Maiwe omwe amapereka ntchito zosambira kwa anthu ayenera kukhala aukhondo komanso aukhondo.Kawirikawiri, madzi a dziwe amasinthidwa nthawi zonse, ndipo dziwe limatsukidwa pamanja.M'zaka zaposachedwapa, mayiko ena otukuka ndi zigawo atengera basi makina makina - swimming pool basi kuyeretsa makina, amene akhoza basi kuyeretsa dziwe losambira popanda kutulutsa madzi dziwe, amene osati kupulumutsa madzi amtengo wapatali, komanso m'malo ntchito Heavy ndi Buku. kuyeretsa dziwe.
Maloboti omwe alipo oyeretsa dziwe losambira amagwira ntchito makamaka poyika loboti mu dziwe losambira.Loboti imayenda mwachisawawa mbali imodzi ndikutembenuka ikagunda khoma la dziwe losambira.Lobotiyi imayenda mosadukizadukiza mu dziwe losambira ndipo silingathe kuyeretsa bwino dziwe losambira.
Kuti loboti yotsuka dziwe losambira iyeretse mwadzidzidzi dera lililonse la pansi pa dziwe, liyenera kuloledwa kuyenda motsatira mzere wina wa malamulo apanjira.Choncho, m'pofunika kuyeza nthawi yeniyeni malo ndi udindo wa robot.Kuti athe kutumiza malamulo oyenda moyenerera molingana ndi chidziwitso paokha.
Zimalola roboti kuti izindikire malo ake mu nthawi yeniyeni, Apa ma sensor apansi pamadzi amafunikira.
■Mfundo Yoyezera Kuyenda Pansi pa Madzi ndi Sensor Yopewera Zopinga
Sensa yotchinga pansi pamadzi imagwiritsa ntchito mafunde akupanga kufalitsa m'madzi, ndipo ikakumana ndi chinthu choyezedwa, imawonetsedwa mmbuyo, ndipo mtunda wapakati pa sensa ndi zopinga umayesedwa ndikutumizidwa ku zombo, ma buoys, magalimoto osayendetsedwa pansi pamadzi ndi zida zina. , yomwe ingagwiritsidwe ntchito popewa zopinga, komanso ingagwiritsidwe ntchito poyendetsa pansi pa madzi.
Kuyeza mfundo: The akupanga yoweyula zimatulutsa ndi akupanga kafukufuku propagates mwa madzi, kukumana ndi chandamale anayeza, ndi kubwerera kwa akupanga kafukufuku kudzera m'madzi pambuyo kusinkhasinkha, chifukwa nthawi ya umuna ndi phwando akhoza kudziwika, malinga ndi nthawi × phokoso. liwiro ÷ 2=Utali wapakati pa malo odutsa a probe ndi chandamale choyezedwa.
Chilinganizo: D = C*t/2
(Kugawidwa ndi 2 chifukwa phokoso la phokoso ndilo ulendo wobwerera kuchokera ku mpweya kupita ku phwando, D ndi mtunda, C ndi liwiro la phokoso, ndipo t ndi nthawi).
Ngati kusiyana kwa nthawi pakati pa kufalitsa ndi kulandira ndi 0.01 sekondi, kuthamanga kwa phokoso m'madzi atsopano kutentha ndi 1500 m / s.
1500 m/sx 0.01 sec = 15 m
15 mamita ÷ 2 = 7.50 mamita
Ndiko kunena kuti, mtunda wapakati pa gawo lopatsirana la kafukufukuyo ndi cholinga choyezedwa ndi 7.50 metres.
■ Dianyingpu Underwater kuyambira ndi sensor kupewa zopinga
The L04 m'madzi akupanga kuyambira ndi zopinga kupewa sensa ntchito makamaka m'madzi maloboti ndipo anaika mozungulira loboti.Sensa ikazindikira chopinga, imatumiza mwachangu deta ku robot.Poyang'ana njira yoyika ndi zomwe zabwezedwa, ntchito zingapo monga kuyimitsa, kutembenuka, ndi kutsitsa zitha kuchitidwa kuti muzindikire kuyenda mwanzeru.
Ubwino wa mankhwala:
■ Muyezo osiyanasiyana: 3m, 6m, 10m kusankha
■ Malo osawona: 2cm
■ Kulondola: ≤5mm
■ Ngodya: yosinthika kuchokera ku 10 ° mpaka 30 °
■ Chitetezo: IP68 kuumba yonse, ikhoza kusinthidwa kuti ikhale yozama madzi a mita 50
■ Kukhazikika: kusinthasintha kwamadzi oyenda ndi kukhazikika kwa bubble
■ Kukonza: kukweza kwakutali, kukweza mawu kumabwezeretsanso zovuta
■ Zina: kuweruza kwa madzi, kutentha kwa madzi
■ Mphamvu yogwira ntchito: 5 ~ 24 VDC
■ Mawonekedwe otulutsa: UART ndi RS485 kusankha
Dinani apa kuti mudziwe za L04 pansi pamadzi kuyambira sensa
Nthawi yotumiza: Apr-24-2023