Uburyo Robo Yigenga Yigenga Itunganijwe
Imashini yigenga igendanwa (AMR) ni sisitemu yubwenge ishoboye kugenga no gukora imirimo mubidukikije bigoye. Intangiriro yacyo iri mubikorwa bikorana na module nyinshi. AMR yuzuye isanzwe igizwe nibice bine byingenzi: sisitemu yimyumvire, icyemezo - sisitemu yo gufata, sisitemu yo gukora, na sisitemu yingufu. Ibi bice bikorana kugirango bigere ku bwigenge.
Sisitemu yimyumvire ni "ibyumviro" bya robo, ishinzwe kubona amakuru yibidukikije. Ibyuma bikoreshwa cyane birimo laser radar (LiDAR), kamera, ibyuma bya ultrasonic, hamwe nibipimo byo gupima (IMU). LiDAR yubaka ikarita yibidukikije mu kohereza imirasire ya laser no kwakira ibimenyetso bigaragara. Kamera zitanga amakuru agaragara kugirango tumenye intego, kandi IMU ikurikirana uko robot igenda (nko kwihuta n'umuvuduko w'inguni). Tekinike yo guhuza amakuru kuva muri ibyo byuma, nka Kalman kuyungurura, irashobora kunoza neza imyumvire yibidukikije.
Icyemezo - sisitemu yo gufata ni "ubwonko" bwa robo, gutegura inzira no gufata ibyemezo byimyitwarire bishingiye kumibare yimyumvire. Sisitemu mubisanzwe ikubiyemo module eshatu: kwimenyekanisha no gushushanya (SLAM), gutegura inzira, no kugenzura imyitwarire. Ikoranabuhanga rya SLAM rifasha robot gushakisha no gushushanya ibidukikije bitazwi mugihe nyacyo. Gutegura inzira ya algorithms (nka algorithms A cyangwa D) ibara inzira nziza yo kugenda, kandi module yo kugenzura imyitwarire ihindura imikorere ya robo ishingiye kubikorwa bisabwa (nko kwirinda inzitizi cyangwa gukurikirana intego).
Sisitemu yo gukora, "amaguru" ya robo, ishinzwe guhindura ibyemezo mubikorwa bifatika. Harimo cyane cyane ibice nkibiziga byimodoka, moteri, nimbaraga za robo. Ibiziga bya moteri na moteri bigenzura icyerekezo cya robot n'umuvuduko, mugihe ukuboko kwa robo (niba harimo) gukora imirimo yo gufata cyangwa gukoresha manipulation.
Sisitemu yingufu itanga imbaraga zihoraho kuri robo, mubisanzwe ikoresha bateri ya lithium cyangwa selile. Ubuzima bwa bateri bwayo bugira ingaruka muburyo bwimikorere ya robo.
Muri make, iterambere ryimashini zigenga zigendanwa zishingiye ku guhuza tekinoloji zitandukanye. Iterambere ryigihe kizaza mubwenge bwubuhanga hamwe na tekinoroji ya sensor bizarushaho kuzamura ubwigenge bwabo no guhuza n'imiterere.