Sankhani chilankhulo Tsoka likachitika, kaya ndi chivomezi, kugwa kwa chiwongolero, kapena kutayikira kwa mankhwala oopsa, chilengedwe chimasanduka chiwonongeko chosadziwika bwino cha zinyalala, mizere yosakhazikika, ndi malo oterera. Muzochitika zapamwambazi, kuyenda kwa oyankha oyambirira nthawi zambiri kumakhala kochepa chifukwa cha ngozi yakuthupi. Apa ndi pamene makina apadera a mayendedwe a mbozi kwa maloboti kukhala maziko enieni a ntchito zamakono zosaka ndi kupulumutsa. Mosiyana ndi ma wheel anzako omwe amalimbana ndi kukhazikika kwakukulu kapena kumira mumatope ofewa, a njira ya robot dongosolo amapereka mosalekeza pamwamba m'dera lofunika kutembenuza nsanja makina kukhala opulumuka onse mtunda.
Fiziki Yoyambira Yopitilira Ma Tank a Robot
Kuti mumvetse chifukwa chake a adatsata loboti yoyendera ndiye muyezo wa golide woyankha masoka, munthu ayenera kuyang'ana pa kugawa kwapansi pansi. Mu ntchito yopulumutsa, "nthaka" sikhala yolimba; kaŵirikaŵiri zimakhala zosakaniza miyala yotayirira, magalasi osweka, ndi kutsekereza konyowa. Loboti ya mawilo imayika unyinji wake wonse pa timagulu ting'onoting'ono tating'ono tinayi. Pazinyalala zofewa kapena zosagwirizana, kuthamanga kwakukulu kumeneku kumapangitsa kuti magudumu akumbire mkati, ndikumangirira robot pamalo ake.
Ma tank a robot thetsani izi kudzera mu mfundo yofalitsa katundu. Pogwiritsa ntchito lupu losalekeza loyendetsedwa ndi ma sprockets amkati, kulemera kwa loboti kumagawidwa kutalika konse kwa njanjiyo. Kutsika kwapansi kumeneku kumapangitsa makinawo "kuyandama" pa zopinga zomwe zingameze tayala lachikhalidwe. Komanso, mawotchi mwayi wa njira ya robot chagona mu kukokera kwake kotalika. Chifukwa "magalasi" angapo kapena masitepe amalumikizana ndi pamwamba nthawi imodzi, loboti imatha kukokera kwambiri, kuilola kukwera pamwamba pa midadada ya konkriti kapena kukoka masensa olemera ndi mizere yolumikizirana kudzera m'malo opapatiza.
Sayansi Yazinthu ndi Kusintha Kwa Matanki a Rubber a Maloboti
M'masiku oyambirira a robotics, mapangidwe ambiri adabwereka kwambiri ku akasinja ankhondo, pogwiritsa ntchito maulalo azitsulo zolemera. Komabe, pakufufuza ndi kupulumutsa, kulemera ndi kugwedezeka ndi adani ovuta. Kuwonekera kwamphamvu kwambiri matanki a rabara a maloboti wasintha ntchito. Nyimbozi nthawi zambiri zimakhala ndi zida zomangirira, zomwe nthawi zambiri zimayikidwa ndi chitsulo chamkati kapena zingwe za Kevlar kuti asatambasulidwe ndikusunga kusinthasintha.
Kusankha mphira sikungokhudza kuchepetsa thupi. M'malo osaka ndi kupulumutsa anthu m'matauni (USAR), loboti nthawi zambiri imayenera kudutsa pamalo osalimba kapena oterera, monga mwala wopukutidwa m'chipinda chakugwa kapena zitsulo zonyowa mufakitale. Ngakhale zitsulo zachitsulo zimatha kutsetsereka kapena kuwononga chiyero chotsalira cha pansi, matanki a rabara a maloboti kupereka mkulu coefficient wa kukangana. Kuthamanga kwa mphira kumapangitsa kuti nyimboyo "igwirizane" pang'ono ndi micro-geometry ya zinyalala, "kugwira" m'mphepete mwa njerwa ndi mapaipi. Izi "makina keying" ndi zomwe zimalola a adatsata loboti yoyendera kukwera masitepe kapena kuyenda m'mizere ya ma degree 45 a zinyalala zotayirira popanda kutsetsereka chammbuyo.
Navigational Geometry mu Loboti Yoyang'anira Yotsatiridwa
A adatsata loboti yoyendera kawirikawiri si bokosi la malamba awiri. Makanikidwe apamwamba amaphatikiza "ma flippers" kapena ma sub-track module omwe amalola loboti kusintha mawonekedwe ake mwachangu. Ichi ndi gawo lofunikira kwambiri lachisinthiko mayendedwe a mbozi kwa maloboti . Pofotokoza mbali zakutsogolo kapena zakumbuyo za njanjiyo, loboti imatha kufikira m'mwamba kuti igwire m'mphepete mwa nsonga yayitali kapena kukulitsa mawilo ake kuti atseke kusiyana kwakukulu pakati pa zidutswa ziwiri zapansi zomwe zagwa.
