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Chitsulo cha loboti chokhala ndi ma quadruped

Chitsulo cha loboti cha anayi Chithunzi Chowonetsedwa
  • Chitsulo cha loboti chokhala ndi ma quadruped
  • Chitsulo cha loboti chokhala ndi ma quadruped

Kufotokozera Kwachidule:

Chidule: Galu wa robotic wokhala ndi ma quadruped ndi chipangizo chapadera chomwe chimaphatikiza bionics ndi ukadaulo wanzeru, chopangidwira zochitika zovuta komanso zoopsa kwambiri. Kutentha kwake kogwira ntchito kumafikira -20 ºC mpaka 55 ºC, ndipo ali ndi IP67 yosalowa madzi komanso yotetezeka ku fumbi. Imatha kugwira ntchito mokhazikika pamagetsi ovuta kwambiri...


Tsatanetsatane wa Zamalonda

Ma tag a Zamalonda

Chidule:
Galu wa robotic wokhala ndi ma quadruped ndi chipangizo chapadera chomwe chimaphatikiza bionics ndi ukadaulo wanzeru, chopangidwira zochitika zovuta komanso zoopsa kwambiri. Kutentha kwake kogwira ntchito kumafikira -20 ºC mpaka 55 ºC, ndipo ali ndi IP67 yosalowa madzi komanso yotetezeka ku fumbi. Imatha kugwira ntchito mokhazikika m'malo ovuta kwambiri monga utsi wambiri, kutentha kwambiri, ndi mpweya woopsa.
Pokhala ndi malo ovuta monga nyumba zogwa, masitepe, zinyalala, ndi malo opapatiza, malo olumikizirana miyendo ya loboti amatha kusintha ma ngodya mwachangu. Pamene nthaka ikugwa kapena gawo la nyumba likupendekeka mbali imodzi, lobotiyo imatha kusunga bwino posintha momwe mphamvu yothandizira miyendo imagawidwira.

Mawonekedwe:

Gulu lankhondo
Ingagwiritsidwe ntchito pa ntchito zofufuza.chitsulo cha lobotiAli ndi luso lotha kuyendetsa bwino, amatha kuyenda m'malo ovuta ankhondo, kunyamula zida zofufuzira kuti akafike kumadera omwe akufuna kuti akapeze nzeru, ndipo mdani sadziwa mosavuta.
Gawo la mafakitale
M'malo ena oopsa (monga madera okhala ndi mphamvu ya nyukiliya, madera okhala ndi mankhwala oipitsa, ndi zina zotero), anthu anayichitsulo cha lobotiIkhoza kukhala ndi zida zowunikira zachilengedwe kapena zowunikira zida. Ikhoza kufika pamalo ovuta kufikako kwa anthu, zomwe zimapangitsa kuti ntchito igwire bwino ntchito komanso kuonetsetsa kuti anthu ali otetezeka.
Kufufuza kafukufuku wa sayansi
Mu zochitika zasayansi zofufuza zinthu monga kupulumutsa zivomerezi ndi kufufuza m'mapanga, maloboti anayi opangidwa ndi ma robot chassis angathandize ofufuza kupereka zida zopezera zinthu kumalo osankhidwa, kusonkhanitsa deta, kapena kuchita ntchito yopulumutsa. Mwachitsanzo, kufunafuna opulumuka m'mabwinja pambuyo pa chivomerezi, kapena kuchita kafukufuku wa nthaka m'mapanga.

