1,Mawu Oyamba
Ultrasonic kuyambirandi njira yodziwikiratu yosalumikizana yomwe imagwiritsa ntchito mafunde a ultrasonic omwe amachokera ku gwero la mawu, ndipo mafunde a ultrasonic akuwonetsa mmbuyo ku gwero la mawu pomwe chopingacho chizindikirika, ndipo mtunda wa chopingacho umawerengedwa potengera liwiro la kufalikira kwa liwiro la phokoso mumlengalenga.Chifukwa cha mayendedwe ake abwino akupanga, sichimakhudzidwa ndi kuwala ndi mtundu wa chinthu choyezedwa, choncho chimagwiritsidwa ntchito kwambiri popewa zopinga za robot.Sensa imatha kuzindikira zopinga zokhazikika kapena zamphamvu panjira yoyenda ya loboti, ndikufotokozera za mtunda ndi mayendedwe a zopingazo munthawi yeniyeni.Robotiyo imatha kuchita bwino chotsatiracho malinga ndi chidziwitso.
Ndikukula mwachangu kwaukadaulo wogwiritsa ntchito maloboti, maloboti m'magawo osiyanasiyana ogwiritsira ntchito awonekera pamsika, ndipo zofunikira zatsopano zimayikidwa patsogolo pa masensa.Momwe mungasinthire kugwiritsa ntchito maloboti m'magawo osiyanasiyana ndizovuta kwa injiniya aliyense wa sensor kuti aganizire ndikuwunika.
Mu pepalali, pogwiritsa ntchito akupanga sensa mu loboti, kuti mumvetsetse bwino kugwiritsa ntchito sensor kupewa zopinga.
2,Sensor Introduction
A21, A22 ndi R01 ndi masensa opangidwa kutengera ntchito kulamulira loboti basi, ndi mndandanda wa ubwino wa dera laling'ono akhungu, amphamvu muyeso kusinthasintha, yochepa kuyankha, zosefera kusokoneza, mkulu unsembe kusinthasintha, fumbi ndi madzi, moyo wautali ndi kudalirika mkulu. ndi zina.Amatha kusintha masensa okhala ndi magawo osiyanasiyana malinga ndi maloboti osiyanasiyana.
Zithunzi za A21, A22, R01
Ntchito abstract:
• lonse voteji kotunga, ntchito voltage3.3 ~ 24V;
• Malo osawona amatha kufika 2.5cm osachepera;
•Kutali kwambiri kumatha kukhazikitsidwa, kuchuluka kwa 50cm mpaka 500cm kumatha kukhazikitsidwa kudzera mu malangizo;
• Mitundu yosiyanasiyana yotulutsa ilipo, UART auto / controlled, PWM controlled, switch volume TTL level (3.3V), RS485, IIC, etc.(UART yoyendetsedwa ndi PWM yoyendetsedwa ndi magetsi imatha kuthandizira kugwiritsa ntchito mphamvu zocheperako ≤5uA)
• Mtengo wosasinthika wa baud ndi 115,200, Umathandizira kusinthidwa;
• Ms-level kuyankha nthawi, data linanena bungwe nthawi akhoza mpaka 13ms mofulumira;
• Single ndi awiri ngodya akhoza kusankhidwa, okwana milingo anayi ngodya amathandizidwa pa zochitika zosiyanasiyana ntchito;
• Ntchito yochepetsera phokoso yomangidwira yomwe imatha kuthandizira kukhazikika kwa 5-grade kuchepetsa phokoso;
• Wanzeru lamayimbidwe yoweyula processing luso, anamanga-wanzeru aligorivimu kuti Zosefera kusokoneza mafunde phokoso, akhoza kuzindikira kusokoneza mafunde phokoso ndi basi kuchita zosefera;
• Madzi kapangidwe kamangidwe, madzi kalasi IP67;
• Kusinthika kwamphamvu kwa unsembe, njira yoyika ndi yosavuta, yokhazikika komanso yodalirika;
Thandizani kukweza kwa firmware yakutali;
3,Mankhwala magawo
(1)Zigawo zoyambira
(2)Kuzindikira
Akupanga chotchinga chotchinga chotchinga chimakhala ndi mawonekedwe amitundu iwiri yosankha, chinthucho chikayikidwa molunjika, mbali yopingasa yakumanzere ndi yakumanja ndiyokulirapo, imatha kukulitsa kuchuluka kwa zopinga zopewera, ngodya yaying'ono yoyang'ana molunjika, nthawi yomweyo. nthawi, izo amapewa choyambitsa cholakwika chifukwa cha m'mbali msewu pamwamba pa galimoto.