Kusinthasintha kwa geometric kumeneku kumatsimikizira kuti pakati pa mphamvu yokoka imakhalabe mkati mwa mayendedwe a njanji ngakhale panthawi yoyendetsa kwambiri. Posaka ndi kupulumutsa, cholinga nthawi zambiri chimakhala kupereka kamera kapena sensa ya carbon dioxide mu "malo opanda kanthu" momwe opulumuka amatha kutsekeredwa. Loboti ikatembenuka, ntchitoyo imatha. The lalikulu kaimidwe ndi otsika mbiri chibadidwe mu mayendedwe a robot perekani nsanja yokhazikika mwachilengedwe yomwe imakana kuwongolera, ngakhale loboti ikAliyenseamula zida zolemetsa za LIDAR kapena mikono ya robotiki pamwamba pake.
Kugonjetsa Mkangano wa Skidding ndi Chiwongolero mu Nyimbo za Robot Tank
Chimodzi mwazinthu zovuta kwambiri zamakina mayendedwe a robot ndiyo njira yoyendetsera. Mosiyana ndi magalimoto omwe amagwiritsa ntchito rack-and-pinion chiwongolero potembenuza mawilo, maloboti ambiri omwe amawatsata amagwiritsa ntchito "skid-steering." Izi zimaphatikizapo kuyendetsa njanji imodzi mofulumira kuposa ina kapena kubweza njanji imodzi pamene inayo ikupita patsogolo. Ngakhale izi zimalola kuti zero-turn radius-yofunikira muzitsulo zolimba, za claustrophobic za nyumba yogwa-zimapanga kupsinjika kwakukulu kwapambuyo pake. njira ya robot yokha.
Makaniko amkati ayenera kukhala olimba mokwanira kuti athe kumeta ubweya wa mphamvuzi. Ichi ndichifukwa chake mawonekedwe apakati pa drive sprocket ndi ma track lugs amapangidwa molondola. Mu a adatsata loboti yoyendera , "pitch" ya njanji iyenera kukhala yosasunthika ngakhale pansi pa zovuta kwambiri kuti muteteze "de-tracking" (njanjiyo ikugwa pamawilo). Maloboti amakono opulumutsa nthawi zambiri amakhala ndi machitidwe odzilimbitsa okha omwe amagwiritsa ntchito akasupe kapena ma hydraulic actuators kuti asunge mayendedwe a mbozi kwa maloboti taut, kuwonetsetsa kuti ngakhale mwala utayikidwa mumsonkhano wagalimoto, njanjiyo imakhalabe pansi ndikugwira ntchito.
Kukhalitsa ndi Kusamalira za Nyimbo za Robot Tank m'malo Ovuta
Chilengedwe cha ntchito yopulumutsa anthu chimakhala chowononga mankhwala komanso mwakuthupi. Fumbi lochokera ku konkriti wophwAliyenseidwa limakhala ngati sandpaper pazigawo zosuntha, ndipo madzi oyimirira amatha kuwononga mayendedwe amkati. Mapangidwe a matanki a rabara a maloboti nthawi zambiri amaphatikiza "kudziyeretsa" panjira. Izi ndi ma grooves opindika omwe amagwiritsa ntchito kupindika kwachilengedwe kwa mphira pozungulira matopewo kuti atulutse matope ndi miyala ing'onoing'ono yomwe ingasokoneze makinawo.
Kuphatikiza apo, kutsekedwa kwa ma roller amkati mwa njanji ndikofunikira. Chifukwa a adatsata loboti yoyendera angafunike kulowa m'zipinda zapansi za madzi osefukira kapena kudutsa thovu lozimitsa moto, ma pivots amakina omwe ali mkati mwa njanji nthawi zambiri amatsekeredwa mu O-ring seals. The njira ya robot imagwira ntchito ngati mzere woyamba wachitetezo, imayamwa mphamvu ya rebar yokhotakhota ndi magalasi osweka kotero kuti zida zamagetsi zomwe zili mkati mwa chassis zizikhala zotetezedwa ku kugwedezeka kwamphamvu kwaulendo.
Tsoka likachitika, kaya ndi chivomezi, kugwa kwa kamangidwe kake, kapena kutayikira kwa mankhwala owopsa, chilengedwe chimasanduka chiwonongeko chosadziwika bwino cha zinyalala, mizere yosakhazikika, ndi malo oterera.