Mafotokozedwe:

1. Dzina: Chitsulo cha loboti cha miyendo inayi;
2. Chitsanzo: TIGER-04;
3. Kulemera kwa makina onse (batri) sikuyenera kupitirira 60kg;
4. Miyeso (yoyimirira): ≤ 100cm m'litali, 47cm m'lifupi, ndi 65cm m'litali
5. Katundu Wonyamula: 20kg Katundu wolemera kwambiri: 85kg
6. Kutentha kogwira ntchito: - 20ºC ~ 55ºC
7. Kuchuluka kwa batri: Kugwiritsa ntchito batri ya lithiamu yolumikizidwa bwino yokhala ndi mphamvu ya 22.4Ah ndi voteji yocheperako ya 72V; Mphamvu yoyesedwa ≥ 1600Wh; (Zida zotsimikizira zofunikira ndizofunikira)
8. Kukula kwa gawo la mbali yolumikizira ndi chiuno ≤ 100mm × 85mm; Kukula kwa gawo la bondo ≤ 124mm × 100mm; (Zida zoyenera zotetezera zikufunika)
9. Mlingo wonse wa ufulu: 12; Mlingo umodzi wa ufulu: 3
10. Zofunikira pa mtunda: mtunda waukulu wopanda katundu ndi 15 km, mtunda waukulu wokhala ndi katundu wa 20 kg ndi 10 km; Kupirira katundu wopanda kanthu kwa maola 4, 20 kg kupirira katundu kwa maola 2.5.
11. Liwiro lalikulu: osachepera 4m/s
12. Malo otsetsereka kwambiri: 30 °
13. Chida cholumikizira magetsi: 5V, 12V * 3, 24V * 3
14. Mawonekedwe olumikizirana: kuphatikiza ma LAN osachepera 6, ma USB 4 (2.0×2, 3.0×2), kulumikizana kwa netiweki yopanda zingwe, ndi zina zotero.
15. Njira yodzitetezera: Chitetezo chofewa komanso cholimba cha kuyimitsa mwadzidzidzi; Chitetezo chotsika; Alamu yamagetsi; Alamu yokhudza kutentha kwambiri, loboti yokhala ndi ma quadruped anayi ili ndi batani lofiira lolimba la kuyimitsa mwadzidzidzi kumbuyo; Cholumikizira cha joystick chili ndi kiyi imodzi yofewa yoteteza mwadzidzidzi; (Zida zoyenera zotsimikizira ndizofunikira)
Pa liwiro la 1.2m/s, mtunda wa mabuleki suyenera kupitirira 0.4m. (Perekani lipoti loyesa la CEPRI)
17. Ntchito yamasewera: Ili ndi ntchito monga kupondaponda, kuyenda, kuthamanga, kukwawa, ndi zina zotero. Ikagwa, imatha kukwera yokha, kusuntha mmbuyo ndi mtsogolo, kumanzere ndi kumanja, ndikutembenuka pamalo ake; Kutalika kwakukulu kwa masitepe okwerera ndi 25cm, ndipo ngodya yayikulu ya masitepe okwerera ndi 45 °; Imatha kuyenda pamalo monga milu ya miyala ndi malo omangira;
18. Yokhala ndi njira zosinthira maulendo ambiri: kuyenda, kuthamanga, kujambula masitepe okwera ndi otsika ndi laser, masitepe okwera ndi otsika ndi mafakitale, ndi kusintha kwa makwerero amitundu yosiyanasiyana (kutalika kwa masitepe 25CM), kuyenda m'malo otsetsereka ndi mabwinja (kuyenda kolemera kokhazikika), kukwawa. (Perekani zithunzi zenizeni za mawonekedwe owongolera, ndipo chinthu chopambana chiyenera kuyesedwa pamalopo)