Chithunzi cha mulingo woyezera
4,Akupanga chopinga kupewa kachipangizo luso chiwembu
(1) Chithunzi cha mawonekedwe a hardware
(2)Kayendetsedwe ka ntchito
a, Sensa imayendetsedwa ndi mabwalo amagetsi.
b, Purosesa imayamba kudziyesa kuti iwonetsetse kuti dera lililonse limagwira ntchito bwino.
c, The purosesa kudzifufuza kuti mudziwe ngati pali akupanga yemweyo pafupipafupi kusokoneza chizindikiro mu chilengedwe, ndiyeno zosefera ndi pokonza mlendo phokoso mafunde mu nthawi.Ngati mtunda wolondola sungaperekedwe kwa wogwiritsa ntchito, perekani chidziwitso chachilendo kuti mupewe zolakwika, ndiyeno kulumphira kunjira k.
d, The purosesa amatumiza malangizo kulimbikitsa chisangalalo zimachitika dera kulamulira chisangalalo kwambiri malinga ngodya ndi osiyanasiyana.
e, The ultrasonic probe T imatumiza ma siginecha amawu atatha kugwira ntchito
f, The ultrasonic probe R imalandira zizindikiro zamayimbidwe pambuyo pogwira ntchito
g、Chizindikiro chofooka choyimba chimakulitsidwa ndi dera la amplifier ndi kubwerera ku purosesa.
h, Chizindikiro chokwezera chimabwezeretsedwa ku purosesa itatha kupangidwa, ndipo ma aligorivimu anzeru omwe amamangidwa amasefa ukadaulo wosokoneza mawu, womwe ungatsegule bwino chandamale.
i、 Kutentha kudziwika dera, kudziwa kunja chilengedwe kutentha maganizo kwa purosesa
j, Purosesa imazindikiritsa nthawi yobwerera kwa echo ndikulipiritsa kutentha pamodzi ndi malo ozungulira kunja, kuwerengera mtengo wamtunda (S = V * t/2).
k, Purosesa imatumiza chizindikiro cha data chowerengedwa kwa kasitomala kudzera pamzere wolumikizira ndikubwerera ku a.
(3)Kusokoneza
Ultrasound m'munda wa robotics, idzayang'anizana ndi magwero osiyanasiyana osokoneza, monga phokoso lamagetsi, dontho, kuthamanga, kusuntha, ndi zina zotero.Ultrasound imagwira ntchito ndi mpweya ngati sing'anga.Pamene loboti ili ndi masensa angapo akupanga ndi ma robot angapo amagwira ntchito moyandikana nthawi imodzi, padzakhala zizindikiro zambiri zamtundu wa akupanga pamalo omwewo ndi nthawi, ndipo kusokonezana pakati pa robot kudzakhala koopsa kwambiri.
Chifukwa cha zovuta zosokoneza izi, sensa yomangidwa muukadaulo wosinthika kwambiri, imatha kuthandizira kukhazikika kwamlingo wa 5, fyuluta yosokonekera yofananira imatha kukhazikitsidwa, magawo ndi ngodya zitha kukhazikitsidwa, pogwiritsa ntchito algorithm ya echo filter, mphamvu yotsutsa-kusokoneza.
Pambuyo pa labotale ya DYP kudzera motsatira njira yoyesera: gwiritsani ntchito 4 akupanga chopinga kupewa masensa kuti atseke muyeso, yerekezerani ndi malo ogwirira ntchito makina ambiri, jambulani deta, kulondola kwa data kunafika kupitilira 98%.
Chithunzi cha mayeso aukadaulo a anti-interference
(4) Beam angle chosinthika
Pulogalamu ya kasinthidwe ka sensor mtengo angle ili ndi magawo 4: 40,45,55,65, kuti akwaniritse zofunikira pakugwiritsa ntchito zochitika zosiyanasiyana.
5,Akupanga chopinga kupewa kachipangizo luso chiwembu
M'munda wa ntchito yopewera zopinga za robot, sensa ndi diso la loboti, Kaya loboti imatha kusuntha mosasunthika komanso mwachangu zimatengera chidziwitso cha muyeso chomwe chimabwezedwa ndi sensor.Mumtundu womwewo wa masensa omwe akupanga zotchinga zotchinga, ndizodalirika zopewera zopinga zotsika mtengo komanso zotsika mtengo, zopangidwa zimayikidwa mozungulira loboti, kulumikizana ndi malo owongolera maloboti, yambitsani masensa osiyanasiyana kuti muzindikire mtunda malinga ndi njira yoyenda. za loboti, kwaniritsani kuyankha mwachangu komanso zomwe mukufuna kudziwa.Pakadali pano, sensa ya akupanga imakhala ndi ngodya yayikulu ya FOV kuti ithandizire makinawo kupeza malo ochulukirapo kuti atseke malo omwe amafunikira kutsogolo kwake.
6,Mfundo zazikuluzikulu zogwiritsira ntchito ultrasonic sensor mu robot obstacle avoidance scheme
• Akupanga zopinga zopewera radar FOV ndi yofanana ndi kamera yakuzama, imawononga pafupifupi 20% ya kamera yakuzama;
• Kusanjikiza kolondola kwa millimeter, kuposa kamera yakuzama;
• Zotsatira za mayeso sizimakhudzidwa ndi mtundu wakunja wa chilengedwe ndi kulimba kwa kuwala, zopinga zowonekera zimatha kuzindikirika bwino, monga galasi, pulasitiki yowonekera, etc.;
• Kupanda fumbi, matope, chifunga, asidi ndi kusokoneza chilengedwe cha alkali, kudalirika kwakukulu, kupulumutsa nkhawa, kuchepetsa kuchepa;
• Kukula kwakung'ono kuti akwaniritse mapangidwe a robot kunja ndi ophatikizidwa, angagwiritsidwe ntchito pazochitika zosiyanasiyana za ma robot a utumiki, kukwaniritsa zosowa zosiyanasiyana za makasitomala, kuchepetsa ndalama.
Nthawi yotumiza: Aug-16-2022