faka amandla kwaye uvuse irobhothi |
| 3-8 | Cinezela [B] + [C] ngo-5s | Cima kwaye utshintshe irobhothi kwindawo yokulinda |
| 3-6 | Cinezela [A] | Irobhothi ingena kwimeko yokusebenza |
| 3-6 | Cofa [B] | Irobhothi ingena kwindawo yokuvala |
| 3-6 | Cofa [C] | Ngenisa imeko yokhetho lomsebenzi (No.8 state). Kamva, ungatshintshela komnye umsebenzi xa ucofa u [C] kwaye ukhethe nabani na No.1 ukuya No.7 imisebenzi |
| 8 | Cinezela [A] | Ngenisa ubume bomsebenzi wangoku (No.7 State) |
| 8 | Cofa [B] | Phuma kwimeko yokusebenza ukhetho kwaye ubuyele kwimeko yokuvala |
| 7 | Cinezela [A] | Qala ukuphumeza umsebenzi wangoku |
| 7 | Cofa [B] | Misa ukuphunyezwa komsebenzi wangoku |
| 7 | Cofa [C] | Phuma kumsebenzi wangoku kwaye ubuyele kwimeko yokuvala |
Amanqaku: Yonke le misebenzi ingentla ikukujija irobhothi enye ukuze igcinwe okanye ivavanywe. Akukho kuguqulwa kuya kufuneka xa irobhothi iphantsi komsebenzi wesiqhelo.
Imiyalelo yomsebenzisi
Iirobhothi zi-actuators zeenkqubo zokuhlela kwaye imisebenzi yazo eqhelekileyo ifuna inkxaso yeqonga lonke lokuhlela.
Ngexesha lomsebenzi wabo oqhelekileyo, akukho nkohliso efunekayo konke konke, kwaye yonke imisebenzi yabo igqityiwe kwiseva.
3.1. Ivula amandla
Iirobhothi zinikwe amandla ngesoftware yeseva kunye nezixhobo zokutshintsha. Unga
thumela umyalelo wokunika amandla kwirobhothi kunye nesoftware yokutshintsha yomncedisi nge-LBAP-102LU isixhobo esingenazingcingo sesixhobo sokutshintsha. Emva koko, irobhothi inokuthi isebenze ngokuzenzekelayo.
3.2. Ukuhlela
Ukuhlelwa kwerobhothi kunokubonwa ngomncedisi. Uyakwazi ukulawula iirobhothi kunye
idatha yotshintshiselwano ngeemodyuli ezingenazingcingo kunye nesoftware yeseva.
Umncedisi uya kuzama ukuqhagamshela zonke iirobhothi ezinikwe amandla. Emva koqhagamshelo oluqhelekileyo, umncedisi uya kuhlala eqhagamshelwe neerobhothi, afumane ulwazi malunga nesikhundla sangoku seerobhothi ngeekhowudi ze-RFID, kunye nokulawula ukuhamba kweerobhothi okanye ukuPhakamisa ngokwemeko yeqonga lokuhlela langoku.
3.3. Ukucima umbane
Iirobhothi zinikwe amandla ngesoftware yeseva kunye nezixhobo zokutshintsha. Iirobhothi
inokuthi inikwe amandla ngokukhupha imiyalelo ehambelanayo kubo nge-LBAP102LU isixhobo esingenazingcingo sesixhobo sokutshintsha ngesoftware yomncedisi.
Irobhothi iya kuzicima ngokuzenzekelayo xa ibona ukuba ibhetri voltage ingaphantsi kuno-3.8V.
Ingxelo yeFCC
Naluphi na utshintsho okanye uhlengahlengiso olungavunywanga ngokucacileyo liqela elinoxanduva lokuthotyelwa lunokuphelisa igunya lomsebenzisi lokusebenzisa isixhobo. Esi sixhobo sithobela inxalenye ye-15 yeMithetho yeFCC. Ukusebenza kuxhomekeke kwezi meko zimbini zilandelayo: (1) Esi sixhobo asinakubanga luphazamiso luyingozi, kwaye (2) Esi sixhobo kufuneka samkele naluphi na uphazamiseko olufunyenweyo, kubandakanywa uphazamiseko olunokubangela usetyenziso olungafunekiyo.
Phawula: Esi sixhobo sivavanyiwe saza safunyanwa ukuba sithobela imida yesixhobo sedijithali soDidi B, ngokungqinelana nenxalenye ye-15 yeMithetho yeFCC. Le mida yenzelwe ukubonelela ngokhuseleko olufanelekileyo ekuphazamisekeni okuyingozi kwindawo yokuhlala. Esi sixhobo sivelisa, sisebenzisa, kwaye sinokusasaza amandla erediyo yerediyo kwaye, ukuba asifakanga kwaye sisetyenziswa ngokuhambelana nemiyalelo, sinokubangela uphazamiseko oluyingozi kunxibelelwano lwerediyo. Nangona kunjalo, akukho siqinisekiso sokuba ukuphazamiseka akuyi kwenzeka kufakelo oluthile. Ukuba esi sixhobo sibangela uphazamiseko oluyingozi kunomathotholo okanye ulwamkelo lukamabonakude, olunokumiselwa ngokucinywa nokulayita isixhobo, umsebenzisi uyakhuthazwa ukuba azame ukulungisa uphazamiseko ngenye okanye ngaphezulu kwezi ndlela zilandelayo:
- Jongisa kwakhona okanye uhambise i-eriyali efumanayo.
- Yandisa ukwahlukana phakathi kwesixhobo kunye nomamkeli.
- Qhagamshela izixhobo kwindawo yokuphuma kwisekethe eyahlukileyo kuleyo apho umamkeli aqhagamshelwe khona.
- Dibana nomthengisi okanye igcisa likanomathotholo/kumabonakude ukuze ufumane uncedo.
Amaxwebhu / Izibonelelo
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I-LIBIAO ROBOTICS JTROBOTIIB yokuhlela iRobhothi [pdf] Incwadi yokusebenzisa I-JTROBOTIIB, 2AQQMJTROBOTIIB, i-JTROBOTIIB yokuhlela iRobhothi, iRobhothi yokuhlela |