19. Mulingo woteteza makina onse: IP67 ndipo perekani lipoti loyesa la chipani chachitatu (lomwe limayesedwa ndi loboti yokhala ndi ma quadruped ikayatsidwa)
20. Kamera yokhala ndi ngodya yayikulu: ma pixel a 2 miliyoni a digiri ya mafakitale;
21. Lidar: Ma lidar anayi olimba, mtunda wozindikira: ≥ 40m, okhoza kuzindikira malo monga masitepe; Pokhala ndi pulogalamu yoyendetsera, malo oyendetsera okha komanso kupewa zopinga zomwe zingachitike, zomwe zimathandiza kuyenda pansi ndi kuyenda kutsogolo ndi kumbuyo m'malo opapatiza komanso osasinthasintha, komanso kuzindikira zopinga kutsogolo ndi kumbuyo popanda malo obisika kuti tipewe kugundana. Yokhala ndi ma lidar awiri olimba a Mid 360 ndi kamera yozungulira kutsogolo, ingagwiritsidwe ntchito popanga mapu a SLAM ndi terrain; Thandizani kukonza mapu a terrain a 2.5D ndi malo olowera; Ma radar awiri olimba a Mid 360 akonzedwa kumbuyo, FOV: Horizontal ≥ 360 °, vertical ≥ 59 °; Thandizani kuzindikira masitepe kumbuyo ndi kupewa zopinga kumbuyo; Thandizani kuyenda kumbuyo; (Chogulitsa chopambana chiyenera kuyesedwa pamalopo, ndipo zojambula za kapangidwe ka chinthu ndi zithunzi zenizeni ziyenera kuperekedwa ngati umboni). Kulondola kobwerezabwereza kwa malo oyendetsera ≤ 5cm.
22. Perekani malangizo atsatanetsatane a zinthu, malangizo a ntchito, malangizo a chitukuko, ndi zina zotero, perekani zikalata za chitukuko chachiwiri ndi machitidwe, ndikupereka zikalata za chitukuko chachiwiri ndi machitidwe. Dongosolo logwiritsira ntchito la Universal Ubuntu, laibulale ya masamu ya universal yosavuta kugwiritsa ntchito, laibulale ya roboti yokhala ndi ma quadruped, ndi mapulogalamu opanga. Thandizani dongosolo logwiritsira ntchito la ROS
23. Zipangizo: Malumikizidwe ndi thupi la loboti yokhala ndi ma quadruped onse amapangidwa ndi chitsulo, chomwe chili ndi makhalidwe oletsa kukalamba komanso kulemera kopepuka;
24. Kulamulira mphamvu zonse: Roboti yokhala ndi ma quadruped imagwiritsa ntchito ukadaulo wowongolera mphamvu zonse, wopanda masensa pamwamba pa chidendene, ndipo imagwiritsa ntchito zidendene zolimba za rabara zolimba zomwe sizimawonongeka komanso zosapsa ndi moto;

Chidule:
Galu wa robotic wokhala ndi ma quadruped ndi chipangizo chapadera chomwe chimaphatikiza bionics ndi ukadaulo wanzeru, chopangidwira zochitika zovuta komanso zoopsa kwambiri. Kutentha kwake kogwira ntchito kumafikira -20 ºC mpaka 55 ºC, ndipo ali ndi IP67 yosalowa madzi komanso yotetezeka ku fumbi. Imatha kugwira ntchito mokhazikika m'malo ovuta kwambiri monga utsi wambiri, kutentha kwambiri, ndi mpweya woopsa.
Pokhala ndi malo ovuta monga nyumba zogwa, masitepe, zinyalala, ndi malo opapatiza, malo olumikizirana miyendo ya loboti amatha kusintha ma ngodya mwachangu. Pamene nthaka ikugwa kapena gawo la nyumba likupendekeka mbali imodzi, lobotiyo imatha kusunga bwino posintha momwe mphamvu yothandizira miyendo imagawidwira.

Mawonekedwe:

Gulu lankhondo
Ingagwiritsidwe ntchito pofufuza. Maloboti anayi ali ndi luso lotha kuyenda bwino, amatha kuyenda m'malo ovuta ankhondo, kunyamula zida zofufuzira kuti akafike kumadera omwe akufuna kuti akapeze nzeru, ndipo mdani sadziwa mosavuta.
Gawo la mafakitale
M'malo ena oopsa (monga madera okhala ndi ma radiation a nyukiliya, madera okhala ndi kuipitsidwa kwa mankhwala, ndi zina zotero), malo ogwirira ntchito a roboti okhala ndi ma quadruped amatha kukhala ndi zida zowunikira chilengedwe kapena kuyang'anira zida. Amatha kufika m'malo ovuta kufikako kwa anthu, zomwe zimapangitsa kuti ntchito igwire bwino ntchito komanso kuonetsetsa kuti ogwira ntchito ali otetezeka.
Kufufuza kafukufuku wa sayansi
Mu zochitika zasayansi zofufuza zinthu monga kupulumutsa zivomerezi ndi kufufuza m'mapanga, maloboti anayi opangidwa ndi ma robot chassis angathandize ofufuza kupereka zida zopezera zinthu kumalo osankhidwa, kusonkhanitsa deta, kapena kuchita ntchito yopulumutsa. Mwachitsanzo, kufunafuna opulumuka m'mabwinja pambuyo pa chivomerezi, kapena kuchita kafukufuku wa nthaka m'mapanga.

Mafotokozedwe:

1. Dzina: Chitsulo cha loboti cha miyendo inayi;
2. Chitsanzo: TIGER-04;
3. Kulemera kwa makina onse (batri) sikuyenera kupitirira 60kg;
4. Miyeso (yoyimirira): ≤ 100cm m'litali, 47cm m'lifupi, ndi 65cm m'litali
5. Katundu Wonyamula: 20kg Katundu wolemera kwambiri: 85kg
6. Kutentha kogwira ntchito: - 20ºC ~ 55ºC
7. Kuchuluka kwa batri: Kugwiritsa ntchito batri ya lithiamu yolumikizidwa bwino yokhala ndi mphamvu ya 22.4Ah ndi voteji yocheperako ya 72V; Mphamvu yoyesedwa ≥ 1600Wh; (Zida zotsimikizira zofunikira ndizofunikira)
8. Kukula kwa gawo la mbali yolumikizira ndi chiuno ≤ 100mm × 85mm; Kukula kwa gawo la bondo ≤ 124mm × 100mm; (Zida zoyenera zotetezera zikufunika)
9. Mlingo wonse wa ufulu: 12; Mlingo umodzi wa ufulu: 3
10. Zofunikira pa mtunda: mtunda waukulu wopanda katundu ndi 15 km, mtunda waukulu wokhala ndi katundu wa 20 kg ndi 10 km; Kupirira katundu wopanda kanthu kwa maola 4, 20 kg kupirira katundu kwa maola 2.5.
11. Liwiro lalikulu: osachepera 4m/s
12. Malo otsetsereka kwambiri: 30 °
13. Chida cholumikizira magetsi: 5V, 12V * 3, 24V * 3
14. Mawonekedwe olumikizirana: kuphatikiza ma LAN osachepera 6, ma USB 4 (2.0×2, 3.0×2), kulumikizana kwa netiweki yopanda zingwe, ndi zina zotero.
15. Njira yodzitetezera: Chitetezo chofewa komanso cholimba cha kuyimitsa mwadzidzidzi; Chitetezo chotsika; Alamu yamagetsi; Alamu yokhudza kutentha kwambiri, loboti yokhala ndi ma quadruped anayi ili ndi batani lofiira lolimba la kuyimitsa mwadzidzidzi kumbuyo; Cholumikizira cha joystick chili ndi kiyi imodzi yofewa yoteteza mwadzidzidzi; (Zida zoyenera zotsimikizira ndizofunikira)
Pa liwiro la 1.2m/s, mtunda wa mabuleki suyenera kupitirira 0.4m. (Perekani lipoti loyesa la CEPRI)
17. Ntchito yamasewera: Ili ndi ntchito monga kupondaponda, kuyenda, kuthamanga, kukwawa, ndi zina zotero. Ikagwa, imatha kukwera yokha, kusuntha mmbuyo ndi mtsogolo, kumanzere ndi kumanja, ndikutembenuka pamalo ake; Kutalika kwakukulu kwa masitepe okwerera ndi 25cm, ndipo ngodya yayikulu ya masitepe okwerera ndi 45 °; Imatha kuyenda pamalo monga milu ya miyala ndi malo omangira;
18. Yokhala ndi njira zosinthira maulendo ambiri: kuyenda, kuthamanga, kujambula masitepe okwera ndi otsika ndi laser, masitepe okwera ndi otsika ndi mafakitale, ndi kusintha kwa makwerero amitundu yosiyanasiyana (kutalika kwa masitepe 25CM), kuyenda m'malo otsetsereka ndi mabwinja (kuyenda kolemera kokhazikika), kukwawa. (Perekani zithunzi zenizeni za mawonekedwe owongolera, ndipo chinthu chopambana chiyenera kuyesedwa pamalopo)
19. Mulingo woteteza makina onse: IP67 ndipo perekani lipoti loyesa la chipani chachitatu (lomwe limayesedwa ndi loboti yokhala ndi ma quadruped ikayatsidwa)
20. Kamera yokhala ndi ngodya yayikulu: ma pixel a 2 miliyoni a digiri ya mafakitale;
21. Lidar: Ma lidar anayi olimba, mtunda wozindikira: ≥ 40m, okhoza kuzindikira malo monga masitepe; Pokhala ndi pulogalamu yoyendetsera, malo oyendetsera okha komanso kupewa zopinga zomwe zingachitike, zomwe zimathandiza kuyenda pansi ndi kuyenda kutsogolo ndi kumbuyo m'malo opapatiza komanso osasinthasintha, komanso kuzindikira zopinga kutsogolo ndi kumbuyo popanda malo obisika kuti tipewe kugundana. Yokhala ndi ma lidar awiri olimba a Mid 360 ndi kamera yozungulira kutsogolo, ingagwiritsidwe ntchito popanga mapu a SLAM ndi terrain; Thandizani kukonza mapu a terrain a 2.5D ndi malo olowera; Ma radar awiri olimba a Mid 360 akonzedwa kumbuyo, FOV: Horizontal ≥ 360 °, vertical ≥ 59 °; Thandizani kuzindikira masitepe kumbuyo ndi kupewa zopinga kumbuyo; Thandizani kuyenda kumbuyo; (Chogulitsa chopambana chiyenera kuyesedwa pamalopo, ndipo zojambula za kapangidwe ka chinthu ndi zithunzi zenizeni ziyenera kuperekedwa ngati umboni). Kulondola kobwerezabwereza kwa malo oyendetsera ≤ 5cm.
22. Perekani malangizo atsatanetsatane a zinthu, malangizo a ntchito, malangizo a chitukuko, ndi zina zotero, perekani zikalata za chitukuko chachiwiri ndi machitidwe, ndikupereka zikalata za chitukuko chachiwiri ndi machitidwe. Dongosolo logwiritsira ntchito la Universal Ubuntu, laibulale ya masamu ya universal yosavuta kugwiritsa ntchito, laibulale ya roboti yokhala ndi ma quadruped, ndi mapulogalamu opanga. Thandizani dongosolo logwiritsira ntchito la ROS
23. Zipangizo: Malumikizidwe ndi thupi la loboti yokhala ndi ma quadruped onse amapangidwa ndi chitsulo, chomwe chili ndi makhalidwe oletsa kukalamba komanso kulemera kopepuka;
24. Kulamulira mphamvu zonse: Roboti yokhala ndi ma quadruped imagwiritsa ntchito ukadaulo wowongolera mphamvu zonse, wopanda masensa pamwamba pa chidendene, ndipo imagwiritsa ntchito zidendene zolimba za rabara zolimba zomwe sizimawonongeka komanso zosapsa ndi moto;
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